Automatic charging system and method

Abstract

The invention relates to the technical field of automatic charging, in particular to an automatic charging system and method. The system comprises a first guide assembly, a second guide assembly, a charging gun assembly and a charging base assembly. The first guide assembly comprises a first guide unit and a first guide rod; one end of the first guide rod is connected with the first guide unit, and the other end extends away from the first guide unit; the second guide assembly comprises a second guide unit and a second guide rod; s1 is greater than S2; one end of the charging gun assembly is connected with the second guide unit, and the other end extends in the same direction as the first guide rod; s2 is greater than S3; the charging seat assembly comprises a base, a charging port unit, a first guide hole and a second guide hole; the base is connected with the charging port unit; the automatic charging system comprises a first guiding state and a second guiding state; in this way, the problem that the requirement for the positioning precision is too high when the charging gun is plugged is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic charging, and in particular, to an automatic charging system and method. Background Art

[0002] In recent years, with the popularization of new energy vehicles, automatic charging technology has become a key research direction in the industry. Currently, automatic charging systems usually achieve the docking of the charging gun and the vehicle charging port through methods such as visual recognition and sensor detection. The automatic charging system captures the position information of the charging port through a camera, and then adjusts the moving path of the charging gun to dock with the charging port; there are also some automatic charging systems that use guide grooves or magnetic elements for physical contact guidance, and drive the charging gun through a robotic arm to achieve the plugging operation.

[0003] However, the strict requirements for positioning accuracy in the prior art have led to a significant increase in system costs, and it is difficult to guarantee the implementation stability. The visual recognition scheme is prone to recognition deviation due to light changes and interference from obstacles, and the positioning coordinates need to be repeatedly calibrated; therefore, an automatic charging technical solution that can reduce the requirement for positioning accuracy while still achieving stable docking is needed to improve the device compatibility and operation efficiency. Summary of the Invention

[0004] To solve the problem of excessive requirements for positioning accuracy when plugging in the charging gun, the present invention provides an automatic charging system and method.

[0005] In a first aspect, the present invention provides an automatic charging system, which includes: A first guiding component, the first guiding component includes a first guiding unit and a first guiding rod; one end of the first guiding rod is connected to the first guiding unit, and the other end extends away from the first guiding unit; A second guiding component, the second guiding component includes a second guiding unit and a second guiding rod; the second guiding unit is movably connected to the side of the first guiding unit close to the first guiding rod; one end of the second guiding rod is connected to the second guiding unit, and the other end extends in the same direction as the first guiding rod; S1 > S2; S1 is the distance that the first guiding rod extends beyond the second guiding unit; S2 is the distance that the second guiding rod extends; A charging gun assembly, one end of the charging gun assembly is connected to the second guiding unit, and the other end extends in the same direction as the first guiding rod; S2 > S3; S3 is the distance that the charging gun assembly extends; Charging base assembly, the charging base assembly includes a base, a charging port unit, a first guiding hole, and a second guiding hole; the base is connected to the charging port unit; the first guiding hole and the second guiding hole are recessed from the side of the base close to the charging port unit towards the direction away from the charging port unit; The automatic charging system includes a first guiding state and a second guiding state; the first guiding state includes that part of the first guiding rod is located in the first guiding hole; the second guiding state includes that part of the first guiding rod is located in the first guiding hole and part of the second guiding rod is located in the second guiding hole.

[0006] In some embodiments, D1 - D2 > D3 - D4; D1 is the diameter of the first guiding hole; D2 is the diameter of the first guiding rod; D3 is the diameter of the second guiding hole; D4 is the diameter of the second guiding rod.

[0007] In some embodiments, the first guiding assembly includes at least two of the first guiding rods.

[0008] In some embodiments, 0.5×L1 < L2 ≤ L1; where L1 is the distance between the two points with the largest spacing on the side of the first guiding unit close to the second guiding unit; L2 is the spacing of at least two of the first guiding rods.

[0009] In some embodiments, A < MIN(C, D); B < MIN(C, D); where A is the strength of the first guiding hole; B is the strength of the second guiding hole; C is the strength of the first guiding rod; D is the strength of the second guiding rod.

[0010] In some embodiments, A > B; where A is the strength of the first guiding hole; B is the strength of the second guiding hole.

[0011] In some embodiments, the first guiding assembly further includes a first magnetic attraction part; the first magnetic attraction part is connected to the end of the first guiding rod away from the first guiding unit; The charging base assembly further includes a second magnetic attraction part; the second magnetic attraction part is connected to the end of the first guiding hole close to the charging port unit; the first magnetic attraction part and the second magnetic attraction part magnetically attract each other when the distance between them is less than or equal to a set distance.

[0012] In some embodiments, S1 = (1.2~1.8)×S2.

[0013] In some embodiments, the second guiding unit includes a third guiding module and a second floating module; the second floating module includes a sliding rod and an elastic body; one end of the sliding rod is slidably connected to the first guiding unit, and the other end extends in the same direction as the first guiding rod to be connected to the third guiding module; the third guiding module is connected to the end of the first guiding rod away from the first guiding unit; the elastic body is made of an elastic material; one end of the elastic body is connected to the third guiding module, and the other end is connected to the first guiding unit; one end of the second guiding rod is connected to the third guiding module, and the other end extends in the same direction as the first guiding rod; S1 is the distance that the first guiding rod extends beyond the third guiding module; one end of the charging gun assembly is connected to the third guiding module, and the other end extends in the same direction as the first guiding rod.

[0014] In some embodiments, the second guiding unit further includes a limiting module; the limiting module includes a limiting plate and a support rod; one end of the support rod is connected to the third guiding module, and the other end extends in the same direction as the first guiding rod; the limiting plate is connected to the end of the support rod away from the third guiding module; the limiting plate is connected to the end of the first guiding rod away from the third guiding module; S3 > S4; S4 is the shortest distance from the side of the limiting plate away from the third guiding module to the third guiding module; part of the charging gun assembly is disposed between the limiting plate and the third guiding module and is in contact with the limiting plate and the third guiding module respectively.

