Gun pulling control system of charging gun, automatic charging system and gun pulling control method of charging gun

Abstract

The application discloses a gun pulling control system of a charging gun, an automatic charging system and a gun pulling control method of the charging gun, and belongs to the technical field of automatic charging. The gun pulling control system of the charging gun is arranged on the charging gun, and the gun pulling control system of the charging gun comprises: an unlocking trigger device, which is used for generating a starting signal after being triggered by a robot; an unlocking mechanism, which is connected with a locking piece of the charging gun and the unlocking trigger device, and is actuated to drive the locking piece to move to an unlocking position in response to the starting signal; and a state feedback device, which is used for detecting a to-position state of the actuation of the unlocking mechanism, and generating a to-position confirmation signal when the actuation of the unlocking mechanism reaches a preset position; wherein the to-position confirmation signal is configured to be sent to the robot to perform a gun pulling operation. The gun pulling control system of the charging gun, the automatic charging system and the gun pulling control method of the charging gun provided by the application can improve the reliability and safety of automatic gun pulling operation.

Description

Technical Field

[0001] This application belongs to the field of automatic charging system technology, and particularly relates to a charging gun removal control system, an automatic charging system, and a charging gun removal control method. Background Technology

[0002] With the rapid development of intelligent and connected new energy vehicles, automatic charging technology has become a key element in improving user experience. Among these technologies, using robots to automatically plug and unplug charging guns is one of the mainstream approaches to achieving unmanned automatic charging. In this approach, the design of the robot's end effector (such as the gun-grabbing structure) is particularly crucial. It not only needs to reliably grasp and manipulate the charging gun but also must coordinate with the charging gun's internal electronic locking mechanism, which conforms to national standards, to achieve safe and reliable locking and unlocking.

[0003] Currently, the industry commonly uses a mechanical pressing method for automatic charging gun removal by robots: the robot's end effector is equipped with a mechanical pressing unlocking device that directly applies mechanical force to the locking lever of the charging gun, causing the lever to lift and unlocking the charging gun from the charging base. However, achieving proper coordination between the robot's pressing unlocking device and the charging gun's locking lever results in a complex structure with high requirements for installation and fit precision. In practical applications, wear of the mechanical structure, assembly errors, and deformation after long-term use can all lead to failure of the fit, resulting in a certain failure rate and affecting the overall reliability of the system. Furthermore, due to malfunctions in the pressing and locking mechanisms (such as jamming or misalignment), the robot may mistakenly interpret the lock as unlocked when it is not, thus performing the gun removal operation and causing physical damage to the charging gun and charging base, increasing the risk of mechanical damage. Summary of the Invention

[0004] This application provides a charging gun unplugging control system, an automatic charging system, and a charging gun unplugging control method, aiming to at least partially solve the technical problems of poor reliability and high safety risks in the unlocking and unplugging of automatic charging guns in robots. Therefore, In one aspect of this application, a charging gun unplugging control system is provided, disposed on the charging gun, and the charging gun unplugging control system includes: Unlock trigger device, used to generate a start signal after being triggered by the robot; An unlocking mechanism is connected to the locking member of the charging gun and the unlocking trigger device, and the unlocking mechanism is activated in response to the activation signal to drive the locking member to move to the unlock position; A status feedback device is used to detect the position status of the unlocking mechanism and generate a position confirmation signal when the unlocking mechanism reaches a preset position. The positioning confirmation signal is configured to be sent to the robot to perform a gun-drawing operation.

[0005] In some embodiments, the unlocking mechanism includes: A magnetic suction element is provided on the locking element; An electromagnet is configured to cooperate with the magnetic attractor so that when a magnetic attraction is established with the magnetic attractor, it drives the locking key to move to the unlock position. A power supply is connected to the electromagnet and the unlocking trigger device to supply power to the electromagnet in response to the start signal.

[0006] In some embodiments, the unlock triggering device includes: A contact button is provided on the charging gun, and the contact button is configured to cooperate with the gun-unplugging position of the robot; An interlocking switch is connected in series in the power supply circuit of the power source, and the interlocking switch is connected to the push-button switch so as to close and conduct the power supply circuit in response to the start signal.

