A flexible adjustable charging gun, a charging docking structure and a charging control method

Abstract

The present invention discloses a flexible adjustable charging gun, a charging docking structure and a charging control method. The flexible adjustable charging gun includes a gun housing, an adapter and a gun head. The adapter is arranged inside the gun housing. An elastic component is annularly arranged outside the gun housing. The elastic component is respectively connected to the adapter. The elastic component provides an elastic force in the radial direction of the adapter to the adapter, so that the adapter moves radially relative to the gun housing. The gun head is connected to the adapter and coaxially arranged with the adapter. The present invention is provided with an adapter and an elastic component, so that the gun housing and the gun head can be misaligned in the radial direction without affecting the use of the charging gun. The flexible adjustable structure is reasonably arranged, has reliable actions and streamlined components, reduces the precision requirements for the vision camera during the automatic charging process, thereby greatly reducing the cost of automatic charging, can be mass-produced and promoted, and meets the requirements of current electric vehicle automatic charging.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic charging for automobiles, and particularly relates to a flexible adjustable charging gun, a charging docking structure, and a charging control method. Background Art

[0002] A pure electric vehicle is a vehicle that uses a single storage battery as an energy storage power source. It uses the storage battery as an energy storage power source, provides electrical energy from the battery to the motor, drives the motor to operate, and thus propels the vehicle to travel. Since pure electric vehicles are relatively simple and mature in technology, and can be charged wherever there is a power supply.

[0003] Currently, the charging methods for electric vehicles include manual charging and automatic charging. With the popularization of charging automation and intelligence, automatic charging services have emerged in more and more occasions. Most automatic charging is based on a vision camera to position the vehicle charging port, and then a robotic arm inserts the charging gun into the vehicle charging port to achieve charging of the electric vehicle. Since the gap between the charging gun plug and the vehicle charging port socket in the interface size specified by the national standard is small, the accuracy requirements for the vision camera are very high during the automatic charging docking process, resulting in an increase in the cost of automatic charging and making it impossible to achieve mass production and promotion. Summary of the Invention

[0004] To solve the above problems, the technical solutions provided by the present invention are as follows:

[0005] A flexible adjustable charging gun includes a gun housing, an adapter, and a gun head. The adapter is arranged inside the gun housing. An elastic component is annularly arranged outside the gun housing, and the elastic component is respectively connected to the adapter. The elastic component provides an elastic force in the radial direction of the adapter to enable the adapter to move radially relative to the gun housing. The gun head is connected to the adapter and is coaxially arranged with the adapter.

[0006] The present invention is further configured such that the elastic component includes a compression spring fixing sleeve, a compression spring, a push rod, and a closing screw. The compression spring fixing sleeve is connected to the gun housing. An activity cavity is provided inside the compression spring fixing sleeve. The compression spring is arranged inside the activity cavity. The push rod includes a connection end and a limiting end. The connection end is connected to the adapter, and the limiting end is arranged inside the activity cavity and abuts against one end of the compression spring. The closing screw is connected inside the compression spring fixing sleeve and abuts against the other end of the compression spring.

[0007] The present invention is further configured such that the gun housing includes a travel cavity. The adapter is arranged inside the travel cavity. The size of the travel cavity is larger than that of the adapter. An electromagnet suction cup is provided at one end of the gun housing away from the travel cavity. The electromagnet suction cup is frustum-shaped or conical. A cable sleeve is provided on the side wall of the gun housing.

[0008] The present invention is further configured such that a sealing plate is provided on one side of the stroke cavity, the adapter is axially restricted between the inner wall of the gun housing and the sealing plate, a through hole is provided on the sealing plate, and a narrowing portion is provided on the gun head or the adapter or at the connection between the gun head and the adapter, and the narrowing portion passes through the through hole.

[0009] The present invention is further configured such that a groove is provided on the gun head, a hook and a return spring are provided in the groove, the hook is connected in the groove by a pin shaft, one end of the return spring abuts against the hook, the other end of the return spring abuts against the groove, one end of the hook extends to the head of the gun head to form a locking portion, the other end of the hook extends towards the gun housing to form an unlocking portion, and a flared sleeve is provided outside the gun head.

