A magnetic quick-change mechanism and automatic charging device

Abstract

This invention relates to the field of automotive charging technology, specifically to a magnetic quick-change mechanism and an automatic charging device. The magnetic quick-change mechanism includes an electromagnetic component, a magnetic component, a first magnetically conductive component, and a second magnetically conductive component. The electromagnetic component is fixed to a moving device; the magnetic component is fixed to a working head; one side of the first magnetically conductive component contacts and conducts magnetic flux with a first magnetic pole in the middle of the electromagnetic component, and the other side forms a first magnetic attraction surface located radially around the first magnetic pole; one side of the second magnetically conductive component contacts and conducts magnetic flux with a second magnetic pole on the outer periphery of the electromagnetic component, and the other side forms a second magnetic attraction surface located radially around the second magnetic pole; a magnetically shielding portion is formed between the second magnetically conductive component and the first magnetically conductive component. The magnetic quick-change mechanism provided by this invention can increase the anti-tipping capability during magnetic attraction, thereby preventing the charging gun head from shaking and improving the success rate of docking during charging; furthermore, it can also realize manual disconnection and manual charging in case of malfunction.

Description

Technical Field

[0001] This invention relates to the field of automotive charging technology, specifically to a magnetic quick-change mechanism and an automatic charging device. Background Technology

[0002] Currently, autonomous driving technology is developing rapidly. In order to achieve a fully closed-loop autonomous driving system, an automatic charging robot is needed. Users can get out of the car directly after arriving near their destination, and the vehicle will find a parking space on its own and charge with the help of the automatic charging robot.

[0003] During automatic charging, the vehicle may move up and down due to people getting on and off, or loading and unloading goods. If there is a rigid connection between the robotic arm and the vehicle, it could damage the robotic arm, the charging gun, or even the vehicle itself. Therefore, a quick-change mechanism is typically installed between the robotic arm and the charging gun. This allows the robotic arm to detach from the rigid connection after picking up the charging gun and inserting it into the vehicle's charging port. The charging gun can then move up and down with the vehicle without affecting the robotic arm. After charging is complete, the robotic arm retrieves the charging gun. Furthermore, this quick-change mechanism allows the robotic arm to access other charging stations and use different charging guns to charge vehicles in those stations. This enables one robotic arm to handle multiple charging stations and multiple charging guns, reducing the overall cost of automatic charging.

[0004] The commonly used quick-change mechanisms in the prior art are mainly mechanical clamping and magnetic attraction. Among them, the mechanical clamping structure is more complex and costly; while the magnetic attraction structure is simpler, less expensive, and can be divided into two types: power-on attraction and power-off attraction. For example, the utility model patent with publication number CN211493680U discloses a magnetic automatic gun-grabbing mechanism that automatically grabs the charging gun body by energizing an electromagnet.

[0005] However, existing magnetic quick-change mechanisms still have some problems:

[0006] 1. The connection is not stable enough, and the anti-tipping ability is weak. The complex force environment at the charging gun head causes significant wobbling at the end of the gun head, making it difficult to align with the vehicle's charging port, thus severely reducing the accuracy of automatic docking. For example, the charging gun head is generally long, and the charging gun head, especially the high-power charging gun head, is heavy. The charging cable is also heavy, which exerts a pulling effect on the gun head. In addition, the charging port positions and angles of different vehicles are different, requiring the robotic arm to swing to different postures for docking. Under the influence of these factors, when docking with different charging ports, the torque at the charging gun head is constantly changing, causing the position of the charging gun head relative to the end of the robotic arm to be constantly changing, making precise docking difficult, resulting in a high docking failure rate and hindering commercialization. On the other hand, if a larger size and stronger electromagnet is used, a larger size and load-bearing capacity robotic arm is required, leading to a significant increase in overall cost and space occupation, which is especially difficult to popularize in home automatic charging scenarios where cost and space are extremely sensitive.

[0007] 2. When the robotic arm malfunctions and fails to automatically disconnect the electromagnet from the charging gun, the charging gun needs to be manually removed for charging. However, the magnetic force is strong, making it difficult to directly unplug the charging gun, which affects the user experience. Summary of the Invention

[0008] To address the technical problems of unstable connection and weak anti-tipping ability of existing magnetic quick-change mechanisms, which cause the charging gun head to shake and thus reduce the accuracy of automatic charging docking, this invention proposes a magnetic quick-change mechanism and automatic charging device that can increase the anti-tipping ability during magnetic attraction, thereby preventing the charging gun head from shaking and improving the success rate of docking during charging.