[0007] In some embodiments, the status feedback device includes: A first conductive element is disposed on the locking element; The second conductive element is detachably connected to the first conductive element, and when the unlocking mechanism is in place, the second conductive element is in contact with the first conductive element. A switch quantity detection circuit is connected to the first conductive element and the second conductive element respectively, and outputs the position confirmation signal when the second conductive element makes contact with the first conductive element.

[0008] In some embodiments, the switching quantity detection circuit includes: The pull-up resistor is connected at both ends to the first conductive element and the DC reference power supply VCC of the charging gun, respectively. The first conductive element is provided with a switch output pin for connecting the robot, and the second conductive element is grounded.

[0009] In some embodiments, the first conductive element and the magnetic attracting element are integrally disposed.

[0010] Another aspect of this application embodiment also provides an automatic charging system, including: Charging stations; The charging gun includes the charging gun's gun removal control system. A charging robot, the end of which is equipped with an end-effector adapted to the charging gun and the unlocking trigger device; The charging robot, the charging gun, and the charging pile are communicatively connected, and the end effector is configured to perform the gun-pulling action only after receiving the position confirmation signal.

[0011] In some embodiments, the charging gun is provided with a positioning hole, the end effector is provided with a positioning pin that cooperates with the positioning hole, and the end effector is provided with a pressing part that cooperates with the unlocking trigger device, for triggering the unlocking trigger device on the charging gun after the positioning pin is engaged with the positioning hole.

[0012] Another aspect of the embodiments of this application provides a method for controlling the removal of a charging gun, comprising: Get the draw command; Control the robot to dock with the charging gun and trigger the unlocking trigger device on the charging gun; In response to the start signal output by the unlocking trigger device, the unlocking mechanism inside the charging gun is activated to drive the locking lever from the locked position to the unlocked position; Detect the confirmation signal indicating that the unlocking mechanism has completed its operation; In response to the bit confirmation signal, the robot is controlled to perform a gun-drawing operation.

[0013] In some embodiments, detecting the confirmation signal that the unlocking mechanism has completed its operation includes: The status change of the status feedback device linked to the unlocking mechanism is detected to indirectly confirm that the locking member has moved to the unlock position. The embodiments of this application have at least the following beneficial effects: The charging gun removal control system, automatic charging system, and charging gun removal control method provided in this application embodiment, through the cooperation of an unlocking trigger device installed on the charging gun and a robot in the automatic charging system, generate an unlocking operation start signal when triggered by the robot; after receiving the start signal, the unlocking mechanism drives the locking member of the charging gun to move to the unlocking position to perform the unlocking operation; the status feedback device monitors the position of the unlocking mechanism in real time and generates a position confirmation signal when the unlocking mechanism reaches a preset position, and the position confirmation signal is configured to be sent to the robot as a permission instruction to perform the gun removal operation; that is, by monitoring the unlocking action status of the unlocking mechanism in real time, the system indirectly provides feedback on whether the locking member is unlocked and uses this as the basis for the robot to remove the gun, thereby forming a closed-loop feedback control logic for automatic gun removal operation. The robot only performs the gun removal operation after the unlocking mechanism has performed the unlocking operation, which reduces the risk of accidental removal of the automatic gun removal operation to a certain extent and improves the reliability and safety of the automatic gun removal operation. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A schematic diagram of the automatic charging system in an embodiment of this application is shown; Figure 2 It shows Figure 1 A schematic diagram of the structure of the eight-power control system of the automatic charging system in the middle; Figure 3 A flowchart illustrating the charging gun unplugging control method in an embodiment of this application is shown.

[0016] Figure label: 1-Charging gun, 11-Locking component, 12-Positioning hole; 2-Robot, 21-End-effector, 211-Positioning pin; 3-Car charging dock; 4- Gun-drawing control system, 41- Unlocking trigger device, 411- Contact button, 412- Linkage switch, 42- Unlocking mechanism, 421- Magnetic suction element, 422- Electromagnet, 423- Power supply, 43- Status feedback device, 431- First conductive element, 432- Second conductive element, 433- Switch quantity detection circuit. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0018] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0019] This application is described below with reference to the accompanying drawings and specific embodiments: Automatic charging systems, as an emerging type of automated charging product, offer users a more convenient experience. They primarily rely on robots to insert and remove the charging gun, replacing manual operation and improving the ease of use. When removing the charging gun, the robot's end effector grasps the charging gun and presses the mechanical unlock switch, causing the locking mechanism on the charging gun to disengage from the vehicle charging dock. The charging gun is then pulled out and returned to its original position, completing the automatic removal operation. However, due to the robot's limited sensing capabilities, it cannot determine the degree of mechanical pressure and the completeness of the unlocking process. This can lead to situations where the charging gun is not fully unlocked, potentially causing damage to the charging gun and the vehicle charging dock, or even circuit malfunctions and safety accidents.