[0010] A charging docking structure, adopting the above flexible adjustable charging gun, further includes a docking grasping device and a vehicle-end adapter. The docking grasping device includes a gripper and an unlocking member. The unlocking member is connected to the gripper. A vision camera is provided on the gripper. The gripper includes a grasping sleeve. A guiding sleeve is provided at one end of the grasping sleeve. An electromagnetic assembly is provided in the grasping sleeve. The guiding sleeve is adapted to the structure of the electromagnetic chuck. The electromagnetic assembly cooperates with the electromagnetic chuck to enable the docking grasping device to grasp the flexible adjustable charging gun. The unlocking member cooperates with the hook to unlock the gun head. The vehicle-end adapter is provided with a first interface connected to the vehicle charging port and a second interface connected to the gun head. A guiding pin is provided on one side of the second interface, and the guiding pin is adapted to the flared sleeve.

[0011] The present invention is further configured such that the electromagnetic assembly includes an electromagnet, a sliding cover, a sliding sleeve, an electromagnet spring, a cover plate and a button. The sliding cover is fixed to the electromagnet by a pressing pin. The cover plate is fixed to one end of the sliding sleeve. The sliding cover is movably connected in the sliding sleeve. The electromagnet spring is provided between the sliding cover and the cover plate. The button is provided on the cover plate, and the button is coaxially arranged with the pressing pin.

[0012] The present invention is further configured such that guiding flanges and connecting flanges are respectively provided at both ends of the grasping sleeve. The guiding sleeve is connected to the guiding flange. A through hole is provided on the guiding flange, and the electromagnet is arranged opposite to the through hole.

[0013] The present invention is further configured such that the unlocking member includes a fixed bracket and a roller bracket. A guide pin and a spring support pin are provided on the fixed bracket. The roller bracket is movably connected to the guide pin. An unlocking spring is sleeved on the spring support pin. Two ends of the unlocking spring respectively abut against the fixed bracket and the roller bracket. A cantilever is provided on the roller bracket. A cantilever pin is arranged between the cantilevers. A roller is connected to the cantilever pin.

[0014] A charging control method, adopting the above charging docking structure, includes a gun-taking stage and a gun-inserting stage.

[0015] The gun-taking stage includes: the docking grasping device approaches the flexible adjustable charging gun under the control of the robotic arm. The vision camera takes pictures to locate the position of the flexible adjustable charging gun. The robotic arm adjusts the position of the docking grasping device according to the position information of the flexible adjustable charging gun and conducts docking. During the docking process, the electromagnetic chuck first contacts the guide sleeve. Under the guidance of the guide sleeve, the deviation of the gun shell is corrected so that the guide sleeve and the electromagnetic chuck are fully matched. During the deviation correction process of the gun shell, the compression spring of the elastic component is compressed or elongated, so that the adapter rotates radially relative to the gun shell in the stroke cavity, and the gun head also rotates radially relative to the gun shell. At this time, the gun head and the gun shell are not coaxially arranged. The docking grasping device continues to approach the gun shell. The electromagnetic chuck presses the electromagnet so that the electromagnetic spring is compressed until the pressing pin touches the button to energize the electromagnet. The electromagnetic chuck is attracted by the electromagnet. At the same time, the roller touches the unlocking part of the hook. The hook rotates around the pin shaft under the force, so that the locking part of the hook separates from the head of the gun head. The docking grasping device removes the flexible adjustable charging gun under the control of the robotic arm. At the moment of removal, under the action of the compression spring, the elastic component resets, so that the adapter returns to the initial position. At this time, the gun head and the gun shell are coaxially arranged again, and the gun-taking is completed.