[0015] In some embodiments, the first guiding unit includes a first guiding module, a second guiding module, and a first floating module; one end of the first floating module is connected to the first guiding module, and the other end is connected to the second guiding module; one end of the first guiding rod is connected to the second guiding module, and the other end extends away from the first guiding module; the second guiding unit is movably connected to the side of the second guiding module close to the first guiding rod.

[0016] In some embodiments, the first floating module includes a first guide rail, a first connecting portion, a movable plate, a second guide rail, and a second connecting portion; the first guide rail is connected to the side of the first guiding module close to the second guiding module; the length direction of the first guide rail is parallel to the height direction of the first guiding module; the movable plate is slidably connected to the first guide rail; the first connecting portion is made of an elastic material; one end of the first connecting portion is connected to the first guiding module, and the other end is connected to the movable plate; the second guide rail is connected to the side of the movable plate close to the second guiding module; the length direction of the second guide rail is parallel to the length direction of the first guiding module; the second guiding module is slidably connected to the second guide rail; the second connecting portion is made of an elastic material; one end of the second connecting portion is connected to the second guiding module, and the other end is connected to the movable plate.

[0017] In a second aspect, the present invention provides an automatic charging method, which is applied to the automatic charging system in any one of the first aspects. The automatic charging method includes: Step S10, triggered by a charging instruction, obtain the position of the charging port unit; Step S20, based on obtaining the position of the charging port unit, the charging gun assembly moves towards the charging port unit; Step S30, based on the charging gun assembly moving towards the charging port unit, the first guiding rod moves towards the first guiding hole; Step S40, based on a part of the first guiding rod being located in the space surrounded by the first guiding hole, the second guiding rod moves towards the second guiding hole until the charging gun assembly is electrically connected to the charging port unit; wherein, during the movement of the charging gun assembly, the force between the first guiding hole and the first guiding rod causes the first guiding unit and the second guiding unit to move relative to each other; the force between the second guiding hole and the second guiding rod causes the first guiding unit and the second guiding unit to move relative to each other.

[0018] To solve the problem of excessive positioning accuracy requirements when plugging in the charging gun, the present invention has the following advantages: Since the first guiding rod and the second guiding rod are conical, the outer peripheral wall of the end of the first guiding rod away from the first guiding unit slides to contact the inner peripheral wall of the end of the first guiding hole away from the base; the outer peripheral wall of the end of the second guiding rod away from the second guiding unit slides to contact the inner peripheral wall of the end of the second guiding hole away from the base, and the second guiding unit and the first guiding unit can move relative to each other along the length, width, and height directions of the first guiding unit. This allows the area of the projection of the first guiding rod along the direction of the first guiding unit towards the second guiding unit and the area of the projection of the first guiding hole along the direction of the first guiding unit towards the second guiding unit to gradually coincide. Part of the first guiding rod is inserted into the surrounding space of the first guiding hole. At this time, the central axis of the second guiding rod and the second guiding hole coincide as much as possible. Subsequently, the outer peripheral wall of the end of the second guiding rod away from the second guiding unit slides to contact the inner peripheral wall of the end of the second guiding hole away from the base. The area of the projection of the second guiding rod along the direction of the first guiding unit towards the second guiding unit and the area of the projection of the second guiding hole along the direction of the first guiding unit towards the second guiding unit gradually coincide, making the central axis of the charging gun assembly and the charging port unit coincide as much as possible. Finally, the charging gun assembly and the charging port unit are plugged together. In this way, the plugging of the charging gun assembly and the charging port unit is completed through two positioning steps, reducing the accuracy requirements for positioning the charging gun assembly and the charging port unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 FIG. 6 shows a schematic diagram of an automatic charging system according to an embodiment; Figure 2 FIG. 9 shows a schematic diagram of a first guiding assembly and a second guiding assembly of an automatic charging system according to an embodiment; Figure 3 FIG. 12 shows a side view of a first guiding assembly and a second guiding assembly of an automatic charging system according to an embodiment; Figure 4 FIG. 15 shows a schematic diagram of a charging gun assembly of an automatic charging system according to an embodiment; Figure 5 FIG. 18 shows a schematic diagram of a limiting module of an automatic charging system according to an embodiment; Figure 6 FIG. 21 shows a schematic diagram of a second floating module of an automatic charging system according to an embodiment; Figure 7 FIG. 24 shows a schematic diagram of a charging base assembly of an automatic charging system according to an embodiment; Figure 8 FIG. 27 shows a schematic diagram of a first floating module of an automatic charging system according to an embodiment; Figure 9 FIG. 30 shows a flowchart of an automatic charging method according to an embodiment.

[0020] Reference numerals: first guiding assembly 01; first guiding unit 11; first guiding module 111; first plate 1111; second engaging portion 1112; second guiding module 112; second plate 1121; first mounting hole 1122; first floating module 113; first guide rail 1131; first connecting portion 1132; movable plate 1133; second guide rail 1134; second connecting portion 1135; first guiding rod 12; moving unit 13; robotic arm 131; vision unit 132; first engaging portion 133; second guiding assembly 02; second guiding unit 21; third guiding module 211; third plate 2111; second mounting hole 2112; second floating module 212; sliding rod 2121; elastic body 2122; limiting module 213; limiting plate 2131; support rod 2132; second guiding rod 22; charging gun assembly 03; first gun 31; second gun 32; charging base assembly 04; base 41; charging port unit 42; first port 421; second port 422; first guiding hole 43; second guiding hole 44. Detailed implementation manners

[0021] The present disclosure will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are described only to enable those of ordinary skill in the art to better understand and thus implement the present disclosure, rather than to imply any limitation on the scope of the present disclosure.

[0022] As used herein, the term "comprising" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment". The term "another embodiment" is to be construed as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation. Also, in addition to being used to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances. In addition, the terms "mounted", "arranged", "provided with", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated device, element or component. Unless otherwise specified, the meaning of "a plurality of" is two or more.