[0020] Therefore, this application provides a charging gun unplugging control system, an automatic charging system, and a charging gun unplugging control method, aiming to at least partially solve the technical problems of poor reliability and high safety risks in the unlocking and unplugging of automatic charging of robots.

[0021] It is worth noting that the automatic charging system includes a charging gun 1, a robot 2, and a charging station (not shown). The charging gun 1 can be connected to the charging station via a cable. The robot 2 is used to insert or remove the charging gun 1 from the vehicle charging dock 3, thereby realizing automatic charging operation. The robot 2 and the charging gun 1 are not continuously connected. The robot 2 (usually its end effector 21) only establishes a connection with the charging gun 1 when charging or removing the gun is required, maintaining a connection state such as clamping or holding. After completing the charging insertion or removal and returning the gun to its original position, the end effector 21 will disengage from the charging gun 1.

[0022] The charging gun 1 is equipped with a locking member 11 that is connected to the vehicle charging base 3 to lock the charging gun 1 and the vehicle charging base 3; the locking member 11 is set to be movable and can be fixed between the locked position and the unlocked position, thereby realizing locking and unlocking.

[0023] See Figure 1 , Figure 2 and Figure 3 In some embodiments, the charging gun's gun removal control system 4 is located on the charging gun 1. It is mainly used to cooperate with the robot 2 to generate a start signal for initiating the unlocking operation, complete the unlocking operation of the locking member 11 on the charging gun 1, detect the completion status of the unlocking operation, and send a completion confirmation signal back to the robot 2 as the basis for the robot 2 to perform further gun removal operations. The robot only performs the gun removal operation after receiving the completion confirmation signal. This realizes a closed-loop feedback structure of triggering, unlocking, status detection, and gun removal to improve the reliability and safety of the robot's automatic gun removal.

[0024] The charging gun's gun-pulling control system 4 includes an unlocking trigger device 41, an unlocking mechanism 42, and a status feedback device 43. The unlocking trigger device 41, the unlocking mechanism 42, and the status feedback device 43 are respectively disposed inside the charging gun 1. That is, based on the main body of the charging gun 1, the unlocking trigger device 41, the unlocking mechanism 42, and the status feedback device 43 are installed and arranged to cooperate with the locking member 11 of the charging gun 1 and the robot 2 to realize unlocking triggering, unlocking operation, and status feedback.

[0025] The unlocking trigger device 41 is disposed on the charging gun 1 and is used to cooperate with the robot 2 to realize the unlocking trigger function. That is, after the robot 2 establishes a stable connection with the charging gun 1 (such as clamping in place), the unlocking trigger device 41 can be triggered, and the unlocking trigger device 41 will generate an unlocking operation start signal. The start signal can be an electrical signal, or a state change signal, a mechanical pressing, pushing, or other physical signal, mainly related to the triggering principle and structural form of the unlocking trigger device 1.

[0026] The unlocking mechanism 42 is fixed inside the charging gun 1 and connected to the locking member 11 of the charging gun 1. Based on the charging gun 1, it drives the locking member 11 to move to the unlocked position, thereby releasing the connection between the locking member 11 and the vehicle charging dock 3, facilitating the detachment of the charging gun 1 from the vehicle charging dock 3. The unlocking mechanism 42 is connected to the unlocking trigger device 41. Upon receiving the start signal, the unlocking mechanism 42 actuates to drive the locking member 11 from the locked position to the unlocked position. Correspondingly, the unlocking mechanism 42 is also configured with a locked position and an unlocked position, corresponding to the locked and unlocked positions of the locking member 11. Before unlocking, the unlocking mechanism 42 is in the locked position, and after unlocking, it is in the unlocked position.