[0009] The technical solution of the present invention:

[0010] A magnetic quick-change mechanism, comprising:

[0011] An electromagnetic component, which is fixed to the moving device;

[0012] A magnetic component, which is fixed to the working head;

[0013] A first magnetic conductive element has one side in contact with the first magnetic pole in the middle of the electromagnetic element for magnetic conduction, and the other side of the first magnetic conductive element is formed as a first magnetic attraction surface. The first magnetic attraction surface is located on the radial periphery of the first magnetic pole and is used to contact and attract the magnetic element.

[0014] The second magnetic conductive element has one side in contact with the second magnetic pole on the outer periphery of the electromagnetic element for magnetic conduction, and the other side of the second magnetic conductive element is formed as a second magnetic attraction surface. The second magnetic attraction surface is located on the radial periphery of the second magnetic pole and is used to contact and attract the magnetic element. A magnetic shielding portion is formed between the second magnetic conductive element and the first magnetic conductive element.

[0015] Furthermore, the first magnetically conductive component includes a first magnetically conductive front section, a first magnetically conductive rear section, and a first magnetically conductive extension section connecting the first magnetically conductive front section and the first magnetically conductive rear section. The first magnetically conductive front section contacts a first magnetic pole in the middle of the electromagnetic component. The first magnetically conductive extension section extends radially outward. A first magnetic attraction surface is formed on the first magnetically conductive rear section for contacting and attracting the magnetic component. The first magnetically conductive front section is columnar, and both the first magnetically conductive extension section and the first magnetically conductive rear section are annular.

[0016] The second magnetic conductive element includes a second magnetically conductive front section, a second magnetically conductive rear section, and a second magnetically conductive extension section connecting the second magnetically conductive front section and the second magnetically conductive rear section. The second magnetically conductive front section contacts a second magnetic pole on the outer periphery of the electromagnetic element. The second magnetically conductive extension section extends radially outward. A second magnetic attraction surface is formed on the second magnetically conductive rear section for contacting and attracting the magnetic element. The second magnetically conductive front section, the second magnetically conductive extension section, and the second magnetically conductive rear section are all annular.

[0017] Furthermore, the magnetic component has an opening in the middle; the magnetic component is ring-shaped.

[0018] Furthermore, the magnetic quick-change mechanism also includes a magnetic shielding pad, which is disposed between the first magnetic conductive element and the second magnetic conductive element;

[0019] The magnetic shielding pad includes a first magnetic shielding section, which is disposed between the first magnetically conductive extension section and the second magnetically conductive extension section; the first magnetic shielding section is annular.

[0020] The magnetic shielding pad also includes a second magnetic shielding section, which is disposed between the first magnetically conductive rear section and the second magnetically conductive rear section; the second magnetic shielding section is annular.

[0021] Furthermore, the magnetic quick-change mechanism also includes a mounting base, which is fixed to the moving device, and the electromagnetic component is installed in the mounting groove of the mounting base; the first magnetic conductive component, the second magnetic conductive component, and the magnetic shielding pad are connected to the mounting base;

[0022] In the second magnetic conductive member, the sides of the second magnetic conductive front section and the second magnetic conductive extension section facing the mounting base are flush, and the side of the mounting base facing the second magnetic conductive member does not protrude beyond the second magnetic pole of the electromagnetic member; or, in the second magnetic conductive member, the side of the second magnetic conductive front section facing the mounting base protrudes beyond the second magnetic conductive extension section.

[0023] Furthermore, the mounting base is provided with a plurality of mounting threaded holes, and the first magnetic conductive element, the magnetic shielding pad, and the second magnetic conductive element are respectively provided with mounting through holes. The first magnetic conductive element, the magnetic shielding pad, and the second magnetic conductive element are connected to the mounting base by mounting screws. The mounting screws do not protrude from the first magnetic attraction surface on the first magnetic conductive element. The mounting screws are made of magnetic shielding material.

[0024] The first magnetic conductive element, the magnetic shielding pad, and the second magnetic conductive element are pre-welded together as a whole; the magnetic element is also provided with at least two positioning pins, and the whole composed of the first magnetic conductive element, the magnetic shielding pad, and the second magnetic conductive element is provided with at least two positioning holes.