[0023] In this embodiment, the current automatic charging system generally uses methods such as visual recognition and sensor detection to achieve the docking of the charging gun and the vehicle charging port. The visual recognition solution is susceptible to light changes and interference from obstacles, resulting in recognition deviations and requiring repeated calibration of the positioning coordinates. This leads to too high requirements for the positioning accuracy when inserting the charging gun. Therefore, to solve the above problems, the present invention provides an automatic charging system, as Figure 1 shown, the automatic charging system may include a first guiding assembly 01, a second guiding assembly 02, a charging gun assembly 03, and a charging seat assembly 04.

[0024] As Figure 2 、 Figure 4As shown, the first guiding component 01 may include a first guiding unit 11 and a first guiding rod 12. One end of the first guiding rod 12 may be connected to the first guiding unit 11, and the other end may extend away from the first guiding unit 11. The second guiding component 02 may include a second guiding unit 21 and a second guiding rod 22. The second guiding unit 21 may be movably connected to one side of the first guiding unit 11 close to the first guiding rod 12, so that the second guiding unit 21 and the first guiding unit 11 may move relative to each other along the length, width, and height directions of the first guiding unit 11. One end of the second guiding rod 22 may be connected to the second guiding unit 21, and the other end may extend in the same direction as the first guiding rod 12. The cross-sectional area of the first guiding rod 12 in the radial direction gradually decreases along the direction from the first guiding unit 11 to the second guiding unit 21. The cross-sectional area of the second guiding rod 22 in the radial direction gradually decreases along the direction from the first guiding unit 11 to the second guiding unit 21. S1 > S2, where S1 may be the distance that the first guiding rod 12 extends beyond the second guiding unit 21. S2 may be the distance that the second guiding rod 22 extends. Thus, it is ensured that the longer first guiding rod 12 first completes the positioning with the charging base component 04, and then the shorter second guiding rod 22 performs the positioning with the charging base component 04. If both the first guiding rod 12 and the second guiding rod 22 are installed on the side of the second guiding unit 21 away from the first guiding unit 11, the positions of the first guiding rod 12 and the second guiding rod 22 are relatively fixed, and the longer first guiding rod 12 will directly guide the charging gun component 03 to connect with the charging base component 04, but this will result in a higher requirement for the positioning accuracy of the first guiding rod 12 and the second guiding rod 22 being ineffective.

[0025] One end of the charging gun component 03 may be connected to the second guiding unit 21, and the other end may extend in the same direction as the first guiding rod 12. S2 > S3, where S3 may be the distance that the charging gun component 03 extends.

[0026] The charging base component 04 may include a base 41, a charging port unit 42, a first guiding hole 43, and a second guiding hole 44. The base 41 may be connected to the charging port unit 42. The first guiding hole 43 and the second guiding hole 44 may be recessed from one side of the base 41 close to the charging port unit 42 in the direction away from the charging port unit 42.

[0027] When the central axes of the charging gun assembly 03 and the charging base assembly 04 are spaced apart, due to the shapes of the cross-sectional areas in the radial direction of the first guiding rod 12 and the second guiding rod 22, that is, the first guiding rod 12 and the second guiding rod 22 are conical, this allows the outer peripheral wall of the end of the first guiding rod 12 away from the first guiding unit 11 to slide until it contacts the inner peripheral wall of the end of the first guiding hole 43 away from the base 41; the outer peripheral wall of the end of the second guiding rod 22 away from the second guiding unit 21 slides until it contacts the inner peripheral wall of the end of the second guiding hole 44 away from the base 41, and due to the characteristic that the second guiding unit 21 and the first guiding unit 11 can move relative to each other in the length, width, and height directions of the first guiding unit 11, the outer peripheral wall of the end of the first guiding rod 12 away from the first guiding unit 11 contacts the inner peripheral wall of the first guiding hole 43 near the end of the first guiding rod 12 and continuously moves closer within the enclosed space of the first guiding hole 43, which can make the projected area of the first guiding rod 12 along the direction of the first guiding unit 11 towards the second guiding unit 21 and the projected area of the first guiding hole 43 along the direction of the first guiding unit 11 towards the second guiding unit 21 gradually coincide, and insert part of the first guiding rod 12 into the enclosed space of the first guiding hole 43. At this time, the central axes of the second guiding rod 22 and the second guiding hole 44 are as coincident as possible. Subsequently, the outer peripheral wall of the end of the second guiding rod 22 away from the second guiding unit 21 slides until it contacts the inner peripheral wall of the end of the second guiding hole 44 away from the base 41, and the projected area of the second guiding rod 22 along the direction of the first guiding unit 11 towards the second guiding unit 21 and the projected area of the second guiding hole 44 along the direction of the first guiding unit 11 towards the second guiding unit 21 gradually coincide, making the central axes of the charging gun assembly 03 and the charging port unit 42 as coincident as possible, and finally enabling the charging gun assembly 03 and the charging port unit 42 to be plugged in. In this way, the plugging of the charging gun assembly 03 and the charging port unit 42 is completed through two positionings, reducing the precision requirements for the positioning of the charging gun assembly 03 and the charging port unit 42.

[0028] The automatic charging system may include a first guiding state and a second guiding state. The first guiding state may include that a part of the first guiding rod 12 is located within the first guiding hole 43. The second guiding state may include that a part of the first guiding rod 12 is located within the first guiding hole 43 and a part of the second guiding rod 22 is located within the second guiding hole 44. Through the first guiding state of the automatic charging system, the central axis of the second guiding rod 22 is made to coincide as much as possible with the central axis of the second guiding hole 44, and then through the second guiding state of the automatic charging system, the central axis of the charging gun assembly 03 is made to coincide as much as possible with the central axis of the charging port unit 42, thereby reducing the positioning accuracy requirement for the charging gun assembly 03. The automatic charging system may further include a charging state, where the charging gun assembly 03 is located within the surrounding space of the charging port unit 42 and the charging gun assembly 03 is electrically connected to the charging port unit 42. The automatic charging system may proceed from the first guiding state to the second guiding state and then to the charging state, thereby achieving the electrical connection between the charging gun assembly 03 and the charging port unit 42 to replenish the energy of the vehicle.