[0027] The status feedback device 43 is configured in conjunction with the unlocking mechanism 42 to detect whether the unlocking action of the unlocking mechanism 42 is in place. After the unlocking mechanism 42 is in place, it outputs a confirmation signal and sends it back to the robot 2, at which point the robot 2 performs the gun-pulling operation. That is, a precondition is set for the robot 2 to perform the gun-pulling operation: the status feedback device 53 detects that the unlocking mechanism 42 is in the unlocked position, thus completing the unlocking operation of the locking member 11. This releases the locking state between the charging gun 1 and the vehicle charging dock 3, so that when the robot 2 pulls out the gun, it does not need to pull on the vehicle charging dock 3, thereby reducing the risk of damage.

[0028] It is worth noting that the status feedback device 43 and the robot 2 can communicate via the signal cable inside the charging gun 1, and the unlocking mechanism 42 can obtain power from the low-voltage power supply inside the charging gun 1 to perform the unlocking operation.

[0029] In some embodiments, the unlocking mechanism 42 is used to perform work on the locking member 11, causing it to move along a preset path from the locked position to the unlocked position, and switch from the locked state to the unlocked state.

[0030] To enable the movement of the locking element 11, the unlocking mechanism 42 can adopt an electromagnetic drive principle structure, thereby achieving a simple drive structure and avoiding overly complex brackets and transmission structures.

[0031] Specifically, the unlocking mechanism 42 may include a magnetic attractor 421, an electromagnet 422, and a power supply 423; the magnetic attractor 421 is disposed on the locking member 11, the electromagnet 422 is disposed on the charging gun 1, and the installation position of the electromagnet 422 is matched with the position of the magnetic attractor 421, so that the electromagnet 422 and the magnetic attractor 421 maintain a stable electromagnetic force, thereby stably driving the locking member 11 to move.

[0032] The electromagnet 422 is connected to the power supply 423 to obtain electrical energy; and the power supply can be switched on and off to control the electromagnet 422 to generate or eliminate electromagnetic force, so as to apply electromagnetic force to the magnetic suction member 421 or stop applying electromagnetic force. Correspondingly, the power supply 423 is connected to the unlocking trigger device 41, so that when the unlocking trigger device 41 is triggered by the robot, the power supply 423 receives the start signal, and then conducts the power supply circuit to supply power to the electromagnet 422, thereby generating electromagnetic force to drive the magnetic suction member 421 and the locking member 11 to move to the unlock position, realizing the unlocking operation.

[0033] The power supply 423 can be the working power supply VCC inside the charging gun 1, or it can be a modulated charging power supply, etc.

[0034] In some embodiments, the power supply 423 may also be configured with an independent controller for controlling the magnitude of the current applied to the electromagnet 422; at the same time, the controller may also be able to directly control the power supply circuit of the power supply 423 to the electromagnet 422 based on the start signal, thereby using the start signal as the switching quantity of the power supply circuit of the power supply 423 to realize power on / off control.

[0035] In some embodiments, the locking member 11 is rotatably disposed on the charging gun 1, that is, the locking member 11 can be configured as a rod, the middle part of which is rotatably connected to the charging gun. One end of the rod of the locking member 11 is provided with a locking structure for connecting to the vehicle charging base 3, and the other end of the rod of the locking member 11 is connected to the magnetic suction member 421. The locking member 11 can be rotated to the locked position to lock and connect with the vehicle charging base 3, thereby establishing a locked connection between the charging gun 1 and the vehicle charging base 3; and can be rotated in the opposite direction to disengage the locking member 11 from the vehicle charging base 3, thereby unlocking.

[0036] The locking member 11 can be configured to a normal position, and a locking state is directly established when the charging gun 1 is inserted into the vehicle charging socket 1; after the electromagnet 422 is energized, it drives the magnetic suction member 421 and the locking member 11 to deflect and unlock.

[0037] Generally, an elastic element, such as a spring, can be provided between the locking member 11 and the charging gun 1 to keep the locking member 11 in its normal position and to accommodate the deflection unlocking and locking processes of the locking member 11. That is, when the locking member 11 is locked onto the vehicle charging dock 3, the elastic element applies an elastic force to the locking member 11, which can keep the locking member 11 in the locked position; and when the electromagnet 422 eliminates the electromagnetic force on the magnetic attractor 421, the locking member 11 can be reset to the locked position for the next locking operation.