[0016] The gun-inserting stage includes: under the control of the robotic arm, the docking grasping device drives the flexible adjustable charging gun to approach the vehicle-end adapter. The vision camera takes pictures to locate the position of the vehicle-end adapter. The robotic arm adjusts the position of the docking grasping device according to the position information of the vehicle-end adapter and conducts gun insertion. During the gun-insertion process, the guide pin first contacts the bell mouth sleeve of the gun head. Under the guidance of the bell mouth sleeve, the deviation of the gun head is corrected so that the head of the gun head is matched with the second interface of the vehicle-end adapter. During the deviation correction process of the gun head, the compression spring of the elastic component is compressed or elongated, so that the adapter rotates radially relative to the gun shell in the stroke cavity, and the gun head also rotates radially relative to the gun shell. At this time, the gun head and the gun shell are not coaxially arranged. When the flexible adjustable charging gun is connected to the vehicle-end adapter, the electromagnet of the docking grasping device loses power and the robotic arm separates the docking grasping device from the flexible adjustable charging gun. At the moment of separation, under the action of the compression spring, the elastic component resets, so that the gun shell returns to the initial position. At this time, the gun head and the gun shell are coaxially arranged again, and the gun-insertion is completed.

[0017] Adopting the technical solution provided by the present invention, compared with the prior art, it has the following beneficial effects:

[0018] In the flexible adjustable charging gun of this technical solution, an adapter and an elastic component are provided, enabling the gun shell and the gun head to be misaligned in the radial direction without affecting the use of the charging gun. The flexible adjustable structure of the charging gun is reasonably set, with reliable operation, simplified components, and low cost. Even if the flexible adjustable charging gun is not aligned during the process of unplugging or plugging the gun, the flexible adjustable charging gun can still be operated, which reduces the accuracy requirements for the vision camera during the automatic charging process, thereby greatly reducing the cost of automatic charging. It can be mass-produced and promoted to meet the requirements of current electric vehicle automatic charging.

[0019] In the charging docking structure of this technical solution, a docking grasping device and a vehicle-end adapter are adopted. Among them, the docking grasping device and the flexible adjustable charging gun use the cooperation of a guide sleeve and an electromagnetic suction cup for deviation correction, and the vehicle-end adapter and the flexible adjustable charging gun use the cooperation of a guide pin and a flared sleeve for deviation correction, providing a reasonable structure for unplugging and plugging the flexible adjustable charging gun. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a perspective view of the flexible adjustable charging gun according to an embodiment of the present invention.

[0021] Figure 2 It is a top view of the flexible adjustable charging gun according to an embodiment of the present invention.

[0022] Figure 3 It is Figure 2 the sectional view taken along A-A in

[0023] Figure 4 It is Figure 2 the sectional view taken along B-B in

[0024] Figure 5 It is an exploded view of the flexible adjustable charging gun according to an embodiment of the present invention.

[0025] Figure 6 It is a schematic diagram of the charging docking structure according to an embodiment of the present invention.

[0026] Figure 7 It is a perspective view of the gripper according to an embodiment of the present invention.

[0027] Figure 8 It is a perspective view of the unlocking member according to an embodiment of the present invention.

[0028] Figure 9 It is a perspective view of the vehicle-end adapter according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] To further understand the content of the present invention, the present invention will be described in detail in combination with the drawings and embodiments.

[0030] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, an integral connection, or a detachable connection; it can be a mechanical connection or an electrical connection, or it can be the communication inside two components; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific situations.

[0032] Embodiment 1

[0033] Combined with the attached Figure 1 to the attached Figure 5 According to the attached drawings, the technical solution of the present invention is a flexible adjustable charging gun 1000, which includes a gun housing 1100, an adapter 1200, and a gun head 1300. The adapter 1200 is arranged inside the gun housing 1100. An elastic component 1400 is annularly arranged outside the gun housing 1100. The elastic component 1400 is respectively connected to the adapter 1200. The elastic component 1400 provides an elastic force in the radial direction of the adapter 1200 to the adapter 1200, so that the adapter 1200 moves radially relative to the gun housing 1100. The gun head 1300 is connected to the adapter 1100 and is coaxially arranged with the adapter 1200.