[0025] Furthermore, the outer wall of the second magnetic conductive element is threaded with a screw ring capable of pushing the magnetic element; or, the outer wall of the mounting base of the electromagnetic element is threaded with a screw ring capable of pushing the magnetic element.

[0026] Furthermore, the spiral ring is provided with at least one lever arm; the side wall of the spiral ring is threaded with a set screw.

[0027] In another aspect, the present invention provides an automatic charging device, including a magnetic quick-change mechanism as described in any of the preceding claims.

[0028] Furthermore, the electromagnetic component is an electromagnet, the moving device is a robotic arm; the magnetic component is an iron plate, and the working head is a charging gun head.

[0029] By adopting the above technical solution, the magnetic quick-change mechanism and automatic charging device provided by the present invention have the following advantages compared with the prior art:

[0030] 1. This invention modifies the magnetic circuit, shifting the point of attraction of the electromagnet from its center radially outward to its edge. This increases the lever arm of the magnetic attraction, thereby increasing the anti-tipping torque and the magnetic attraction area, further enhancing anti-tipping capability. This better prevents gun head wobbling, thus improving docking accuracy and success rate. Furthermore, it eliminates the need for large-size, high-cost electromagnets and robotic arms, reducing space requirements and costs, making it particularly suitable for home automatic charging scenarios.

[0031] 2. The present invention has a screw ring threadedly connected to the outer wall of the second magnetic conductive component. In the event of a malfunction, the screw ring can be rotated to achieve manual gun release and manual charging through the screw force, thereby improving the user experience. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the magnetic quick-change mechanism of the present invention;

[0033] Figure 2 This is a schematic diagram of a portion of the magnetic quick-change mechanism of the present invention that is fixed to the moving device from one perspective.

[0034] Figure 3 This is a schematic diagram of the part of the magnetic quick-change mechanism of the present invention that is fixed to the moving device from another perspective.

[0035] Figure 4 for Figure 2 A schematic diagram of the decomposition process;

[0036] Figure 5 This is a schematic diagram of the part of the magnetic quick-change mechanism fixed to the working head in the present invention;

[0037] Figure 6 for Figure 5 A schematic diagram of the decomposition process;

[0038] Figure 7 This is a schematic diagram of the magnetic circuit of the magnetic quick-change mechanism of the present invention;

[0039] Figure 8 This is a schematic diagram of the magnetic circuit of a magnetic quick-change mechanism in the prior art.

[0040] in,

[0041] Electromagnet 1', first magnetic pole 11', second magnetic pole 12', iron plate 2', mounting base 62', charging gun head 71'.

[0042] Electromagnetic component 1, first magnetic pole 11, second magnetic pole 12; magnetic component 2; first magnetic conductive component 3, first magnetic conductive front section 31, first magnetic conductive extension section 32, first magnetic conductive rear section 33, first magnetic attraction surface 331; second magnetic conductive component 4, second magnetic conductive front section 41, second magnetic conductive extension section 42, second magnetic conductive rear section 43, second magnetic attraction surface 431; magnetic shielding pad 5, first magnetic shielding section 51, second magnetic shielding section 52; mounting plate 61, mounting base 62, mounting groove 621, mounting hole 622, mounting threaded hole 623, mounting through hole 63, mounting screw 64; working head 71, positioning pin 72, positioning hole 73; screw ring 8, lever arm 81, set threaded hole 82, set screw 83. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0046] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0047] Example 1:

[0048] like Figure 1-7As shown, this embodiment provides a magnetic quick-change mechanism for automatic charging. The mechanism includes an electromagnetic component 1, a magnetic component 2, a first magnetically conductive component 3, and a second magnetically conductive component 4. The electromagnetic component 1 is directly or indirectly fixed to the end of a moving device (not shown in the figure). The electromagnetic component 1 is preferably an electromagnet, such as a suction cup-type E-type electromagnet, which includes a circular first magnetic pole 11 and an annular second magnetic pole 12 located on the same plane. The moving device is preferably a multi-degree-of-freedom robotic arm. The magnetic component 2 is directly or indirectly fixed to the tail end of a working head 71. The magnetic component 2 is preferably a metal plate such as iron or nickel that can be magnetically attracted. The working head 71 is preferably a charging gun head.