[0038] In some embodiments, the locking member 11 may also adopt other forms of locking structure, such as axial movement of the pin, to cooperate with the pin hole on the vehicle charging base 3 to achieve locking and unlocking operations.

[0039] In some embodiments, the unlocking mechanism 42 may also adopt other forms of drive structure, such as a linear drive cylinder, with the cylinder rod end hinged to the locking member 11, driving the locking member 11 to deflect or move linearly.

[0040] In some implementations, the unlocking triggering device 41 can be physically contacted with the end effector 21 of the robot 2 to trigger it and output a start signal, thereby realizing the unlocking action of the unlocking mechanism 42.

[0041] Specifically, the unlocking trigger device 41 may include a contact button 411 and a linkage switch 412. The contact button 411 is connected to the linkage switch 412. When the contact button 411 changes from pressed to unpressed, the linkage switch 412 is also activated or deactivated in conjunction with it.

[0042] The contact button 411 can be disposed on the charging gun 11, and the arrangement of the contact button 411 is coordinated with the clamping position of the end effector 21. This allows the end effector 21 to stably press and trigger the contact button 411 after clamping the charging gun 11 into position, thereby causing the linkage switch 412 to change its open / closed state. The linkage switch 412 is connected in series in the power supply circuit of the power supply 423 to control the on / off state of the power supply circuit. It can respond to the pressing trigger state of the contact button 411 to realize the on / off state of the power supply circuit of the power supply 423, thereby controlling the on / off state of the electromagnet 422 to generate or eliminate electromagnetic force.

[0043] Generally, the contact button 411 is triggered when it is pressed by the end effector 21 of the robot 2, generating a start signal in the form of a switch. The linkage switch 412 then closes, thereby turning on the power supply circuit of the power source 423. That is, the contact button 411 and the linkage switch 412 are normally open switches, closing only when the end effector 21 clamps the charging gun 1 and presses the contact button 411.

[0044] In other words, the contact button 411 and the linkage switch 412 are two-stage triggering elements. The contact button 411 is the first-stage physical sensing triggering element; it can be configured as a micro switch, tactile switch, or other push-button switch, and is usually located on the outer shell of the charging gun 1, physically connected to the internal components of the gun. The core function of the contact button 411 is to be pressed, converting this mechanical action into an electrical signal or mechanical displacement; it itself typically does not directly carry the large current of the electromagnet. The linkage switch 412 can be configured as a power switching element, connected in series in the power supply circuit of the electromagnet 422, directly controlling the on / off state of the large current; its on / off state is controlled by the action of the contact button 411.

[0045] In some embodiments, the contact button 411 and the linkage switch 412 are mechanically connected to achieve a direct and reliable linkage scheme. The overall structure is direct, simple, fast-responding, and without signal delay.

[0046] The contact button 411 is internally equipped with a button lever (not shown) (or a push rod linked to it). When it is pressed, the end of the button lever will directly press or move the actuator of the linkage switch 412 (such as the spring of a micro switch) to close the linkage switch 412.

[0047] When the robot's end effector 21 presses the contact button 411, it directly and physically drives the button lever of the contact button 411 to move inward, thereby actuating the triggering component of the linkage switch 412, closing the linkage switch 412, and energizing the power supply circuit of the electromagnet 422.

[0048] In some embodiments, the contact button 411 and the linkage switch 412 are electrically linked. The contact button 411 may be configured as a signal switch, and the linkage switch 412 may be a relay or a power MOSFET, controlled by a preceding signal.

[0049] The contact button 411 is connected in series in a low-voltage, low-current signal circuit, such as the contact button 411 being connected to the GPIO pin of the control board of the charging gun 1; the linkage switch 412 is driven by the above-mentioned signal circuit or control board.

[0050] When the robot 2 presses the contact button 411, the contact button 411 closes and sends a low-level signal to the control board of the charging gun 1. After receiving this signal, the control board turns on the linkage switch 412 and connects the power supply circuit of the electromagnet.

[0051] In some embodiments, the push-button switch 411 and the linkage switch 412 may be an integrated push-button switch connected in series in the power supply circuit of the electromagnet 422, which can directly close and connect the power supply circuit of the electromagnet 422 when the end effector 21 is pressed. The start signal can be understood as the change in the open / closed state of the integrated push-button switch.