[0034] In this embodiment, all the elastic components 1400 are in the same plane. The elastic component 1400 includes a compression spring fixing sleeve 1410, a compression spring 1420, a push rod 1430, and a closing screw 1440. The compression spring fixing sleeve 1410 is connected to the gun housing 1100. An activity cavity 1411 is arranged inside the compression spring fixing sleeve 1410. The compression spring 1420 is arranged inside the activity cavity 1411. The push rod 1430 includes a connection end and a limiting end. The connection end is connected to the adapter 1200. The limiting end is arranged inside the activity cavity 1411 and abuts against one end of the compression spring 1420. The closing screw 1440 is connected inside the compression spring fixing sleeve 1410 and abuts against the other end of the compression spring 1420.

[0035] In this embodiment, 8 groups of the elastic components 1400 are arranged. Each group of the elastic components 1400 is arranged at equal angles on the outer periphery of the gun housing 1100; of course, the number of the elastic components 1400 can also be 4 groups, 6 groups, 10 groups, 12 groups, 16 groups, etc.

[0036] In the above embodiments, a positioning groove is formed on the adapter 1200, and the connecting end of the ejector rod is connected in the positioning groove, so that the connection between the elastic component 1400 and the adapter 1200 is more stable.

[0037] In other embodiments, the elastic component 1400 can also be a combination with a tension spring as the elastic member. For example, one end of the tension spring is connected to the outer extension structure of the gun housing, and the other end of the tension spring is connected to the adapter. When the adapter moves radially relative to the gun housing, the tension spring will be stretched; when the adapter and the gun housing are reset, the deformed tension spring provides the restoring force.

[0038] In this embodiment, the gun housing 1100 includes a stroke cavity 1110, the adapter 1200 is disposed in the stroke cavity 1110, the size of the stroke cavity 1110 is larger than the size of the adapter 1200, an electromagnet suction cup 1500 is disposed at one end of the gun housing 1100 away from the stroke cavity 1110, the electromagnet suction cup 1500 is frustum-shaped or conical, and a cable sleeve 1120 is provided on the side wall of the gun housing 1100.

[0039] In the above embodiments, the gap between the stroke cavity 1110 and the adapter 1200 is the moving range of the adapter 1200 in the stroke cavity 1110, and the gap is the necessary condition for the relative radial movement between the adapter and the gun housing.

[0040] In the above embodiments, the frustum-shaped or conical electromagnet suction cup 1500 can be used for guiding, and the specific usage method will be described in the charging docking structure.

[0041] In the above embodiments, the charging cable sequentially passes through the cable sleeve 1120, the gun housing 1100, and the adapter 1200 and is connected to the gun head 1300. That is, through grooves for the charging cable to pass through are formed on both the gun housing 1100 and the adapter 1200, facilitating the penetration of the charging cable.

[0042] In this embodiment, a sealing plate 1600 is disposed on one side of the stroke cavity 1110. The adapter 1200 is axially restricted between the inner wall of the gun housing 1100 and the sealing plate 1600. A through hole 1610 is formed on the sealing plate 1600. A narrowing portion 1310 is provided at the connection between the gun head 1300 and the adapter 1200, and the narrowing portion 1310 passes through the through hole 1610; in other embodiments, the narrowing portion 1310 can be disposed on the gun head 1300 or the adapter 1200. The matching structure between the adapter and the elastic component enables a larger misalignment movement range between the gun housing and the gun head, and the head of the misaligned gun head does not deflect at an angle and remains flat.

[0043] In the above embodiment, the sealing plate 1600 restricts the adapter 1200 within the stroke cavity 1110, restricting the axial movement of the adapter 1200 within the stroke cavity 1110; in another embodiment, gaskets may also be provided on both sides of the adapter 1200.

[0044] In this embodiment, a groove 1320 is formed on the gun head 1300. A catch 1330 and a return spring 1340 are arranged within the groove 1320. The catch 1330 is connected within the groove 1320 through a pin shaft 1350. One end of the return spring 1340 abuts against the catch 1330, and the other end of the return spring 1340 abuts against the groove 1320. One end of the catch 1330 extends to the head of the gun head 1300 to form a locking portion 1331, and the other end of the catch 1330 extends towards the gun housing 1100 to form an unlocking portion 1332. A flared sleeve 1360 is arranged outside the gun head 1300.