[0049] Furthermore, the first magnetically conductive element 3 and the second magnetically conductive element 4 are disposed between the electromagnetic element 1 and the magnetic element 2. One side of the first magnetically conductive element 3 contacts and conducts magnetic flux with the first magnetic pole 11 in the middle of the electromagnetic element 1. The other side of the first magnetically conductive element 3 forms a first magnetic attraction surface 331, which is located axially to the side of the first magnetic pole 11 of the electromagnetic element 1 and radially outward from the first magnetic pole 11. That is, the first magnetically conductive element 3 guides the magnetically conductive portion radially outward from the first magnetic pole 11, and the first magnetic attraction surface 331 is used to contact and attract the magnetic element 2. The second magnetically conductive element 4 is located radially outside the first magnetically conductive element 3. One side of the second magnetically conductive element 4 contacts and conducts magnetically with the second magnetic pole 12 on the outer periphery of the electromagnetic element 1. The other side of the second magnetically conductive element 4 forms a second magnetic attraction surface 431, which is located axially to the second magnetic pole 12 of the electromagnetic element 1 and radially outside the second magnetic pole 12. That is, the second magnetically conductive element 4 guides the magnetically conductive portion radially outward from the second magnetic pole 12, and the second magnetic attraction surface 431 is used to contact and attract with the magnetic element 2. The first magnetically conductive element 3 and the second magnetically conductive element 4 are preferably metals with good magnetic permeability, such as iron. The second magnetically conductive element 4 and the first magnetically conductive element 3 are spaced apart to form a magnetically shielding portion, which is an air gap or a magnetically shielding pad 5.

[0050] like Figure 8 As shown, in existing technologies, the connection and disconnection between the robotic arm and the charging gun head 71' is often achieved by directly attracting the iron plate 2' on the charging gun head 71' using an electromagnet 1'. Specifically, the electromagnet 1' is fixed in the mounting base 62' at the end of the robotic arm. The electromagnet 1' also includes a first magnetic pole 11' and a second magnetic pole 12' located on the same surface. When the electromagnet 1' is working, the magnetism of its first magnetic pole 11' and second magnetic pole 12' is opposite, which can attract the iron plate 2' on the charging gun head 71'. Under the influence of its own weight and other factors, the charging gun head 71' experiences a tipping moment. However, from... Figure 8As can be seen from the magnetic circuit shown, the attraction force of electromagnet 1' to iron plate 2' is mainly concentrated in the center of iron plate 2', resulting in a small anti-overturning torque of the magnetic attraction force and a small magnetic attraction area, making it difficult to prevent the gun head from shaking, which in turn leads to a low docking success rate.

[0051] like Figure 7 As shown, in this embodiment, the electromagnetic component 1 attracts the magnetic component 2 on the working head 71 through the first magnetic conductive component 3 and the second magnetic conductive component 4, forming a closed magnetic circuit consisting of the second magnetic pole 12 on the electromagnetic component 1, the second magnetic conductive component 4, the magnetic component 2, the first magnetic conductive component 3, the first magnetic pole 11 on the electromagnetic component 1, and then the second magnetic pole 12 on the electromagnetic component 1. Figure 7 The cross-sectional structure of the electromagnetic component 1 shown is for illustrative purposes only. Figure 7 As shown in the magnetic circuit diagram, the magnetic lines of force of the second magnetic pole 12 on the electromagnetic component 1 are guided by the second magnetic conductor 4 to the outer edge of the magnetic component 2, and the magnetic lines of force of the first magnetic pole 11 on the electromagnetic component 1 are also guided by the first magnetic conductor 3 to a more outer position on the magnetic component 2. Compared with the prior art, using the same electromagnetic component 1, this embodiment changes the magnetic circuit to move the point of attraction of the electromagnetic component 1 from the center of the magnetic component 2 radially outward to its edge, increasing the lever arm of the magnetic attraction force, thereby increasing the anti-overturning and anti-bending moment, and increasing the magnetic attraction area, thus better preventing the gun head from shaking. As a result, when the robotic arm changes posture or pulls the gun wire, the movement deviation of the gun head is reduced, improving the accuracy and success rate of docking. Moreover, it eliminates the need to use large-size, high-cost electromagnets and robotic arms, reducing the space occupied and lowering the cost, making it particularly suitable for home automatic charging scenarios.