[0052] In some embodiments, the status feedback device 43 is used to directly detect and provide feedback on the unlocking status of the unlocking mechanism 42. The status feedback device 43 employs an electrical signal detection loop to achieve the unlocking detection.

[0053] The status feedback device 43 includes a first conductive element 431, a second conductive element 432, and a switch quantity detection circuit 433. The switch quantity detection circuit 433 is connected to the first conductive element 431 and the second conductive element 432 respectively. The first conductive element 431 is disposed on the locking element 11. The second conductive element 432 is detachably connected to the first conductive element 431. When the second conductive element 432 is electrically connected to the first conductive element 431, the switch quantity detection circuit 433 closes and conducts, generating a switch quantity signal, i.e., a position confirmation signal.

[0054] Under normal conditions, the first conductive element 431 and the second conductive element 432 are separated. When the first conductive element 431 moves to the unlock position along with the locking element 11, it makes contact with the second conductive element 432 and connects to it. Thus, the unlocking mechanism 42 can be unlocked in place by the switching signal of the on / off detection circuit 433.

[0055] In some embodiments, the switch quantity detection circuit 433 may include a pull-up resistor (not shown), the two ends of which are connected to the first conductive element and the DC reference power supply VCC of the charging gun, respectively. The first conductive element 431 is provided with a switch quantity output pin for connecting the robot 2, and the second conductive element 432 is grounded. When the first conductive element 431 and the second conductive element 432 are electrically connected, the first conductive element 431 and the switch quantity output pin are grounded, the high level is changed to a low level, and a switch quantity signal is output.

[0056] Generally, the switch output pin can be directly connected to the control board inside the charging gun 1, or connected to the charging pile 3 or the controller inside the robot via a signal line.

[0057] In other words, the switch quantity detection circuit 433 is a voltage comparison-based microcontroller that implements a switch state detection circuit. The first conductive element 431 serves as a detection node, connected to a digital input pin of the microcontroller. When the first conductive element 431 and the second conductive element 432 are not in contact, the detection node is pulled up to a high level (logic '1') through a pull-up resistor, representing "locking lever not in position". When the first conductive element 431 and the second conductive element 432 are in contact and conducting, the detection node is pulled down to a low potential (logic '0'), representing "locking lever in position". The microcontroller can accurately determine the position of the locking element 11 by continuously reading the level state of this pin, and generate the position confirmation signal accordingly.

[0058] In some embodiments, the switching quantity detection circuit 433 can also be a current detection circuit. That is, the switching quantity detection circuit 433 includes a constant voltage source, a sampling resistor, and a current detection chip, wherein the constant voltage source and the sampling resistor are connected in series in the loop formed by the first conductive element 431 and the second conductive element 432.

[0059] When the first conductive element 431 and the second conductive element 432 are not in contact, the circuit is open and the detected current is zero; when the first conductive element 431 and the second conductive element 432 are in contact, the circuit is open and a specific current signal is generated, namely the position confirmation signal.

[0060] In some embodiments, the status feedback device can also be directly configured as a proximity switch, limit switch, or other direct position detection sensor to directly detect the positioning status of the locking member 11. Once the locking member 11 is unlocked, the position detection sensor outputs a positioning confirmation signal.

[0061] The robot 2 only performs the gun-drawing operation after receiving the positioning confirmation signal.

[0062] In some embodiments, the magnetic attracting element 421 and the first conductive element 431 may be made of a material such as steel that can simultaneously possess magnetic attraction and conductivity, thereby simplifying the structural composition.

[0063] In another aspect, this application provides an automatic charging system, including a charging pile, the aforementioned charging gun 1, and the aforementioned charging robot 2.

[0064] The charging pile and the robot 2 are arranged on the ground or on a site foundation, and the charging gun 1 is connected to the charging pile through a charging cable.

[0065] The charging gun 1 is equipped with the aforementioned charging gun removal control system; the robot 2 has an end effector 21 adapted to the shape of the charging gun 1 to clamp the charging gun.

[0066] The robot 2 and the charging gun 1 are communicatively connected to the charging pile, and the end effector 21 is configured to perform the gun-pulling action only after receiving the position confirmation signal.

[0067] In other words, the charging pile is equipped with a controller that uniformly controls the robot 2, the unlocking mechanism 42 inside the charging gun 1, and the status feedback device 43. Based on the arrival confirmation signal, the controller controls the actions of the unlocking mechanism 42 and the robot 2 to realize the control logic of detecting before unplugging the gun, thereby reducing the safety risk of unplugging the gun.