[0029] In this embodiment, D1 - D2 > D3 - D4. D1 may be the diameter of the first guiding hole 43, D2 may be the diameter of the first guiding rod 12, D3 may be the diameter of the second guiding hole 44, and D4 may be the diameter of the second guiding rod 22. Making the difference between the diameter of the first guiding hole 43 and the diameter of the first guiding rod 12 larger is because when the distance between the central axis of the first guiding hole 43 and the central axis of the first guiding rod 12 is relatively large, that is, when the error is large, the first guiding rod 12 can still enter the surrounding space of the first guiding hole 43, avoiding the situation of the first guiding rod 12 getting stuck, thereby improving the fault tolerance rate of the insertion of the first guiding rod 12 into the first guiding hole 43 and reducing the positioning accuracy requirement. The error between the diameter of the second guiding hole 44 and the diameter of the second guiding rod 22 is smaller because a part of the first guiding rod 12 is already located on the inner peripheral wall of the first guiding hole 43, which reduces the angular and positional error between the central axis of the second guiding rod 22 and the central axis of the second guiding hole 44. Therefore, the difference between the diameter of the second guiding hole 44 and the diameter of the second guiding rod 22 is smaller, and the second guiding rod 22 can still be moved into the surrounding space of the second guiding hole 44. At the same time, the smaller difference between the diameter of the second guiding hole 44 and the diameter of the second guiding rod 22 can better align the central axis of the charging gun assembly 03 with the central axis of the charging port unit 42, thereby reducing the positioning accuracy requirement for the charging gun assembly 03.

[0030] In this embodiment, as Figure 4As shown, the first guiding component 01 may include at least two first guiding rods 12, and the positions and quantities of the first guiding holes 43 may be correspondingly set with the first guiding rods 12. Through the multiple first guiding rods 12, the force borne by the first guiding rods 12 can be dispersed. At the same time, the first guiding rods 12 can be more easily inserted into the surrounding space of the first guiding holes 43, thereby reducing the errors in the angles and positions between the central axis of the second guiding rod 22 and the central axis of the second guiding hole 44. Furthermore, the central axis of the charging gun assembly 03 can be more easily aligned with the central axis of the charging port unit 42, that is, the charging gun assembly 03 can be more easily plugged into the charging port unit 42, reducing the positioning accuracy requirements for the charging gun assembly 03.

[0031] In some other embodiments, the second guiding component 02 may include at least two second guiding rods 22, and the positions and quantities of the second guiding holes 44 may be correspondingly set with the second guiding rods 22. Through the multiple second guiding rods 22, the force borne by the second guiding rods 22 can be dispersed. At the same time, the first guiding rods 12 can be more easily inserted into the surrounding space of the first guiding holes 43, thereby better reducing the errors in the angles and positions between the central axis of the charging gun assembly 03 and the central axis of the charging port unit 42, enabling the charging gun assembly 03 to be more easily plugged into the charging port unit 42, reducing the positioning accuracy requirements for the charging gun assembly 03.

[0032] In this embodiment, as Figure 4 shown, 0.5×L1<L2≤L1. Wherein, L1 may be the distance between the two points with the largest spacing on the side of the first guiding unit 11 close to the second guiding unit 21, and L2 may be the spacing between at least two first guiding rods 12. Thereby enabling the charging gun assembly 03 to be more easily plugged into the charging port unit 42. For example, when the first guiding unit 11 is rectangular, at least two first guiding rods 12 may be arranged at both ends of the diagonal on the side of the first guiding unit 11 close to the second guiding unit 21, L1 is the distance between the diagonals of the rectangle, the spacing between at least two first guiding rods 12 is greater than half of the distance between the two points with the largest spacing on the side of the first guiding unit 11 close to the second guiding unit 21, and at least two first guiding rods 12 are located within the projection area of the second guiding unit 21 in the direction towards the first guiding unit 11, which can make the distribution of at least two first guiding rods 12 relatively uniform, thereby enabling the charging gun assembly 03 to be more easily guided to be plugged into the charging port unit 42.

[0033] In some other embodiments, 0.5×L3 < L4 < L3. Wherein, L3 may be the distance between the two points with the largest spacing on the side of the second guiding unit 21 away from the first guiding unit 11, and L4 may be the spacing between at least two second guiding rods 22. When the second guiding unit 21 is rectangular, at least two second guiding rods 22 may be arranged at both ends of the diagonal line on the side of the first guiding unit 11 close to the second guiding unit 21. Preferably, there are two first guiding rods 12 and two second guiding rods 22, and the angle formed by the connection line of the two second guiding rods 22 and the connection line of the two first guiding rods 12 is 45° - 60°. In this way, the areas where the first guiding rods 12 and the second guiding rods 22 are distributed are relatively uniform, so that the central axis of the charging gun assembly 03 can be better aligned with the central axis of the charging port unit 42. At the same time, when the first guiding rods 12 move towards the first guiding holes 43 and the second guiding rods 22 move towards the second guiding holes 44, a reaction force will be generated on the first guiding rods 12, the second guiding rods 22, the first guiding unit 11, and the second guiding unit 21. In this way, the reaction forces received by the first guiding unit 11 and the second guiding unit 21 can be dispersed, thereby extending the service life of the first guiding unit 11 and the second guiding unit 21.

[0034] In this embodiment, A < MIN(C, D), B < MIN(C, D). Wherein, A may be the strength of the first guiding hole 43, B may be the strength of the second guiding hole 44, C may be the strength of the first guiding rod 12, and D may be the strength of the second guiding rod 22. Since the first guiding rod 12 and the second guiding rod 22 need to frequently guide the charging gun assembly 03 to be inserted into the charging port unit 42, which is likely to cause wear, the strength of the first guiding hole 43 is less than the minimum value of the strength of the first guiding rod 12 or the second guiding rod 22, and the strength of the second guiding hole 44 is less than the minimum value of the strength of the first guiding rod 12 or the second guiding rod 22. While increasing the service life of the first guiding rod 12 and the second guiding rod 22, the processing costs of the first guiding hole 43 and the second guiding hole 44 can also be reduced. For example, if the charging gun assembly 03 needs to charge 300 vehicles in a month, then the first guiding rod 12 and the second guiding rod 22 will be worn 300 times. And a vehicle may only need to be charged 10 times in a month, and the first guiding hole 43 and the second guiding hole 44 will only be worn 10 times in a month. Therefore, the strength of the first guiding rod 12 and the second guiding rod 22 is set to be relatively high, so as to improve the service life of the first guiding rod 12 and the second guiding rod 22.

