Automatic gun taking device for automobile charging, control method and automobile charging equipment

Abstract

The application provides an automatic gun taking device for automobile charging, a control method and automobile charging equipment, and comprises a gun sleeve assembly used for being connected with different types of charging guns; a grabbing part, the grabbing part comprises a gun grabbing assembly and an identification assembly, the gun grabbing assembly is located on one side of the identification assembly, the identification assembly is connected with the gun grabbing assembly, one end of the gun grabbing assembly is connected with an execution end of a mechanical arm, and the gun grabbing assembly is detachably connected with the gun sleeve assembly. Through the gun sleeve assembly connected with the charging gun and the grabbing part integrated with the gun grabbing assembly and the identification assembly, the identification assembly can accurately obtain the position data of the gun sleeve assembly, the automatic and accurate grabbing and separation of the charging gun are realized, different models of charging guns can be adapted, and the problem of insufficient adaptability of the automatic gun taking in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of automotive charging technology, and more specifically, to an automatic charging gun dispensing device, control method, and automotive charging equipment for automotive charging. Background Technology

[0002] As the popularity of new energy vehicles continues to rise, charging infrastructure faces problems such as an imbalance between vehicles and charging piles, long queues during peak hours, and gasoline vehicles occupying charging spaces, resulting in low utilization of charging facilities and seriously affecting the user charging experience. At the same time, with the gradual maturation of autonomous driving technology, fully automated vehicles in the future urgently need automated charging solutions that do not require human intervention. However, traditional fixed charging piles are unable to meet the demand for highly automated charging. Existing robotic arm gun-grabbing solutions have shortcomings such as poor compatibility with different models of charging guns, insufficient identification and positioning accuracy, and inability to simultaneously handle automatic grasping and manual use of charging guns, which restricts the practical application of automated charging technology.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] The main objective of this invention is to provide an automatic gun-retrieving device, control method, and car charging equipment for car charging, so as to solve the problem of insufficient adaptability of automatic gun-retrieving in the prior art.

[0005] To achieve the above objectives, according to one aspect of the present invention, an automatic charging gun retrieval device for automobile charging is provided, comprising: a holster assembly for cooperating with different types of charging guns; and a gripping part comprising: a gun gripping assembly and an identification assembly, the gun gripping assembly being located on one side of the identification assembly and connected to the gun gripping assembly, one end of the gun gripping assembly being connected to the execution end of a robotic arm, and the gun gripping assembly being detachably connected to the holster assembly; wherein the identification assembly is used to acquire position data of the holster assembly, the gun gripping assembly has a working position connected to the holster assembly, and an idle position separated from the holster assembly.

[0006] Furthermore, the holster assembly has a mounting cavity, within which a portion of the charging gun is located.

[0007] Furthermore, the other end of the gripping gun assembly has an electromagnetic attraction element, and one end of the gun holster assembly is provided with a magnetic connecting element that magnetically engages with the electromagnetic attraction element; wherein, the electromagnetic attraction element has an adsorption working state in which it adsorbs the magnetic connecting element, and an inactive state in which it is not energized. When the gripping gun assembly is in the working position, the electromagnetic attraction element is in the adsorption working state.

[0008] Furthermore, the identification components include: a support housing module having a working cavity, a portion of which is connected to the gun holster assembly; and a camera unit located within the working cavity, a portion of which is connected to the support housing module, the camera unit being used to acquire position data of the holster assembly.

[0009] Furthermore, the identification component also includes: a control unit located inside the working chamber, the control unit being positioned at a distance from the camera unit, a portion of the control unit being connected to the support housing module, and the control unit being electrically connected to the electromagnetic attraction element. The control unit is used to control the electromagnetic attraction element to be in a non-working state and an adsorption working state.

[0010] Furthermore, the identification component also includes: a supplementary light, which is located inside the working cavity and above the camera unit. The supplementary light is positioned at a distance from the control unit and is electrically connected to the control unit. The control unit is also used to control the supplementary light to be in an on or off state.