[0052] like Figure 4 , 7As shown, the first magnetically conductive component 3 in this embodiment includes a first magnetically conductive front section 31, a first magnetically conductive extension section 32, and a first magnetically conductive rear section 33. The first magnetically conductive front section 31 is close to the electromagnetic component 1, and the first magnetically conductive rear section 33 is close to the magnetic component 2. The first magnetically conductive extension section 32 connects the first magnetically conductive front section 31 and the first magnetically conductive rear section 33. The first magnetically conductive front section 31, the first magnetically conductive extension section 32, and the first magnetically conductive rear section 33 are preferably integrally formed. The first magnetically conductive front section 31 contacts and conducts magnetic flux with the first magnetic pole 11 in the middle of the electromagnetic component 1. The first magnetically conductive extension section 32 extends radially outward, and the first magnetically conductive rear section 33 has a first magnetic attraction surface 331 for contacting and attracting the magnetic component 2. The first magnetically conductive front section 31 is preferably columnar, and the area of ​​its contact surface is preferably greater than or equal to the area of ​​the first magnetic pole 11. The first magnetically conductive extension section 32 and the first magnetically conductive rear section 33 are both preferably annular, and the first magnetic attraction surface 331 is also annular. Of course, in other embodiments, the shapes of the first magnetic front section 31, the first magnetic extension section 32 and the first magnetic rear section 33 can be set as needed. For example, the first magnetic front section 31 can be set as a cuboid, the first magnetic rear section 33 can be set as a hollow cuboid, and the first magnetic suction surface 331 can be a hollow rectangle.

[0053] Further, the second magnetically conductive element 4 includes a second magnetically conductive front section 41, a second magnetically conductive extension section 42, and a second magnetically conductive rear section 43. The second magnetically conductive front section 41 is close to the electromagnetic element 1, and the second magnetically conductive rear section 43 is close to the magnetic element 2. The second magnetically conductive extension section 42 connects the second magnetically conductive front section 41 and the second magnetically conductive rear section 43. The second magnetically conductive front section 41, the second magnetically conductive extension section 42, and the second magnetically conductive rear section 43 are preferably integrally formed. The second magnetically conductive front section 41 contacts and conducts magnetic flux with the second magnetic pole 12 on the outer periphery of the electromagnetic element 1. The second magnetically conductive extension section 42 extends radially outward, and the second magnetically conductive rear section 43 forms a second magnetic attraction surface 431 for contacting and attracting the magnetic element 2. The second magnetically conductive front section 41 is preferably annular, and the area of ​​its contact surface is preferably greater than or equal to the area of ​​the second magnetic pole 12. The second magnetically conductive extension section 42 and the second magnetically conductive rear section 43 are both preferably annular, and the second magnetic attraction surface 431 is also annular. Of course, in other embodiments, the shapes of the second magnetically conductive front section 41, the second magnetically conductive extension section 42, and the second magnetically conductive rear section 43 can be set as needed. For example, the second magnetically conductive front section 41 and the second magnetically conductive rear section 43 can be set as hollow cuboids, and the second magnetic attraction surface 431 can be a hollow rectangle. The second magnetic attraction surface 431 and the first magnetic attraction surface 331 are preferably flush.

[0054] Preferably, the central opening of the magnetic component 2 in this embodiment reduces its weight, thereby further improving the stability of the entire charging gun assembly and increasing docking accuracy and success rate. The size and shape of the opening can be set as needed, as long as it does not affect the contact and attraction between the magnetic component 2 and the first magnetic surface 331 and the second magnetic surface 431. The magnetic component 2 is preferably annular; however, it can also be of other shapes in other embodiments, such as a hollow cuboid.

[0055] To reduce weight at the gun tip, the magnetic component 2 is generally also relatively thin. (See existing technology...) Figure 8 The magnetic field lines passing through iron plate 2' have a relatively long path, resulting in significant magnetic force loss due to magnetic reluctance, which affects the attraction force. However, in this embodiment, as... Figure 7 The distance between the first magnetic surface 331 and the second magnetic surface 431 can be set to be small, for example, it can be smaller than the distance between the first magnetic pole 11 and the second magnetic pole 12. The path of the magnetic lines of force through the magnetic component 2 is smaller, the magnetic loss is smaller, and the adsorption and holding force is greater, thereby making the charging gun head assembly more stable and the docking success rate higher.