[0045] In the above embodiment, the flared sleeve 1360 can be used for guiding, and the specific usage method will be described in the charging docking structure.

[0046] In this embodiment, the flexible adjustable charging gun is provided with an adapter and an elastic component, enabling the gun housing and the gun head to be misaligned in the radial direction without affecting the use of the charging gun. The flexible adjustable structure of the charging gun is reasonably arranged, has reliable operation, streamlined components, and low cost. Even if the flexible adjustable charging gun is not aligned during the process of unplugging or plugging the gun, the flexible adjustable charging gun can still be operated, which reduces the accuracy requirements for the vision camera during the automatic charging process, thereby greatly reducing the cost of automatic charging, enabling mass production and promotion, and meeting the requirements of current electric vehicle automatic charging.

[0047] Embodiment 2

[0048] Combined with the attached Figure 1 to the attached Figure 9, the technical solution of the present invention is a charging docking structure, which adopts the flexible adjustable charging gun 1000 described in Embodiment 1, and further includes a docking grasping device 2000 and a vehicle-end adapter 3000. The docking grasping device 2000 includes a gripper 2100 and an unlocking member 2200. The unlocking member 2200 is connected to the gripper 2100. A vision camera is provided on the gripper 2100. The gripper 2100 includes a grasping sleeve 2110. One end of the grasping sleeve 2110 is provided with a guide sleeve 2120. An electromagnetic component 2300 is arranged in the grasping sleeve 2110. The guide sleeve 2120 is adapted to the structure of the electromagnet suction cup 1500. The electromagnetic component 2300 cooperates with the electromagnet suction cup 1500 to realize the grasping of the flexible adjustable charging gun 1000 by the docking grasping device 2000. The unlocking member 2200 cooperates with the hook 1330 to unlock the gun head 1300. The vehicle-end adapter 3000 is provided with a first interface 3100 connected to the vehicle charging port and a second interface 3200 connected to the gun head 1300. A guide pin 3300 is arranged on one side of the second interface 3200. The guide pin 3300 is adapted to the flared sleeve 1360.

[0049] In this embodiment, the docking grasping device 2000 can be arranged on the robotic arm of a mobile automatic charging robot or an automatic charging pile; the vehicle-end adapter 3000 is arranged at the charging port of an electric vehicle; the vision camera is not shown in the drawings.

[0050] In the above embodiment, the guide sleeve 2120 is also conical or frustum-shaped, so that during the contact process between the guide sleeve 2120 and the electromagnet suction cup 1500, the docking grasping device 2000 will correct the deviation of the gun shell 1100 of the flexible adjustable charging gun 1000; the flared sleeve 1360 is adapted to the guide pin 3300, so that during the contact process between the flared sleeve 1360 and the guide pin 3300, the vehicle-end adapter 3000 will correct the deviation of the gun head 1300 of the flexible adjustable charging gun 1000.

[0051] In this embodiment, the electromagnetic component 2300 includes an electromagnet 2310, a sliding cover 2320, a sliding sleeve 2330, an electromagnet spring 2340, a cover plate 2350 and a button 2360. The sliding cover 2320 is fixed on the electromagnet 2310 through a pressing pin 2370. The cover plate 2350 is fixed at one end of the sliding sleeve 2330. The sliding cover 2320 is movably connected in the sliding sleeve 2330. The electromagnet spring 2340 is arranged between the sliding cover 2320 and the cover plate 2350. The button 2360 is arranged on the cover plate 2350. The button 2360 is coaxially arranged with the pressing pin 2370.

[0052] In the above embodiment, during the docking process between the gripper 2100 and the flexible adjustable charging gun 1000, the electromagnet suction cup 1500 squeezes the electromagnet 2310 to compress the electromagnet spring 2340 until the pressing pin 2370 touches the button 2360 to energize the electromagnet 2310, and the electromagnet suction cup 1500 is attracted by the electromagnet 2310, thereby enabling the gripper 2100 to grip the flexible adjustable charging gun 1000.