[0011] Furthermore, the supporting housing module includes: a housing body having a working cavity, a camera unit, a control unit, and a supplementary light respectively connected to the housing body, and the housing body abutting against the gripper assembly; a first connecting plate located below the housing body, the first connecting plate being disposed on one side of the gripper assembly, one end of the first connecting plate being connected to the housing body, and a portion of the first connecting plate being connected to the gripper assembly; and a second connecting plate located below the housing body, the second connecting plate being spaced apart from the first connecting plate along the length direction of the housing body, the second connecting plate being disposed on the other side of the gripper assembly, one end of the second connecting plate being connected to the housing body, and a portion of the second connecting plate being connected to the gripper assembly.

[0012] Furthermore, the gripper assembly includes: a gripper support base, a portion of which is connected to the recognition component; an electromagnetic attraction element located at one end of the gripper support base; the gripper support base having a positioning cavity; the electromagnetic attraction element disposed within the positioning cavity; and a portion of which is connected to the gripper support base; and an end effector, located at the other end of the gripper support base; one end of the end effector connected to the gripper support base; and the other end of the end effector connected to the actuator end of the robotic arm.

[0013] Furthermore, the holster assembly includes: a gun head module having a first mounting cavity, a portion of which is located within the first mounting cavity, and the gun head module being detachably connected to the gun head of the charging gun; a gun handle module located at one end of the gun head module, a portion of which is connected to the gun head module, the gun handle module having a second mounting cavity, a portion of which is located within the second mounting cavity, and the gun head module being detachably connected to the grip of the charging gun; a support plate located above the gun handle module, the gun head module being disposed on one side of the support plate, a portion of which is connected to at least one of the gun handle module and the gun head module, and a magnetic connecting element located on the other side of the support plate, a portion of which is connected to the support plate.

[0014] Furthermore, the gun head module includes: an upper connecting plate located above the gun head, a portion of which is connected to at least one of the gun handle module and the support plate; and a lower connecting ring located below the gun head, the lower connecting ring being disposed at a distance from the support plate and the gun handle module, a portion of which is connected to the upper connecting plate, and the lower connecting ring comprising multiple rings spaced apart along the length of the upper connecting plate; wherein the upper connecting plate and the lower connecting rings form a first mounting cavity.

[0015] Furthermore, the holster assembly also includes: a pressing lever located above the gun handle module, spaced apart from the gun head module, and movably connected to a support plate; the gripping part also includes a push rod located on one side of the gripping part, one end of which is connected to at least one of the gun gripping assembly and the identification assembly, and the push rod is detachably connected to the pressing lever; wherein, controlling the push rod allows it to push the pressing lever to move, so that the pressing lever has a pressed position that engages with the button of the charging gun, and a disengaged position that separates the pressing lever from the button; when the gun gripping assembly is in the working position, the pressing lever is in the pressed position.

[0016] In another aspect, the present invention provides a control method for an automatic charging gun retrieval device for car charging. The control method is used to control the aforementioned automatic charging gun retrieval device for car charging, comprising: in response to a control request for a robotic arm to automatically grasp a universal charging gun, acquiring position data of a gun holster assembly, wherein the position data is visual image data of a magnetic connecting element; determining robotic arm motion data based on the position data, wherein the robotic arm motion data includes: target rotation angle data of multiple robotic arm joints and target position data of the actuator; and generating a first control instruction set in response to the robotic arm motion data, the first control instruction set being used to control the multiple robotic arm joints and the actuator to be located at corresponding target working positions.

[0017] Furthermore, based on the position data, the robotic arm motion data is determined, including: based on the position data, using the YOLO extraction algorithm to determine the coordinates of the feature points of the magnetic connecting elements; based on the coordinates of the feature points of the magnetic connecting elements, using a pre-configured calibration transformation matrix and DH parameter model to determine the target pose data in the robotic arm coordinate system; and using the target pose data in the robotic arm coordinate system to determine the robotic arm motion data.

[0018] Furthermore, the control method also includes: in response to multiple robotic arm joints and actuators completing their respective target working positions, generating a second control instruction set, which is used to control the adsorption working state of the electromagnetic attraction element.

[0019] In another aspect, the present invention provides a car charging device, including an automatic charging gun dispensing device for car charging, wherein the automatic charging gun dispensing device for car charging is the aforementioned automatic charging gun dispensing device for car charging.