[0035] In this embodiment, before the charging gun assembly 03 is plugged into the charging port unit 42, it is necessary to ensure that part of the first guiding rod 12 first enters the space surrounded by the first guiding hole 43. At this time, if the positional error between the central axis of the first guiding rod 12 and the central axis of the first guiding hole 43 is large, then the force exerted by the first guiding rod 12 on the first guiding hole 43 is large. After part of the first guiding rod 12 enters the space surrounded by the first guiding hole 43, the distance and angular error between the central axis of the second guiding rod 22 and the central axis of the second guiding hole 44 are small. Therefore, the force exerted by the second guiding rod 22 on the second guiding hole 44 is small. Thus, this solution makes the strength of the first guiding hole 43 greater than that of the second guiding hole 44, so as to extend the service life of the first guiding hole 43. More preferably, the material for making the first guiding hole 43 can be copper, which has a high lubricity, so that while ensuring the strength of the first guiding hole 43, it can also better insert the first guiding rod 12 into the first guiding hole 43. The material for machining the second guiding hole 44 can be plastic, which is more easily deformed and is easy for the second guiding rod 22 to enter the inside of the second guiding hole 44. At the same time, the cost of plastic is low.

[0036] In this embodiment, the first guiding assembly 01 may further include a first magnetic attraction part, and the first magnetic attraction part may be connected to one end of the first guiding rod 12 far from the first guiding unit 11.

[0037] The charging base assembly 04 may further include a second magnetic attraction part, and the second magnetic attraction part may be connected to one end of the first guiding hole 43 close to the charging port unit 42. The first magnetic attraction part and the second magnetic attraction part may magnetically attract each other when the distance therebetween is less than or equal to a set distance. The set distance may be 5 to 10 cm. In this way, when one end of the first guiding rod 12 far from the first guiding unit 11 is spaced from one end of the first guiding hole 43 far from the base 41 by the set distance, the magnetic attraction force of the first magnetic attraction part and the second magnetic attraction part can assist the central axis of the first guiding rod 12 to coincide with the central axis of the first guiding hole 43 as much as possible, so as to reduce the precision requirement for positioning the charging gun assembly 03.

[0038] In this embodiment, as Figure 6As shown, the distance that the first guiding rod 12 extends beyond the second guiding unit 21 is 1.2 to 1.8 times the distance that the second guiding rod 22 extends. In this way, when the first guiding assembly 01, the second guiding assembly 02, and the charging gun assembly 03 move towards the charging base assembly 04, it can be ensured that the end of the first guiding rod 12 away from the first guiding unit 11 contacts the first guiding hole 43, avoiding the situation where the second guiding rod 22 contacts the second guiding hole 44 and becomes ineffective before the first guiding rod 12 enters the surrounding space of the first guiding hole 43. In this solution, the distance that the first guiding rod 12 extends beyond the second guiding unit 21 is 1.2 to 1.8 times the distance that the second guiding rod 22 extends, so as to ensure that the central axis of the charging port unit 42 can coincide with the central axis of the charging gun assembly 03 through two times of guiding, and further enable the charging port unit 42 and the charging gun assembly 03 to perform a precise plugging action.

[0039] In this embodiment, as Figure 6As shown, the second guiding unit 21 may include a third guiding module 211 and a second floating module 212. The second floating module 212 may include a sliding rod 2121 and an elastic body 2122. One end of the sliding rod 2121 may be slidably connected to the first guiding unit 11, and the other end extends in the same direction as the first guiding rod 12 to be connected to the third guiding module 211; the sliding rod 2121 may slide in the thickness direction of the first guiding unit 11, so that the positions of the first guiding unit 11 and the third guiding module 211 may move relative to the axial direction of the first guiding rod 12. The third guiding module 211 may be connected to the end of the first guiding rod 12 away from the first guiding unit 11. The elastic body 2122 is made of an elastic material. One end of the elastic body 2122 is connected to the third guiding module 211, and the other end is connected to the first guiding unit 11. One end of the second guiding rod 22 may be connected to the third guiding module 211, and the other end extends in the same direction as the first guiding rod 12. S1 is the distance that the first guiding rod 12 extends beyond the third guiding module 211. One end of the charging gun assembly 03 is connected to the third guiding module 211, and the other end extends in the same direction as the first guiding rod 12. When the charging gun assembly 03 moves towards the charging base assembly 04, the third guiding module 211 moves synchronously with the charging gun assembly 03, the sliding rod 2121 moves synchronously with the third guiding module 211, the elastic body 2122 is compressed to generate deformation to buffer the impact force, the positions of the first guiding unit 11 and the third guiding module 211 change relatively. After the first guiding rod 12 enters the first guiding hole 43, the elastic body 2122 releases the stored elastic potential energy, pushing the third guiding module 211 to adjust its position, so that the central axis of the second guiding rod 22 and the central axis of the second guiding port are as coincident as possible. In this way, by absorbing and releasing the impact force through the deformation of the elastic body 2122, the axial sliding of the sliding rod 2121 can offset the longitudinal displacement deviation of the charging gun assembly 03, so that the charging gun assembly 03 can be accurately plugged into the charging port unit 42.

[0040] In this embodiment, as Figure 5As shown, the second guiding unit 21 may further include a limiting module 213. The limiting module 213 may include a limiting plate 2131 and a support rod 2132. One end of the support rod 2132 may be connected to the third guiding module 211, and the other end may extend in the same direction as the first guiding rod 12. The limiting plate 2131 may be connected to the end of the support rod 2132 away from the third guiding module 211, and the limiting plate 2131 may be connected to the end of the first guiding rod 12 away from the third guiding module 211. S3 > S4. S4 is the shortest distance from the side of the limiting plate 2131 away from the third guiding module 211 to the third guiding module 211. Part of the charging gun assembly 03 is disposed between the limiting plate 2131 and the third guiding module 211 and is respectively connected to the limiting plate 2131 and the third guiding module 211. The extending distance of the charging gun assembly 03 is greater than the shortest distance from the side of the limiting plate 2131 away from the third guiding module 211 to the third guiding module 211, so as to avoid interference when the charging gun assembly 03 enters the surrounding space of the charging port unit 42 caused by the limiting plate 2131. At the same time, through the cooperation of the limiting plate 2131 and the support rod 2132, the relative positions of the charging gun assembly 03 with respect to the third guiding module 211 and the limiting plate 2131 can be always kept fixed during the movement, thereby improving the insertion accuracy of the charging gun assembly 03 and the charging base assembly 04.