[0053] In this embodiment, a guide flange 2130 and a connecting flange 2140 are respectively provided at both ends of the grabbing sleeve 2110, the guide sleeve 2120 is connected to the guide flange 2130, a through hole 2131 is provided on the guide flange 2130, and the electromagnet 2310 is arranged opposite to the through hole 2131.

[0054] In this embodiment, the visual camera can be set on the guide flange 2130.

[0055] In this embodiment, the unlocking member 2200 includes a fixed bracket 2210 and a roller bracket 2220, and the fixed bracket 2210 is provided with a guide pin 2230 and a spring support pin 2240, and the roller bracket 2220 is movably connected to the guide pin 2230, and the spring support pin 2240 is sleeved with an unlocking spring 2250, and the two ends of the unlocking spring 2250 are respectively against the fixed bracket 2210 and the roller bracket 2220, and the roller bracket 2220 is provided with a cantilever 2221, and a cantilever pin 2260 is provided between the cantilevers 2221, and the cantilever pin 2260 is connected to the roller 2270.

[0056] In this embodiment, after the roller 2270 is subjected to force, the roller bracket 2220 can move on the guide pin 2230. During the movement, the unlocking spring 2250 will be compressed. When the roller 2270 loses external force, the compressed unlocking spring 2250 will reset the roller bracket 2220.

[0057] In the above embodiment, the unlocking member adopts a roller to cooperate with the hook of the flexible adjustable charging gun. The function of the roller is to reduce the resistance when pressing the hook to prevent the hook from being stuck instantly in an abnormal situation. At the same time, due to the problem of positioning accuracy, the docking and grasping device corrects the center point position of the gun housing. The position of each positioning deviation is different, resulting in different contact positions and distances between the roller and the hook. Therefore, the unlocking device is designed with four extreme positions of contact according to the camera positioning accuracy, namely the leftmost, rightmost, lowest and highest extreme positions. The roller is required to complete the pressing of the hook. Each time the gun is plugged in and out, the contact position is different. When the hook is tilted to the specified position, the roller bracket can slide on the sliding pin of the unlocking device to meet the pressing at different positions.

[0058] In this embodiment, the charging docking structure adopts a docking grasping device and a vehicle-end adapter. Among them, the docking grasping device and the flexible adjustable charging gun use the cooperation of a guide sleeve and an electromagnetic chuck for deviation correction, and the vehicle-end adapter and the flexible adjustable charging gun use the cooperation of a guide pin and a flared socket for deviation correction, providing a reasonable structure for the gun pulling and gun inserting of the flexible adjustable charging gun.

[0059] Embodiment 3

[0060] A charging control method adopts the charging docking structure described in Embodiment 2, including a gun-taking stage and a gun-inserting stage.

[0061] The gun-taking stage includes: the docking grasping device approaches the flexible adjustable charging gun under the control of the robotic arm, the vision camera takes pictures to locate the position of the flexible adjustable charging gun, the robotic arm adjusts the position of the docking grasping device according to the position information of the flexible adjustable charging gun and conducts docking. During the docking process, the electromagnetic chuck first contacts the guide sleeve, and under the guidance of the guide sleeve, the deviation correction of the gun shell is completed so that the guide sleeve and the electromagnetic chuck are fully matched. During the deviation correction process of the gun shell, the compression spring of the elastic component compresses or elongates, causing the adapter to radially shift relative to the gun shell in the stroke cavity, and the gun head also radially shifts relative to the gun shell. At this time, the gun head and the gun shell are not coaxially arranged. The docking grasping device continues to approach the gun shell, the electromagnetic chuck squeezes the electromagnet so that the electromagnet spring is compressed until the pressing pin touches the button to energize the electromagnet, and the electromagnetic chuck is attracted by the electromagnet. At the same time, the roller touches the unlocking part of the hook, and the hook rotates around the pin shaft under the force, so that the locking part of the hook separates from the head of the gun head; the docking grasping device removes the flexible adjustable charging gun under the control of the robotic arm. At the moment of removal, under the action of the compression spring, the elastic component resets, causing the adapter to return to the initial position. At this time, the gun head and the gun shell are coaxially arranged again, and the gun-taking is completed.