[0056] like Figure 4 , 7 As shown, the magnetic quick-change mechanism of this embodiment also includes a magnetic shielding pad 5, disposed between the first magnetic conductive element 3 and the second magnetic conductive element 4, preferably made of a magnetic shielding metal such as copper. The magnetic shielding pad 5 includes a first magnetic shielding section 51 disposed between the first magnetic conductive extension section 32 and the second magnetic conductive extension section 42; the magnetic shielding pad 5 also includes a second magnetic shielding section 52 disposed between the first magnetic conductive rear section 33 and the second magnetic conductive rear section 43; both the first magnetic shielding section 51 and the second magnetic shielding section 52 are preferably annular. This embodiment facilitates installation by providing the first magnetic shielding section 51 and the second magnetic shielding section 52, for example, facilitating the pre-assembly and welding of the first magnetic conductive element 3, the magnetic shielding pad 5, and the second magnetic conductive element 4; furthermore, the first magnetic shielding section 51 and the second magnetic shielding section 52 can effectively shield against magnetic fields, especially between the first magnetic conductive rear section 33 and the second magnetic conductive rear section 43, where the spacing is small, and the second magnetic shielding section 52 provides magnetic shielding, preventing magnetic loss. Of course, in other embodiments, the magnetic shielding pad 5 may also include a third magnetic shielding section disposed between the first magnetic front section 31 and the second magnetic front section 41.

[0057] like Figure 2-4As shown, the magnetic quick-change mechanism in this embodiment also includes a mounting base 62, which is fixed to the mounting plate 61 at the end of the robotic arm. The mounting base 62 has a mounting groove 621, and the bottom of the mounting groove 621 has a mounting hole 622. The electromagnetic component 1 is disposed within the mounting groove 621 and is fixedly connected to the connection hole on the back of the electromagnetic component 1 by screws passing through the mounting hole 622. The first magnetic conductive component 3, the second magnetic conductive component 4, and the magnetic shielding pad 5 are mounted and connected to the mounting base 62. The first magnetic conductive component 3, the second magnetic conductive component 4, and the magnetic shielding pad 5 can be pre-welded into a single unit. For example, a weld seam space is left between the first magnetic shielding section 51 of the magnetic shielding pad 5 and the first magnetic conductive front section 31 of the first magnetic conductive component 3; a weld seam space is left between the second magnetic conductive front section 41 of the second magnetic conductive component 4 and the first magnetic shielding section 51 of the magnetic shielding pad 5; after being welded into a single unit, the two sides are processed to make the front and back surfaces flat. The mounting base 62 is provided with a plurality of mounting threaded holes 623, preferably four in this embodiment. The first magnetic conductive element 3, the magnetic shielding pad 5 and the second magnetic conductive element 4 are respectively provided with mounting through holes 63, which can be connected by mounting screws 64. After installation, the mounting screws 64 do not protrude from the first magnetic attraction surface 331 on the first magnetic conductive element 3, and do not affect the attraction of the magnetic element 2. The mounting screws 64 are preferably made of magnetic shielding material.

[0058] Furthermore, in the second magnetically conductive component 4, the sides of the second magnetically conductive front section 41 and the second magnetically conductive extension section 42 facing the mounting base 62 are flush, so that the overall cross-section of the second magnetically conductive component 4 is formed into two L-shapes; while the side of the mounting base 62 facing the second magnetically conductive component 4 does not protrude beyond the second magnetic pole 12 and the first magnetic pole 11 of the electromagnetic component 1, thereby ensuring reliable contact between the second magnetic pole 12 and the second magnetically conductive front section 41. Alternatively, in other embodiments, the side of the second magnetically conductive front section 41 facing the mounting base 62 may protrude beyond the second magnetically conductive extension section 42 by a certain distance, that is, the overall cross-section of the second magnetically conductive component 4 is formed into two Z-shapes, thereby also ensuring reliable contact between the second magnetic pole 12 and the second magnetically conductive front section 41.