[0020] By applying the technical solution of this invention, a gun holster assembly connected to the charging gun and a gripping part integrating a gun-grabbing assembly and an identification assembly are set up. The identification assembly can accurately acquire the position data of the gun holster assembly, providing a reliable positioning basis for the gun-grabbing assembly. The detachable connection design between the gun-grabbing assembly and the gun holster assembly not only realizes the automated and accurate grasping and separation of the charging gun without changing the original structure of the charging gun, but also adapts to different models of charging guns, taking into account both automatic gun retrieval and manual use of the charging gun. This significantly improves the automation and efficiency of the charging process, reduces the cost of manual intervention, effectively supports the automatic charging needs of intelligent scenarios such as autonomous vehicles, and solves the problem of insufficient adaptability of automated gun retrieval in the prior art. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0022] Figure 1 A schematic diagram of a first embodiment of an automatic charging gun dispensing device for automobiles according to the present invention is shown;

[0023] Figure 2 A partial structural schematic diagram of a second embodiment of an automatic gun-retrieving device for car charging according to the present invention is shown;

[0024] Figure 3 A partial structural schematic diagram of the gripping part in an automatic gun-retrieving device for car charging according to the present invention is shown.

[0025] Figure 4A partial structural schematic diagram of a first embodiment of a holster assembly in an automatic gun retrieval device for car charging according to the present invention is shown;

[0026] Figure 5 A partial structural schematic diagram of a second embodiment of a holster assembly in an automatic gun retrieval device for car charging according to the present invention is shown.

[0027] The above figures include the following reference numerals:

[0028] 10. Robotic arm;

[0029] 20. Grabbing section;

[0030] 201. Shell body;

[0031] 202. Fill light;

[0032] 203. Camera Unit;

[0033] 204. Push rod;

[0034] 205. Electromagnetic attracting components;

[0035] 206. Second connecting plate;

[0036] 207. Gun gripper support;

[0037] 208. First connecting plate;

[0038] 209. Control unit;

[0039] 210. End connectors;

[0040] 30. Holster assembly;

[0041] 301. Press lever;

[0042] 302. Magnetic connecting elements;

[0043] 303. Support plate;

[0044] 304. Upper connecting plate;

[0045] 305. Gun grip module;

[0046] 306. Lower connecting ring;

[0047] 40. Charging gun. Detailed Implementation

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] 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.

[0050] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0052] With the rapid expansion of the new energy vehicle market, its penetration rate has surged in recent years, becoming an important part of the transportation sector. However, the construction and service capabilities of the supporting charging infrastructure have failed to keep pace, gradually exposing a series of prominent contradictions: On the one hand, the problem of "imbalance between vehicles and charging piles" is becoming increasingly serious. In some core urban areas, the ratio of new energy vehicles to charging piles even exceeds 10:1, leading to the normalization of charging queues during peak hours (such as weekday evenings and holidays), with users' average waiting time often reaching 1-2 hours. On the other hand, the chaos of "fuel vehicles occupying charging spaces" persists despite repeated prohibitions. A large number of charging piles are occupied by non-charging vehicles for extended periods, resulting in idle and wasted charging resources, further exacerbating the overall low utilization rate of charging facilities. Data shows that in some cities, the average daily effective usage time of charging piles is less than 2 hours, with an idle rate exceeding 80%. These problems directly lead to cumbersome and time-consuming charging processes for users, seriously damaging the user experience of new energy vehicles.

[0053] Meanwhile, autonomous driving technology is moving from the laboratory to commercial application. Level 4 and above autonomous vehicles are already undergoing large-scale pilot testing in scenarios such as logistics transportation and urban mobility. In the future, fully automated vehicles (such as driverless taxis and intelligent logistics fleets) will gradually become more widespread. After these vehicles complete their missions and return to designated depots, they urgently need a completely automated charging solution that requires no human intervention to achieve a closed-loop operation of "driving-charging-driving again." However, traditional fixed charging stations are essentially dependent on manual operation, requiring users to manually plug and unplug the charging gun, which completely fails to meet the fully automated requirements of autonomous driving scenarios.