[0062] The gun-inserting stage includes: under the control of the robotic arm, the docking grasping device drives the flexible adjustable charging gun to approach the vehicle-end adapter, the vision camera takes pictures to locate the position of the vehicle-end adapter, the robotic arm adjusts the position of the docking grasping device according to the position information of the vehicle-end adapter and conducts gun insertion. During the gun-insertion process, the guide pin first contacts the flared socket of the gun head, and under the guidance of the flared socket, the deviation correction of the gun head is completed so that the head of the gun head is matched with the second interface of the vehicle-end adapter. During the deviation correction process of the gun head, the compression spring of the elastic component compresses or elongates, causing the adapter to radially shift relative to the gun shell in the stroke cavity, and the gun head also radially shifts relative to the gun shell. At this time, the gun head and the gun shell are not coaxially arranged. When the flexible adjustable charging gun is connected to the vehicle-end adapter, the electromagnet of the docking grasping device loses power and the robotic arm separates the docking grasping device from the flexible adjustable charging gun. At the moment of separation, under the action of the compression spring, the elastic component resets, causing the gun shell to return to the initial position. At this time, the gun head and the gun shell are coaxially arranged again, and the gun-inserting is completed.

[0063] The above has schematically described the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and, without departing from the purpose of the present invention, creatively design structural manners and embodiments similar to the technical solution, they shall fall within the protection scope of the present invention.

Claims

1. A charging control method, characterized in that, Including: The gun-taking stage and the gun-inserting stage, The gun-taking stage includes: the docking and grasping device approaches the flexible adjustable charging gun under the control of the robotic arm, the vision camera takes pictures to locate the position of the flexible adjustable charging gun, the robotic arm adjusts the position of the docking and grasping device according to the position information of the flexible adjustable charging gun and conducts docking. During the docking process, the electromagnet suction cup first contacts the guide sleeve, and under the guidance of the guide sleeve, the deviation correction of the gun shell is completed so that the guide sleeve and the electromagnet suction cup are fully matched. During the deviation correction of the gun shell, the compression spring of the elastic component compresses or elongates, so that the adapter moves radially relative to the gun shell in the stroke cavity, and the gun head also moves radially relative to the gun shell. At this time, the gun head and the gun shell are not coaxially arranged. The docking and grasping device continues to approach the gun shell, the electromagnet suction cup presses the electromagnet so that the electromagnet spring is compressed until the pressing pin touches the button to make the electromagnet energized, and the electromagnet suction cup is attracted by the electromagnet. At the same time, the roller touches the unlocking part of the hook, and the hook rotates around the pin shaft under the force, so that the locking part of the hook separates from the head of the gun head; the docking and grasping device takes down the flexible adjustable charging gun under the control of the robotic arm. At the moment of taking down, under the action of the compression spring, the elastic component resets, so that the adapter returns to the initial position. At this time, the gun head and the gun shell are coaxially arranged again, and the gun-taking is completed; The gun-inserting stage includes: under the control of the robotic arm, the docking and grasping device drives the flexible adjustable charging gun to approach the vehicle-end adapter, the vision camera takes pictures to locate the position of the vehicle-end adapter, the robotic arm adjusts the position of the docking and grasping device according to the position information of the vehicle-end adapter and conducts gun insertion. During the gun-insertion process, the guide pin first contacts the bell mouth sleeve of the gun head, and under the guidance of the bell mouth sleeve, the deviation correction of the gun head is completed so that the head of the gun head is matched with the second interface of the vehicle-end adapter. During the deviation correction of the gun head, the compression spring of the elastic component compresses or elongates, so that the adapter moves radially relative to the gun shell in the stroke cavity, and the gun head also moves radially relative to the gun shell. At this time, the gun head and the gun shell are not coaxially arranged. When the flexible adjustable charging gun is connected to the vehicle-end adapter, the electromagnet of the docking and grasping device loses power and the robotic arm separates the docking and grasping device from the flexible adjustable charging gun. At the moment of separation, under the action of the compression spring, the elastic component resets, so that the gun shell returns to the initial position. At this time, the gun head and the gun shell are coaxially arranged again, and the gun-inserting is completed; The flexible adjustable charging gun includes a gun shell, an adapter and a gun head. The adapter is arranged in the gun shell. An elastic component is annularly arranged outside the gun shell. The elastic component is respectively connected to the adapter. The elastic component provides an elastic force in the radial direction of the adapter to the adapter, so that the adapter moves radially relative to the gun shell. The gun head is connected to the adapter and is coaxially arranged with the adapter; The gun shell includes a stroke cavity. The adapter is arranged in the stroke cavity. The size of the stroke cavity is larger than the size of the adapter. One end of the gun shell away from the stroke cavity is provided with an electromagnet suction cup. The electromagnet suction cup is frustum-shaped or conical. A cable sleeve is arranged on the side wall of the gun shell; A sealing plate is provided on one side of the stroke cavity. The adapter is axially restricted between the inner wall of the gun housing and the sealing plate. A through hole is formed in the sealing plate. A narrowing portion is provided on the gun head or the adapter or at the connection between the gun head and the adapter. The narrowing portion passes through the through hole. A groove is formed in the gun head. A hook and a return spring are arranged in the groove. The hook is connected in the groove through a pin shaft. One end of the return spring abuts against the hook, and the other end of the return spring abuts against the groove. One end of the hook extends to the head of the gun head to form a locking portion, and the other end of the hook extends towards the gun housing to form an unlocking portion. A flared socket is arranged outside the gun head. The charging docking structure includes the flexible adjustable charging gun, and also includes a docking grasping device and a vehicle-side adapter. The docking grasping device includes a gripper and an unlocking member. The unlocking member is connected to the gripper. A vision camera is arranged on the gripper. The gripper includes a grasping sleeve. One end of the grasping sleeve is provided with a guiding sleeve. An electromagnetic assembly is arranged in the grasping sleeve. The guiding sleeve is adapted to the structure of the electromagnetic chuck. The electromagnetic assembly cooperates with the electromagnetic chuck to enable the docking grasping device to grasp the flexible adjustable charging gun. The unlocking member cooperates with the hook to unlock the gun head. The vehicle-side adapter is provided with a first interface connected to the vehicle charging port and a second interface connected to the gun head. A guiding pin is arranged on one side of the second interface. The guiding pin is adapted to the flared socket.