[0059] Furthermore, the magnetic component 2 is provided with at least two positioning pins 72, and the outer wall of the magnetic shielding pad 5 and the inner wall of the second magnetic conductive component 4 are correspondingly enclosed to form at least two positioning holes 73. The positioning pins 72 are preferably made of magnetic shielding material. The first magnetic conductive component 3, the magnetic shielding pad 5 and the second magnetic conductive component 4 are pre-welded to form a whole, and then the positioning holes 73 and the aforementioned mounting through holes 63 can be directly opened; the position and number of the positioning holes 73 and the mounting through holes 63 can be set as needed.

[0060] like Figure 1-4As shown, the magnetic quick-change mechanism in this embodiment also includes a screw ring 8. The inner wall of the screw ring 8 is provided with an internal thread, and the outer wall of the second magnetic conductive element 4 is also provided with an external thread. The screw ring 8 and the second magnetic conductive element 4 are threadedly engaged. The screw ring 8 can be manually rotated. While rotating along the thread, the screw ring 8 also moves axially, thereby pushing the magnetic element 2 in case of failure, causing the magnetic element 2 to detach from the magnetic attraction. By using the threaded force amplification method, it is more labor-saving and can achieve manual separation in case of failure. Alternatively, in other embodiments, the screw ring 8 can also be threadedly connected to the outer wall of the mounting base 62. In this case, the axial length of the screw ring 8 needs to be sufficiently long, and the second magnetic conductive element 4 needs not protrude from the mounting base 62 in the radial direction.

[0061] Furthermore, the screw ring 8 is also provided with at least one lever arm 81, preferably two, for convenient two-handed operation. The side wall of the screw ring 8 is also provided with a set screw hole 82, which is threadedly connected to a set screw 83. When the screw ring 8 is working normally and no malfunction occurs, the set screw 83 can be tightened to lock the screw ring 8; when a malfunction occurs, the set screw 83 can be loosened, thereby allowing the screw ring 8 to be rotated to manually disconnect and manually resume charging.

[0062] As can be seen from the above, the magnetic quick-change mechanism provided in this embodiment can increase the anti-tipping ability during magnetic attraction, thereby preventing the charging gun head from shaking and thus improving the success rate of docking during charging; in addition, it can also realize manual disconnection of the charging gun head and manual charging in case of failure.

[0063] Example 2:

[0064] This embodiment provides an automatic charging device, including a magnetic quick-change mechanism as described in Embodiment 1. The moving device is a robotic arm, the electromagnetic component 1 is a suction cup electromagnet, the working head 71 is a charging gun head, and the magnetic component 2 is an iron plate. It can realize the quick-change function under normal operation and can also realize manual disconnection in case of failure.

[0065] In other embodiments, the magnetic quick-change mechanism can also be applied to other working scenarios, such as automatic refueling scenarios, to realize the connection and disconnection of the robotic arm and the refueling nozzle.

[0066] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A magnetic quick-change mechanism, characterized in that, include: Electromagnetic component (1), wherein the electromagnetic component (1) is fixed to the moving device; Magnetic component (2), which is fixed to the working head (71); The first magnetic conductive element (3) has one side in contact with the first magnetic pole (11) in the middle of the electromagnetic element (1) for magnetic conduction, and the other side of the first magnetic conductive element (3) is formed as a first magnetic attraction surface (331). The first magnetic attraction surface (331) is located on the radial periphery of the first magnetic pole (11), and the first magnetic attraction surface (331) is used to contact and attract the magnetic element (2). The second magnetic conductive element (4) has one side in contact with the second magnetic pole (12) on the outer periphery of the electromagnetic element (1) for magnetic conduction, and the other side of the second magnetic conductive element (4) is formed as a second magnetic attraction surface (431). The second magnetic attraction surface (431) is located on the radial periphery of the second magnetic pole (12) and is used to contact and attract the magnetic element (2). A magnetic shielding portion is formed between the second magnetic conductive element (4) and the first magnetic conductive element (3). The first magnetic conductive element (3) includes a first magnetic conductive front section (31), a first magnetic conductive rear section (33), and a first magnetic conductive extension section (32) connecting the first magnetic conductive front section (31) and the first magnetic conductive rear section (33). The first magnetic conductive front section (31) contacts the first magnetic pole (11) in the middle of the electromagnetic element (1). The first magnetic conductive extension section (32) extends radially outward. The first magnetic magnetic attraction surface (331) is formed on the first magnetic conductive rear section (33) for contacting and attracting the magnetic element (2). The second magnetic conductive element (4) includes a second magnetic conductive front section (41), a second magnetic conductive rear section (43), and a second magnetic conductive extension section (42) connecting the second magnetic conductive front section (41) and the second magnetic conductive rear section (43). The second magnetic conductive front section (41) contacts the second magnetic pole (12) on the outer periphery of the electromagnetic element (1). The second magnetic conductive extension section (42) extends radially outward. The second magnetic suction surface (431) is formed on the second magnetic conductive rear section (43) for contacting and attracting the magnetic element (2).