[0054] To address this contradiction, existing technologies have developed automated charging gun retrieval solutions based on robotic arms. However, these solutions still suffer from several key drawbacks: First, they have extremely poor adaptability. Due to the lack of unified standards in interface specifications, dimensions, and button positions among different manufacturers and models of charging guns, existing robotic arms are mostly customized designs, only compatible with a single type of charging gun, and cannot achieve cross-brand and cross-model compatibility. Second, their recognition and positioning accuracy is insufficient. Charging scenarios often face issues such as changing lighting (e.g., strong direct sunlight, cloudy or weak light), reflections from metal parts, and obstructions around the charging gun, making it difficult for the robotic arm's recognition components to accurately capture the charging gun's position information, leading to malfunctions such as grasping failures and positioning deviations. Third, they lack compatibility. Existing solutions require structural modifications to the charging gun (e.g., welding connecting parts, modifying the handle) to enable robotic arm grasping, or the added connecting structures may occupy the charging gun handle position, severely affecting the manual use of the charging gun and preventing users from charging normally without the assistance of a robotic arm. These combined defects make it difficult to widely promote and apply automated charging technology, and also restrict the coordinated development of autonomous vehicles and the intelligent charging ecosystem.

[0055] Combination Figures 1 to 5As shown in the figure, according to a specific embodiment of this application, an automatic charging gun dispensing device for automobile charging is provided.

[0056] Specifically, such as Figure 1 As shown, an automatic charging gun retrieval device for car charging includes: a gun holster assembly 30, which is used to cooperate with different types of charging guns 40; and a gripping part 20, which includes a gun gripping assembly and an identification assembly. The gun gripping assembly is located on one side of the identification assembly and is connected to the gun gripping assembly. One end of the gun gripping assembly is connected to the execution end of a robotic arm 10, and the gun gripping assembly is detachably connected to the gun holster assembly 30. The identification assembly is used to acquire the position data of the gun holster assembly 30. The gun gripping assembly has a working position connected to the gun holster assembly 30 and an idle position separated from the gun holster assembly 30.

[0057] By applying the technical solution of this invention, through the setting of a gun holster assembly 30 connected to the charging gun 40 and a gripping part 20 integrating a gun gripping assembly and an identification assembly, the identification assembly can accurately acquire the position data of the gun holster assembly 30, providing a reliable positioning basis for the gun gripping assembly. The detachable connection design between the gun gripping assembly and the gun holster assembly 30 not only realizes the automated and accurate gripping and separation of the charging gun 40 without changing the original structure of the charging gun 40, but also adapts to different models of charging guns 40, taking into account both automatic gun retrieval and manual use of the charging gun 40, significantly improving the automation and efficiency of the charging process, reducing the cost of manual intervention, effectively supporting the automatic charging needs of intelligent scenarios such as autonomous vehicles, and solving the problem of insufficient adaptability of automated gun retrieval in the prior art.

[0058] Furthermore, the holster assembly 30 has a mounting cavity, within which a portion of the charging gun 40 is located. The mounting cavity of the holster assembly 30 allows a portion of the charging gun 40 to be stably placed within the cavity, ensuring precise positioning and secure fixation without altering the original structure of the charging gun 40. Part of the structure of the holster assembly 30 is adapted to different types of charging guns 40, without occupying the handle position of the charging gun 40. Even after detachment, the charging gun 40 can still be used manually, demonstrating strong adaptability and ease of use.

[0059] In this embodiment, as Figures 2-4 As shown, the other end of the gripping gun assembly has an electromagnetic attraction element 205, and one end of the gun holster assembly 30 is provided with a magnetic connecting element 302 that magnetically engages with the electromagnetic attraction element 205; wherein, the electromagnetic attraction element 205 has an adsorption working state that attracts the magnetic connecting element 302, and an unenergized non-working state. When the gripping gun assembly is in the working position, the electromagnetic attraction element 205 is in the adsorption working state.

[0060] In this embodiment, the electromagnetic attraction element 205 and the magnetic connection element 302 of the gun holster assembly 30 magnetically cooperate, and the operation of adsorption when energized and separation when de-energized is convenient. When the gun gripping assembly is in the working position, the electromagnetic attraction element 205 is in the adsorption working state, so that the gun gripping assembly and the gun holster assembly 30 are firmly and stably connected without modifying the original structure of the charging gun 40. It has strong adaptability and does not affect the manual use of the charging gun 40.