2. The charging control method according to claim 1, wherein, The elastic component includes a compression spring fixing sleeve, a compression spring, a push rod and a closing screw. The compression spring fixing sleeve is connected to the gun housing. An activity cavity is arranged in the compression spring fixing sleeve. The compression spring is arranged in the activity cavity. The push rod includes a connection end and a limiting end. The connection end is connected to the adapter. The limiting end is arranged in the activity cavity and abuts against one end of the compression spring. The closing screw is connected in the compression spring fixing sleeve and abuts against the other end of the compression spring.

3. The charging control method according to claim 1, characterized in that The electromagnetic assembly includes an electromagnet, a sliding cover, a sliding sleeve, an electromagnet spring, a cover plate and a button. The sliding cover is fixed on the electromagnet through a pressing pin. The cover plate is fixed at one end of the sliding sleeve. The sliding cover is movably connected in the sliding sleeve. The electromagnet spring is arranged between the sliding cover and the cover plate. The button is arranged on the cover plate. The button is coaxially arranged with the pressing pin.

4. The charging control method according to claim 3, characterized in that, Guiding flanges and connecting flanges are respectively arranged at both ends of the grasping sleeve. The guiding sleeve is connected to the guiding flange. A through hole is formed in the guiding flange. The electromagnet is arranged opposite to the through hole.

5. A charging control method according to claim 3 or 4, characterized in that The unlocking member includes a fixed bracket and a roller bracket. A guide pin and a spring support pin are provided on the fixed bracket. The roller bracket is movably connected to the guide pin. An unlocking spring is sleeved on the spring support pin. Two ends of the unlocking spring respectively abut against the fixed bracket and the roller bracket. A cantilever is provided on the roller bracket. A cantilever pin is arranged between the cantilevers. A roller is connected to the cantilever pin.

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