2. The magnetic quick-change mechanism according to claim 1, characterized in that, The first magnetic front section (31) is columnar, and the first magnetic extension section (32) and the first magnetic rear section (33) are both annular; The second magnetic front section (41), the second magnetic extension section (42), and the second magnetic rear section (43) are all annular.

3. The magnetic quick-change mechanism according to claim 2, characterized in that, The magnetic component (2) has an opening in the middle; the magnetic component (2) is ring-shaped.

4. The magnetic quick-change mechanism according to claim 2, characterized in that, The magnetic quick-change mechanism also includes a magnetic shielding pad (5), which is disposed between the first magnetic conductor (3) and the second magnetic conductor (4); The magnetic shielding pad (5) includes a first magnetic shielding section (51), which is disposed between the first magnetically conductive extension section (32) and the second magnetically conductive extension section (42); the first magnetic shielding section (51) is annular; The magnetic shielding pad (5) also includes a second magnetic shielding section (52), which is disposed between the first magnetically conductive rear section (33) and the second magnetically conductive rear section (43); the second magnetic shielding section (52) is annular.

5. The magnetic quick-change mechanism according to claim 4, characterized in that, The magnetic quick-change mechanism also includes a mounting base (62), which is fixed to the moving device. The electromagnetic component (1) is installed in the mounting groove (621) of the mounting base (62). The first magnetic conductive component (3), the second magnetic conductive component (4), and the magnetic shielding pad (5) are connected to the mounting base (62). In the second magnetic conductive element (4), the side of the second magnetic conductive front section (41) and the side of the second magnetic conductive extension section (42) facing the mounting base (62) are flush, and the side of the mounting base (62) facing the second magnetic conductive element (4) does not protrude beyond the second magnetic pole (12) of the electromagnetic element (1); or, in the second magnetic conductive element (4), the side of the second magnetic conductive front section (41) facing the mounting base (62) protrudes beyond the second magnetic conductive extension section (42).

6. The magnetic quick-change mechanism according to claim 5, characterized in that, The mounting base (62) is provided with a plurality of mounting threaded holes (623), and the first magnetic conductive element (3), the magnetic shielding pad (5), and the second magnetic conductive element (4) are provided with corresponding mounting through holes (63). The first magnetic conductive element (3), the magnetic shielding pad (5), and the second magnetic conductive element (4) are connected to the mounting base (62) by mounting screws (64). The mounting screws (64) do not protrude from the first magnetic suction surface (331) on the first magnetic conductive element (3). The mounting screws (64) are made of magnetic shielding material. The first magnetic conductive element (3), the magnetic insulating pad (5), and the second magnetic conductive element (4) are pre-welded into a whole; the magnetic element (2) is also provided with at least two positioning pins (72), and the whole composed of the first magnetic conductive element (3), the magnetic insulating pad (5), and the second magnetic conductive element (4) is provided with at least two positioning holes (73).

7. The magnetic quick-change mechanism according to claim 1, characterized in that, The outer wall of the second magnetic conductor (4) is threaded with a screw (8) capable of pushing the magnetic component (2); or, the outer wall of the mounting base (62) of the electromagnetic component (1) is threaded with a screw (8) capable of pushing the magnetic component (2).

8. The magnetic quick-change mechanism according to claim 7, characterized in that, The screw ring (8) is provided with at least one lever arm (81); the side wall of the screw ring (8) is threaded with a set screw (83).

9. An automatic charging device, characterized in that, Includes the magnetic quick-change mechanism as described in any one of claims 1-8.

10. The automatic charging device according to claim 9, characterized in that, The electromagnetic component (1) is an electromagnet, the moving device is a robotic arm; the magnetic component (2) is an iron plate, and the working head (71) is a charging gun head.

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