[0061] In an exemplary embodiment, the other end of the gripping gun assembly has an electromagnetic attraction element 205, and one end of the gun holster assembly 30 is provided with a magnetic connecting element 302 that magnetically engages with the electromagnetic attraction element 205. The mating surfaces of the two are provided with a concave-convex mating structure to achieve mechanical limiting. The concave-convex mating structure corresponds and adapts to the electromagnetic attraction element 205 and the magnetic connecting element 302, which can limit the relative displacement after the two are magnetically connected and improve the stability of the engagement. The electromagnetic attraction element 205 has an adsorption working state that attracts the magnetic connecting element 302, and a non-working state in which the electromagnetic attraction element 205 is not energized. When the gripping gun assembly is in the working position, the electromagnetic attraction element 205 is in the adsorption working state, and the concave-convex mating structure completes precise limiting.

[0062] In this embodiment, the identification component includes: a support housing module having a working cavity, a portion of which is connected to the gun-grabbing assembly; and a camera unit 203 located within the working cavity, a portion of which is connected to the support housing module. The camera unit 203 is used to acquire position data of the holster assembly 30. The working cavity of the support housing module protects the camera unit 203 from external interference. The connection between the camera unit 203 and the support housing module is stable, enabling accurate acquisition of position data of the holster assembly 30, providing a reliable basis for the docking of the gun-grabbing assembly and the holster assembly 30. The operation is simple and the positioning is accurate.

[0063] Furthermore, the identification component also includes: a control unit 209, which is located inside the working cavity and is disposed at a distance from the camera unit 203. Part of the control unit 209 is connected to the support housing module and is electrically connected to the electromagnetic attraction element 205. The control unit 209 is used to control the electromagnetic attraction element 205 to be in a non-working state and an adsorption working state.

[0064] In this embodiment, the control unit 209 is located in the working cavity of the support housing module and is set at a distance from the camera unit 203. The connection is stable and they do not interfere with each other. It is electrically connected to the electromagnetic suction element 205 and can accurately switch its adsorption working state and non-working state. With the position data of the gun holster assembly 30 obtained by the camera unit 203, the docking and separation of the gun grabbing assembly and the gun holster assembly 30 is more reliable, and the operation is convenient and stable.

[0065] In one exemplary embodiment, the identification component further includes: a fill light 202, which is located inside the working cavity and above the camera unit 203. The fill light 202 is disposed at a distance from the control unit 209 and is electrically connected to the control unit 209. The control unit 209 is also used to control the fill light 202 to be in an on state and an off state.

[0066] In this embodiment, the supplementary light 202 is located inside the working cavity of the support housing module and above the camera unit 203. It is set at a distance from the control unit 209 and electrically connected. The control unit 209 can flexibly control its on and off states, which can effectively improve the imaging conditions under different lighting conditions, improve the accuracy of the camera unit 203 in acquiring the position data of the holster assembly 30, and help the gun gripping assembly and the holster assembly 30 to accurately dock. It is convenient to operate and has strong stability.

[0067] Furthermore, the supporting housing module includes: a housing body 201, which has a working cavity; a camera unit 203, a control unit 209, and a fill light 202 are respectively connected to the housing body 201; the housing body 201 abuts against the gripper assembly; a first connecting plate 208, which is located below the housing body 201 and is disposed on one side of the gripper assembly; one end of the first connecting plate 208 is connected to the housing body 201, and a portion of the first connecting plate 208 is connected to the gripper assembly; and a second connecting plate 206, which is located below the housing body 201 and is spaced apart from the first connecting plate 208 along the length of the housing body 201; the second connecting plate 206 is disposed on the other side of the gripper assembly; one end of the second connecting plate 206 is connected to the housing body 201, and a portion of the first connecting plate 208 is connected to the gripper assembly.

[0068] In this embodiment, the working cavity of the housing body 201 can stably install the camera unit 203, control unit 209, and supplementary light 202, and abut against the gun-grabbing assembly. The first connecting plate 208 and the second connecting plate 206 are spaced apart below the housing body 201 and placed on both sides of the gun-grabbing assembly. One end of both plates is connected to the housing body 201 and partially connected to the gun-grabbing assembly. The overall connection is firm and stable, which can effectively protect the internal components, ensure the coordinated work of each component, and help the gun-grabbing assembly accurately dock with the gun holster assembly 30. It is reliable in use and has a stable structure.

[0069] Furthermore, the gripper assembly includes: a gripper support 207, a portion of which is connected to the identification component; an electromagnetic attraction element 205 located at one end of the gripper support 207; the gripper support 207 having a positioning cavity; the electromagnetic attraction element 205 disposed within the positioning cavity; and a portion of which is connected to the gripper support 207; and an end connector 210 located at the other end of the gripper support 207, one end of which is connected to the gripper support 207, and the other end of which is connected to the execution end of the robotic arm 10.