[0041] In this embodiment, as Figure 2 , Figure 3As shown, the first guiding unit 11 may include a first guiding module 111, a second guiding module 112, and a first floating module 113. One end of the first floating module 113 may be connected to the first guiding module 111, and the other end may be connected to the second guiding module 112. One end of the first guiding rod 12 is connected to the second guiding module 112, and the other end extends away from the first guiding module 111. The second guiding unit 21 is movably connected to the side of the second guiding module 112 close to the first guiding rod 12. Through the first floating module 113, the first guiding module 111 and the second guiding module 112 can move relative to each other along the length and height directions of the first guiding module 111. Also, the first guiding rod 12 and the second guiding rod 22 are tapered, so that the outer peripheral wall of the end of the first guiding rod 12 away from the first guiding unit 11 can slide to contact the inner peripheral wall of the end of the first guiding hole 43 away from the base 41; the outer peripheral wall of the end of the second guiding rod 22 away from the second guiding unit 21 can slide to contact the inner peripheral wall of the end of the second guiding hole 44 away from the base 41. The outer peripheral wall of the end of the first guiding rod 12 away from the first guiding unit 11 contacts the inner peripheral wall of the first guiding hole 43 close to the first guiding rod 12 and continuously moves closer within the surrounding space of the first guiding hole 43, which can make the area of the projection of the first guiding rod 12 along the direction of the first guiding unit 11 towards the second guiding unit 21 gradually coincide with the area of the projection of the first guiding hole 43 along the direction of the first guiding unit 11 towards the second guiding unit 21, and insert part of the first guiding rod 12 into the surrounding space of the first guiding hole 43. At this time, the second guiding rod 22 and the central axis of the second guiding hole 44 are as coincident as possible. Subsequently, the outer peripheral wall of the end of the second guiding rod 22 away from the second guiding unit 21 slides to contact the inner peripheral wall of the end of the second guiding hole 44 away from the base 41, and the area of the projection of the second guiding rod 22 along the direction of the first guiding unit 11 towards the second guiding unit 21 gradually coincides with the area of the projection of the second guiding hole 44 along the direction of the first guiding unit 11 towards the second guiding unit 21, making the central axes of the charging gun assembly 03 and the charging port unit 42 as coincident as possible. Finally, the charging gun assembly 03 and the charging port unit 42 are plugged in. In this way, the plugging of the charging gun assembly 03 and the charging port unit 42 is completed through two positionings, reducing the precision requirements for the positioning of the charging gun assembly 03 and the charging port unit 42.

[0042] In this embodiment, as Figure 4 、 Figure 8As shown, the first floating module 113 may include a first guide rail 1131, a first connecting portion 1132, a movable plate 1133, a second guide rail 1134, and a second connecting portion 1135. The first guide rail 1131 may be connected to the first guiding module 111 on the side close to the second guiding module 112. The length direction of the first guide rail 1131 may be parallel to the height direction of the first guiding module 111. The movable plate 1133 may be slidably connected to the first guide rail 1131. The first connecting portion 1132 may be made of an elastic material. One end of the first connecting portion 1132 may be connected to the first guiding module 111, and the other end may be connected to the movable plate 1133. The second guide rail 1134 may be connected to the movable plate 1133 on the side close to the second guiding module 112. The length direction of the second guide rail 1134 may be parallel to the length direction of the first guiding module 111. The second guiding module 112 may be slidably connected to the second guide rail 1134. The second connecting portion 1135 may be made of an elastic material. One end of the second connecting portion 1135 may be connected to the second guiding module 112, and the other end may be connected to the movable plate 1133. Through the first guide rail 1131, the second guiding module 112 may be moved relative to the first guiding module 111 along the height direction of the first guiding module 111. Through the second guide rail 1134, the second guiding module 112 may be moved relative to the first guiding module 111 along the width direction of the first guiding module 111. At the same time, the first connecting portion 1132 and the second connecting portion 1135 may limit the sliding stroke of the movable plate 1133 on the first guide rail 1131 and the second guide rail 1134, and may rebound the movable plate 1133 to the initial position by virtue of the characteristics of the elastic materials of the first connecting portion 1132 and the second connecting portion 1135.Thus, the first guiding module 111 and the second guiding module 112 are enabled to move along the height and length directions of the first guiding module 111 through the first guide rail 1131, the first connecting portion 1132, the movable plate 1133, the second guide rail 1134, and the second connecting portion 1135. Moreover, the first guiding rod 12 and the second guiding rod 22 are tapered, allowing the outer peripheral wall of the end of the first guiding rod 12 away from the first guiding unit 11 to slide into contact with the inner peripheral wall of the end of the first guiding hole 43 away from the base 41; the outer peripheral wall of the end of the second guiding rod 22 away from the second guiding unit 21 slides into contact with the inner peripheral wall of the end of the second guiding hole 44 away from the base 41. When the outer peripheral wall of the end of the first guiding rod 12 away from the first guiding unit 11 comes into contact with the inner peripheral wall of the first guiding hole 43 near the end of the first guiding rod 12 and continues to move closer within the surrounding space of the first guiding hole 43, it can cause the projection area of the first guiding rod 12 along the direction of the first guiding unit 11 towards the second guiding unit 21 and the projection area of the first guiding hole 43 along the direction of the first guiding unit 11 towards the second guiding unit 21 to gradually overlap, inserting a part of the first guiding rod 12 into the surrounding space of the first guiding hole 43. At this time, the central axes of the second guiding rod 22 and the second guiding hole 44 are as coincident as possible. Subsequently, the outer peripheral wall of the end of the second guiding rod 22 away from the second guiding unit 21 slides into contact with the inner peripheral wall of the end of the second guiding hole 44 away from the base 41, and the projection area of the second guiding rod 22 along the direction of the first guiding unit 11 towards the second guiding unit 21 and the projection area of the second guiding hole 44 along the direction of the first guiding unit 11 towards the second guiding unit 21 gradually overlap, making the central axes of the charging gun assembly 03 and the charging port unit 42 as coincident as possible. Finally, the charging gun assembly 03 and the charging port unit 42 are plugged together. In this way, the plugging of the charging gun assembly 03 and the charging port unit 42 is completed through two positionings, reducing the precision requirements for positioning the charging gun assembly 03 and the charging port unit 42.