[0068] In some embodiments, to facilitate the engagement and fixation of the charging gun 1 and the end effector 21, a positioning hole 12 can be provided on the charging gun 1, and a positioning pin 211 can be provided on the end effector 21. When the end effector 21 engages with the charging gun 1, the positioning pin 211 matches and fits into the positioning hole 12, thereby ensuring the clamping and fixing posture of the end effector 21 and the charging gun 1, thus ensuring the reliability of the clamping.

[0069] Generally, the positioning hole 12 and the positioning pin 211 can be set to two or more to ensure reliable alignment.

[0070] Alternatively, the contact button 411 can be positioned on the surface where the positioning hole 12 is located to ensure stable pressing operation. Correspondingly, the surface where the positioning pin 211 of the end effector 21 is located is provided with a pressing part, which is used to trigger the unlocking trigger device 41 on the charging gun 1 after the positioning pin 211 is engaged with the positioning hole 12.

[0071] Another aspect of this application embodiment also provides a charging gun removal control method for the above-mentioned automatic charging system to realize automatic gun removal operation.

[0072] The method for controlling the removal of the charging gun includes: Get the draw command; Control the robot to dock with the charging gun and trigger the unlocking trigger device on the charging gun; In response to the start signal output by the unlocking trigger device, the unlocking mechanism inside the charging gun is activated to drive the locking lever from the locked position to the unlocked position; Detect the confirmation signal indicating that the unlocking mechanism has completed its operation; In response to the bit confirmation signal, the robot is controlled to perform a gun-drawing operation.

[0073] The process of obtaining the unplugging command includes the robot 2 receiving the unplugging command from the charging station. Generally, this occurs when the charging station detects the end of the charging process, such as when the charging time has expired, the battery is fully charged, or the operator actively terminates the charging. The robot 2 directly receives the unplugging command from the charging station via a signal line or wireless communication module.

[0074] Of course, the controller of the charging station can also receive the gun-pulling command, which is used to receive the gun-pulling command from the operator's control panel, or from an input interface such as an APP, or from a remote control system. In this embodiment, the robot 2 is used as the execution subject.

[0075] After receiving the command to pull the gun, the robot 2 actively docks with the charging gun 1 according to the planned path, and triggers the unlocking trigger device 41 after stable docking, such as by pressing the contact button 411.

[0076] The contact button 411 outputs a start signal. After receiving the start signal, the unlocking mechanism 42 activates its power supply circuit and drives the unlocking mechanism 42 to move the locking member 11 to the unlock position.

[0077] The status feedback device 43 detects the unlocking action of the unlocking mechanism 42 and outputs a confirmation signal only when the unlocking mechanism 42 is fully unlocked. The robot 2 receives the confirmation signal and performs a gun-drawing operation.

[0078] In some embodiments, detecting the action confirmation signal of the unlocking mechanism includes detecting the state change of the state feedback device 43 linked to the unlocking mechanism 42 to indirectly confirm that the locking member has moved to the unlock position.

[0079] That is, after the unlocking mechanism 42 is unlocked, the linked status feedback device 43 outputs a confirmation signal, thereby directly indicating that the unlocking is complete.

[0080] The embodiments of this application have at least the following beneficial effects: The charging gun removal control system, automatic charging system, and charging gun removal control method provided in this application embodiment, through the cooperation of an unlocking trigger device installed on the charging gun and a robot in the automatic charging system, generate an unlocking operation start signal when triggered by the robot; after receiving the start signal, the unlocking mechanism drives the locking member of the charging gun to move to the unlocking position to perform the unlocking operation; the status feedback device monitors the position of the unlocking mechanism in real time and generates a position confirmation signal when the unlocking mechanism reaches a preset position, and the position confirmation signal is configured to be sent to the robot as a permission instruction to perform the gun removal operation; that is, by monitoring the unlocking action status of the unlocking mechanism in real time, the system indirectly provides feedback on whether the locking member is unlocked and uses this as the basis for the robot to remove the gun, thereby forming a closed-loop feedback control logic for automatic gun removal operation. The robot only performs the gun removal operation after the unlocking mechanism has performed the unlocking operation, which reduces the risk of accidental removal of the automatic gun removal operation to a certain extent and improves the reliability and safety of the automatic gun removal operation.