[0070] In this embodiment, the gripper support 207 is partially connected to the identification component. Its positioning cavity can stably house the electromagnetic attraction element 205 and is partially connected and fixed. One end of the end connector 210 is connected to the gripper support 207 and the other end is docked with the execution end of the robotic arm 10. The overall structure is stable and the connection is reliable, which can ensure the stable operation of the electromagnetic attraction element 205 and help the gripper assembly accurately dock with the holster assembly 30. It has strong adaptability and stable use.

[0071] like Figure 4 and Figure 5 As shown, the holster assembly 30 includes: a gun head module having a first mounting cavity, a portion of the charging gun 40 being located within the first mounting cavity, and the gun head module being detachably connected to the gun head of the charging gun 40; a gun handle module 305 located at one end of the gun head module, a portion of the gun handle module 305 being connected to the gun head module, the gun handle module 305 having a second mounting cavity, a portion of the charging gun 40 being located within the second mounting cavity, and the gun head module being detachably connected to the grip of the charging gun 40; a support plate 303 located above the gun handle module 305, the gun head module being disposed on one side of the support plate 303, a portion of the support plate 303 being connected to at least one of the gun handle module 305 and the gun head module, and a magnetic connecting element 302 located on the other side of the support plate 303, a portion of the magnetic connecting element 302 being connected to the support plate 303. In this embodiment, the gun head module and gun handle module 305 cooperate with the charging gun 40 to adapt to different types of charging guns 40.

[0072] In this embodiment, the first mounting cavity of the gun head module and the second mounting cavity of the gun handle module 305 of the holster assembly 30 respectively accommodate the gun head and the grip of the charging gun 40. Both are detachably connected to the charging gun 40 and adapt to different types of charging guns 40. The support plate 303 is located above the gun handle module 305 and connected to the relevant modules. The magnetic connection element 302 is fixed on the other side of the support plate 303. The whole is firmly fixed and does not require modification of the original structure of the charging gun 40. After disassembly, it does not affect the manual use of the charging gun 40. It has strong adaptability and can stably cooperate with the electromagnetic attraction element 205 to achieve magnetic attraction docking.

[0073] Furthermore, the gun head module includes: an upper connecting plate 304, located above the gun head, with a portion of the upper connecting plate 304 connected to at least one of the gun handle module 305 and the support plate 303; and a lower connecting ring 306, located below the gun head, disposed at a distance from the support plate 303 and the gun handle module 305, with a portion of the lower connecting ring 306 connected to the upper connecting plate 304. Multiple lower connecting rings 306 are spaced apart along the length of the upper connecting plate 304. The upper connecting plate 304 and the lower connecting rings 306 form a first mounting cavity. Different numbers of lower connecting rings 306 are used for different types of charging guns 40 to achieve mounting of the multiple lower connecting rings 306 and the upper connecting plate 304 on the corresponding type of charging gun 40.

[0074] In this embodiment, the upper connecting plate 304 is located above the charging gun head of the charging gun 40 and is connected to the support plate 303 of the gun handle module 305. The lower connecting ring 306 is located below the charging gun head of the charging gun 40 and forms a first mounting cavity with the upper connecting plate 304. Multiple lower connecting rings 306 are spaced apart along the length of the upper connecting plate 304, and the number can be adjusted according to the type of charging gun 40. They can accurately fit the structure of different types of charging gun heads, firmly fix the charging gun head of the charging gun 40, and have strong installation adaptability. The whole is a detachable connection design without modifying the original structure of the charging gun 40. After detachment, it does not affect the normal manual use of the charging gun 40.

[0075] Furthermore, the holster assembly 30 also includes a pressing lever 301, which is located above the grip module 305 and spaced apart from the gun head module. The pressing lever 301 is movably connected to the support plate 303. The gripping part 20 also includes a push rod 204, which is located on one side of the gripping part. One end of the push rod 204 is connected to at least one of the gripping assembly and the identification assembly. The push rod 204 is detachably connected to the pressing lever 301. The push rod 204 can be controlled to push the pressing lever 301 to move, so that the pressing lever 301 has a pressed position that engages with the button of the charging gun 40, and a disengaged position that is separated from the button. When the gripping assembly is in the working position, the pressing lever 301 is in the pressed position.