[0043] In some other embodiments, as Figure 1 shown, the first guiding assembly 01 may further include a moving unit 13. The moving unit 13 may include a robotic arm 131, a vision unit 132, and a first engaging portion 133. The robotic arm 131 may be connected to the vision unit 132, and the first engaging portion 133 may be connected to the robotic arm 131. The position of the charging port unit 42 is identified by the vision unit 132, and then the robotic arm 131 drives the first guiding assembly 01, the second guiding assembly 02, and the charging gun assembly 03 to move towards the charging base assembly 04. The charging gun assembly 03 may include a first gun 31 and a second gun 32. One end of the first gun 31 may be connected to the third guiding module 211, and the other end extends in the same direction as the first guiding rod 12. One end of the second gun 32 may be connected to the third guiding module 211, and the other end extends in the same direction as the first guiding rod 12. Through the first gun 31 and the second gun 32, the charging speed of the vehicle can be increased. As Figure 7As shown, the charging port unit 42 may include a first port 421 and a second port 422. The first port 421 and the second port 422 are recessed in the direction close to the base 41. The inner peripheral wall of the first port 421 may abut against the outer peripheral wall of the first gun 31. The first port 421 may be detachably connected and electrically connected to the first gun 31. The inner peripheral wall of the second port 422 may abut against the outer peripheral wall of the second gun 32. The second port 422 may be detachably connected and electrically connected to the second gun 32. The first guiding module 111 may include a first plate 1111 and a second engaging portion 1112. The first plate 1111 may be connected to the first guiding rod 12. The second engaging portion 1112 is connected to the side of the first plate 1111 away from the second guiding module 112. The robotic arm 131 may drive the first engaging portion 133 to move in the direction of the second engaging portion 1112, so that the first engaging portion 133 is connected to the second engaging portion 1112. Thus, the charging gun assembly 03 and the charging port unit 42 are detachably connected and electrically connected through the first guiding assembly 01 and the second guiding assembly 02. At the same time, after the robotic arm 131 makes one charging gun assembly 03 complete the insertion with the charging seat assembly 04, it can be separated from the charging gun assembly 03 to operate another charging gun assembly 03 to be inserted into the charging seat assembly 04, thereby improving the efficiency of the automatic charging system. The second guiding module 112 may include a second plate 1121 and two first mounting holes 1122. The first mounting holes 1122 penetrate along the thickness direction of the second plate 1121. The outer peripheral wall of the first gun 31 is spaced from the inner peripheral wall of the first mounting hole 1122. The outer peripheral wall of the second gun 32 is spaced from the inner peripheral wall of another second mounting hole 2112. Thus, the overall design is relatively compact, avoiding occupying extra space. At the same time, the second plate 1121 can protect the first gun 31 and the second gun 32 from external impacts. The third guiding module 211 may include a third plate 2111 and two second mounting holes 2112. The second mounting holes 2112 penetrate from the side of the third plate 2111 close to the second plate 1121 to the side away from the second plate 1121. One end of the first gun 31 away from the second plate 1121 passes through one second mounting hole 2112 and extends in the direction away from the first plate 1111. One end of the second gun 32 away from the second plate 1121 passes through the other second mounting hole 2112 and extends in the direction away from the first plate 1111. In this way, the third plate 2111 can protect the first gun 31 and the second gun 32 from external impacts.

[0044] In this embodiment, the present invention provides an automatic charging method. The automatic charging method is applied to any of the above automatic charging systems, such as Figure 9 As shown, the automatic charging method may include step S10 to step S40. The following may elaborate on step S10 to step S40.

[0045] Step S10: Triggered by the charging instruction, the robotic arm 131 drives the first engaging part 133 to connect with the second engaging part 1112, and then the vision unit 132 acquires the position of the charging port unit 42.

[0046] Step S20: Based on the position of the charging port unit 42, the charging gun assembly 03 can be moved towards the charging port unit 42.

[0047] Step S30: Based on the movement of the charging gun assembly 03 towards the charging port unit 42, the first guiding rod 12 moves towards the first guiding hole 43.

[0048] Step S40: Based on the fact that part of the first guiding rod 12 is located within the space surrounded by the first guiding hole 43, the second guiding rod 22 moves towards the second guiding hole 44 until the charging gun assembly 03 is electrically connected to the charging port unit 42. Among them, during the movement of the charging gun assembly 03, the force between the first guiding hole 43 and the first guiding rod 12 causes the first guiding unit 11 and the second guiding unit 21 to move relative to each other. The force between the second guiding hole 44 and the second guiding rod 22 causes the first guiding unit 11 and the second guiding unit 21 to move relative to each other. Thereby, the positioning deviation between the central axis of the charging gun assembly 03 and the central axis of the charging base assembly 04 is eliminated. This can reduce the positioning accuracy requirement for the vision unit 132. By means of two-stage guiding, the positioning accuracy of the charging gun assembly 03 and the charging base assembly 04 is compensated, and finally the charging gun assembly 03 is accurately inserted into the charging base assembly 04 to enter the charging state.

[0049] Those of ordinary skill in the art can understand that the above embodiments are specific cases for implementing the present disclosure, and in practical applications, various changes can be made in form and details without departing from the scope of the present disclosure.