[0081] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0082] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0083] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indication will also change accordingly. In this application, unless otherwise explicitly specified and limited, the terms "connection" and "fixed" should be interpreted broadly. For example, "fixed" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction relationship between two components, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. In addition, the descriptions involving "first," "second," etc., in this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" or "second" may explicitly or implicitly include one or more of the aforementioned features. In the description of this application, "multiple" means two or more, unless otherwise explicitly and specifically limited.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0085] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0086] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A charging gun unplugging control system, characterized in that, The charging gun is equipped with a gun removal control system, which includes: Unlock trigger device, used to generate a start signal after being triggered by the robot; An unlocking mechanism is connected to the locking member of the charging gun and the unlocking trigger device, and the unlocking mechanism is activated in response to the activation signal to drive the locking member to move to the unlock position; A status feedback device is used to detect the position status of the unlocking mechanism and generate a position confirmation signal when the unlocking mechanism reaches a preset position. The positioning confirmation signal is configured to be sent to the robot as a prerequisite for the robot's gun-drawing operation.

2. The charging gun unplugging control system as described in claim 1, characterized in that, The unlocking mechanism includes: A magnetic suction element is provided on the locking element; An electromagnet is configured to cooperate with the magnetic attractor so that when a magnetic attraction is established with the magnetic attractor, it drives the locking key to move to the unlock position. A power supply is connected to the electromagnet and the unlocking trigger device to supply power to the electromagnet in response to the start signal.

3. The charging gun unplugging control system as described in claim 2, characterized in that, The unlocking trigger device includes: A contact button is provided on the charging gun, and the contact button is configured to cooperate with the gun-unplugging position of the robot; An interlocking switch is connected in series in the power supply circuit of the power source, and the interlocking switch is connected to the push-button switch so as to close and conduct the power supply circuit in response to the start signal.

4. The charging gun unplugging control system as described in claim 2, characterized in that, The status feedback device includes: A first conductive element is disposed on the locking element; The second conductive element is detachably connected to the first conductive element, and when the unlocking mechanism is in place, the second conductive element is in contact with the first conductive element. A switch quantity detection circuit is connected to the first conductive element and the second conductive element respectively, and outputs the position confirmation signal when the second conductive element makes contact with the first conductive element.

5. The charging gun unplugging control system as described in claim 4, characterized in that, The switch quantity detection circuit includes: The pull-up resistor is connected at both ends to the first conductive element and the DC reference power supply VCC of the charging gun, respectively. The first conductive element is provided with a switch output pin for connecting the robot, and the second conductive element is grounded.

6. The charging gun unplugging control system as described in claim 4, characterized in that, The first conductive element and the magnetic attraction element are integrally formed.

7. An automatic charging system, characterized in that, include: Charging stations; A charging gun, including a gun-pulling control system for the charging gun as described in any one of claims 1 to 6; A charging robot, the end of which is equipped with an end-effector adapted to the charging gun and the unlocking trigger device; The charging robot, the charging gun, and the charging pile are communicatively connected, and the end effector is configured to perform the gun-pulling action only after receiving the position confirmation signal.

8. The automatic charging system as described in claim 7, characterized in that, The charging gun is provided with a positioning hole, the end effector is provided with a positioning pin that cooperates with the positioning hole, and the end effector is provided with a pressing part that cooperates with the unlocking trigger device, which is used to trigger the unlocking trigger device on the charging gun after the positioning pin is engaged with the positioning hole.

9. A method for controlling the removal of a charging gun, characterized in that, include: Get the draw command; Control the robot to dock with the charging gun and trigger the unlocking trigger device on the charging gun; In response to the start signal output by the unlocking trigger device, the unlocking mechanism inside the charging gun is activated to drive the locking lever from the locked position to the unlocked position; Detect the confirmation signal indicating that the unlocking mechanism has completed its operation; In response to the bit confirmation signal, the robot is controlled to perform a gun-drawing operation.

10. The charging gun unplugging control method as described in claim 9, characterized in that, The detection of the confirmation signal indicating that the unlocking mechanism has completed its operation includes: The status change of the status feedback device linked to the unlocking mechanism is detected to indirectly confirm that the locking member has moved to the unlock position.

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