[0076] In this embodiment, the pressing rod 301 is located above the gun handle module 305 and is movably connected to the support plate 303. The pushing rod 204 is located on one side of the gripping part 20 and is connected to the gun gripping assembly identification component. The two are detachable and can be coupled together. Controlling the pushing rod 204 can drive the pressing rod 301 to precisely switch between the pressing position and the disengaged position in conjunction with the button of the charging gun 40. When the gun gripping assembly is in the working position, the pressing rod 301 is stably in the pressing position, realizing the automatic pressing of the button of the charging gun 40 without manual intervention. The structure layout is reasonable and the fit is precise. There is no need to modify the original structure of the charging gun 40. It is compatible with different types of charging guns 40. After disassembly, it does not affect the manual use of the charging gun 40, which greatly improves the automation level and smoothness of automatic gun retrieval.

[0077] According to another specific embodiment of this application, a control method for an automatic charging gun dispensing device for automobiles is also provided. The control method is used to control the aforementioned automatic charging gun dispensing device for automobiles, including:

[0078] Step 101: In response to the control request of the robotic arm to automatically grasp the universal charging gun, the position data of the gun holster assembly is obtained, wherein the position data is the visual image data of the magnetic connecting element;

[0079] In step S101, after responding to the control request of the robotic arm 10 to automatically grasp the universal charging gun 40, and before starting the visual acquisition work of the camera unit 203, the recognition component will first complete the acquisition and judgment of the ambient light level through the built-in photosensitive sensor. The whole process is coordinated and smoothly connected with the control unit 209. The specific execution flow is as follows: The photosensitive sensor of the recognition component is integrated in the working cavity of the housing body 201 of the supporting housing module, arranged adjacent to the camera unit 203 and electrically connected to the control unit 209. This sensor can accurately detect the ambient light intensity within the field of view of the camera unit 203, and will not interfere with the normal operation of the supplementary light 202 and the camera unit 203. After receiving the automatic grasping control request of the robotic arm 10, the control unit 209 first sends an acquisition command to the photosensitive sensor, triggering the sensor to enter the working state. The photosensitive sensor collects real-time ambient light level data under the current charging scenario. This data is a specific light intensity value, covering the core acquisition area of ​​the camera unit 203 aligned with the gun sleeve assembly 30 and the local area around the magnetic connecting element 302. The sensor feeds back the acquired light intensity electrical signal data to the control unit 209 in real time. After receiving the ambient light level data, the control unit 209 immediately compares and analyzes it with the pre-stored light intensity threshold range to determine whether the current ambient light meets the imaging requirements for the camera unit 203 to clearly acquire visual image data from the magnetic connecting element 302. This provides accurate ambient light basis for the subsequent on / off control of the supplementary light 202 and the start of the visual acquisition work of the camera unit 203, ensuring that the preliminary environmental preparation work for visual acquisition is scientific and appropriate, and avoiding image blurring caused by excessively strong or weak light.

[0080] Step S102: Based on the position data, determine the robotic arm motion data, wherein the robotic arm motion data includes: target rotation angle data of multiple robotic arm joints and target position data of the execution end;

[0081] In step S102, in response to the control request of the robotic arm 10 to automatically grasp the universal charging gun 40, the camera unit 203 acquires visual image data of the magnetic connecting element 302 (i.e., the position data of the gun sleeve assembly 30) and transmits it to the control unit 209. The control unit 209 first completes the visual image preprocessing, feature point extraction, three-dimensional spatial position data and posture data calculation and integration verification mentioned above to obtain the verified pose data of the magnetic connecting element 302. On this basis, the control unit 209 further initiates the robotic arm motion data calculation process. Based on this pose data, it follows the logical progression of "feature point coordinate extraction - target pose transformation - motion data calculation" to finally determine the robotic arm motion data, which includes the rotation angle data of multiple robotic arm joint targets and the position data of the execution end target. The entire process relies on the YOLO extraction algorithm, pre-configured calibration transformation matrix and DH parameter model, and is deeply adapted to the hardware structure of the recognition component, the gun grasping component and the robotic arm 10 to ensure that the calculation results accurately match the requirements of automated grasping and docking. The specific process is as follows:

[0082] First, based on the location data, the coordinates of the feature points of the magnetic connecting element are determined using the YOLO extraction algorithm.