Claims

1. An automatic charging system, characterized in that: The automatic charging system comprises: A first guide assembly, the first guide assembly comprising a first guide unit and a first guide rod; one end of the first guide rod is connected to the first guide unit, and the other end of the first guide rod extends in a direction away from the first guide unit; A second guide assembly, the second guide assembly comprising a second guide unit and a second guide rod; the second guide unit is movably connected to a side of the first guide unit close to the first guide rod; one end of the second guide rod is connected to the second guide unit, and the other end extends in the same direction as the first guide rod; S1>S2; S1 is the distance that the first guide rod extends beyond the second guide unit; S2 is the distance that the second guide rod extends; A charging gun assembly, one end of which is connected to the second guide unit, and the other end of which extends in the same direction as the first guide rod; S2>S3; S3 is the extension distance of the charging gun assembly; A charging seat assembly, the charging seat assembly comprising a base, a charging port unit, a first guide hole, and a second guide hole; the base is connected to the charging port unit; the first guide hole and the second guide hole are recessed from a side of the base close to the charging port unit toward a direction away from the charging port unit; The automatic charging system includes a first guiding state and a second guiding state; the first guiding state includes a portion of the first guiding rod being located in the first guiding hole; the second guiding state includes a portion of the first guiding rod being located in the first guiding hole and a portion of the second guiding rod being located in the second guiding hole.

2. An automatic charging system according to claim 1, characterized in that: D1-D2>D3-D4; D1 is the diameter of the first guide hole; D2 is the diameter of the first guide rod; D3 is the diameter of the second guide hole; D4 is the diameter of the second guide rod.

3. An automatic charging system according to claim 1, characterized in that: The first guide assembly includes at least two first guide rods.

4. An automatic charging system according to claim 3, characterized in that: 0.5×L1<L2≤L1; wherein L1 is the distance between two points with the largest spacing on the side of the first guiding unit close to the second guiding unit; and L2 is the spacing between at least two of the first guiding rods.

5. An automatic charging system according to claim 1, characterized in that: A<MIN(C, D); B<MIN(C, D); wherein A is the strength of the first guide hole; B is the strength of the second guide hole; C is the strength of the first guide rod; and D is the strength of the second guide rod.

6. An automatic charging system according to claim 1, characterized in that: A>B; wherein A is the strength of the first guide hole; B is the strength of the second guide hole.

7. An automatic charging system according to claim 1, characterized in that: The first guide assembly further includes a first magnetic attraction portion; the first magnetic attraction portion is connected to an end of the first guide rod away from the first guide unit; The charging seat assembly also includes a second magnetic attraction portion; the second magnetic attraction portion is connected to one end of the first guide hole close to the charging port unit; the first magnetic attraction portion and the second magnetic attraction portion are magnetically attracted to each other when the distance is less than or equal to a set distance.

8. An automatic charging system according to claim 1, characterized in that: S1=(1.2~1.8)×S2.

9. An automatic charging system according to claim 1, characterized in that: The second guide unit includes a third guide module and a second floating module; the second floating module includes a sliding rod and an elastic body; one end of the sliding rod is slidably connected to the first guide unit, and the other end extends in the same direction as the first guide rod to connect with the third guide module; the third guide module is connected to an end of the first guide rod away from the first guide unit; the elastic body is made of elastic material; One end of the elastomer is connected to the third guide module, and the other end is connected to the first guide unit; one end of the second guide rod is connected to the third guide module, and the other end extends in the same direction as the first guide rod; S1 is the distance that the first guide rod extends beyond the third guide module; one end of the charging gun assembly is connected to the third guide module, and the other end extends in the same direction as the first guide rod.

10. An automatic charging system according to claim 9, characterized in that: The second guide unit also includes a limit module; the limit module includes a limit plate and a support rod; one end of the support rod is connected to the third guide module, and the other end extends in the same direction as the first guide rod; the limit plate is connected to the end of the support rod away from the third guide module; the limit plate is connected to the end of the first guide rod away from the third guide module; S3>S4; S4 is the shortest distance from the side of the limit plate away from the third guide module to the third guide module; part of the charging gun assembly is arranged between the limit plate and the third guide module, and abuts against the limit plate and the third guide module respectively.

11. An automatic charging system according to claim 1, characterized in that: The first guiding unit includes a first guiding module, a second guiding module, and a first floating module; one end of the first floating module is connected to the first guiding module, and the other end is connected to the second guiding module; one end of the first guiding rod is connected to the second guiding module, and the other end extends away from the first guiding module; the second guiding unit is movably connected to a side of the second guiding module close to the first guiding rod.

12. An automatic charging system according to claim 11, characterized in that: The first floating module includes a first guide rail, a first connecting portion, a movable plate, a second guide rail, and a second connecting portion; the first guide rail is connected to the first guide module on a side close to the second guide module; the length direction of the first guide rail is parallel to the height direction of the first guide module; the movable plate is slidably connected to the first guide rail; the first connecting portion is made of elastic material; one end of the first connecting portion is connected to the first guide module, and the other end is connected to the movable plate; the second guide rail is connected to the side of the movable plate close to the second guide module; the length direction of the second guide rail is parallel to the length direction of the first guide module; the second guide module is slidably connected to the second guide rail; the second connecting portion is made of elastic material; one end of the second connecting portion is connected to the second guide module, and the other end is connected to the movable plate.

13. An automatic charging method, characterized in that: The automatic charging method is applied to an automatic charging system according to any one of claims 1 to 12, and the automatic charging method comprises: Step S10, based on the charging instruction trigger, obtaining the position of the charging port unit; Step S20, based on obtaining the position of the charging port unit, the charging gun assembly moves toward the charging port unit; Step S30, based on the charging gun assembly moving toward the charging port unit, the first guide rod moves toward the first guide hole; Step S40, based on the fact that part of the first guide rod is located in the space surrounded by the first guide hole, the second guide rod moves toward the second guide hole until the charging gun assembly is electrically connected to the charging port unit; wherein, during the movement of the charging gun assembly, the force between the first guide hole and the first guide rod causes the first guide unit and the second guide unit to move relative to each other; the force between the second guide hole and the second guide rod causes the first guide unit and the second guide unit to move relative to each other.

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