[0083] After receiving the raw visual image data, the control unit 209 first completes the preprocessing process described above: it uses a built-in algorithm to remove noise caused by illumination reflections, environmental artifacts, and lens distortion; it adjusts the brightness evenness by combining the illumination compensation parameters of the supplementary light 202; it crops and retains the effective imaging area centered on the magnetic connector element 302; and it outputs an interference-free preprocessed image. Furthermore, the algorithm parameters are precisely matched with the imaging parameters of the camera unit 203, such as the focal length and pixel size. Subsequently, the control unit 209 calls a preset YOLO target detection and feature extraction algorithm. This algorithm is customized for the structural characteristics of the magnetic connector element 302 and can achieve anti-interference and real-time feature extraction in charging scenarios. The algorithm prioritizes identifying the inherent unique feature points of the magnetic connector element 302, including the geometric center, edge feature points of the magnetic mating surface, the connection reference point with the support plate 303, and contour feature corner points, etc. Figure 3 As shown, the edge feature points of the magnetic mating surface are points A, B, C, D, E, and F; the connection reference points with the support plate 303 are points G and H; and the contour feature corner point is point I. These feature points correspond one-to-one with the structural design of the holster assembly 30, ensuring unique identification. The control unit 209 accurately locates the two-dimensional pixel coordinates of each feature point in the pixel coordinate system of the camera unit 203 using this algorithm, marks, deduplicates, and stores the coordinate data, forming a standardized set of pixel feature point coordinates of the magnetic connecting element 302. This provides core raw data for subsequent coordinate system transformation and pose calculation. The efficiency of the YOLO algorithm also ensures seamless connection between this step and subsequent processes, avoiding delays in action commands.

[0084] Then, based on the coordinates of the feature points of the magnetic connecting elements, the target pose data in the robotic arm coordinate system is determined through a pre-configured calibration transformation matrix and DH parameter model. The specific steps are as follows:

[0085] Based on the pixel feature point coordinate set obtained in step one, the control unit 209 performs a progressive coordinate system transformation through multiple pre-configured calibration transformation matrices, and then calculates the target pose data in the robotic arm coordinate system using the DH parameter model. This process is specifically divided into three stages:

[0086] The first stage is the conversion from pixel coordinates to visual coordinates: the control unit 209 calls the pre-stored camera intrinsic parameter calibration matrix of the camera unit 203 (including factory calibration parameters such as focal length, principal point coordinates, and pixel size, which are completely matched with the hardware parameters of the camera unit 203), substitutes the two-dimensional pixel coordinates of the pixel feature point coordinate set into the pinhole camera imaging model, completes the conversion from the pixel coordinate system to the visual coordinate system of the camera unit 203, obtains the three-dimensional spatial coordinates of each feature point in the visual coordinate system, and realizes the initial conversion from two-dimensional image data to three-dimensional coordinate data.

[0087] The second stage is the transformation from visual coordinates to robotic arm base coordinates: relying on the fixed connection between the recognition component and the gripper component (the housing body 201 abuts against the gripper support 207, and the connection is reinforced by the first connecting plate 208 and the second connecting plate 206), the control unit 209 calls the pre-stored hand-eye calibration transformation matrix (obtained through the previous hand-eye calibration, representing the spatial mapping relationship between the visual coordinate system and the robotic arm 10 base coordinate system), and converts the three-dimensional coordinates of the feature points in the visual coordinate system into the three-dimensional coordinates in the robotic arm 10 base coordinate system, eliminating the spatial deviation between different coordinate systems.

[0088] The third stage is target pose determination based on the DH parameter model: The control unit 209 retrieves the pre-configured D-H parameter model of the robotic arm 10. This model fully includes the core structural and motion parameters of each joint of the robotic arm 10, such as the link length, torsion angle, offset, and initial joint rotation angle, accurately representing the connection relationship of each link and the motion characteristics of the joints. The control unit 209 substitutes the three-dimensional coordinates of the feature points of the magnetic connecting element 302 in the robotic arm base coordinate system into this model, and combines it with the attitude data calculated above (pitch angle around the X-axis, roll angle around the Y-axis, and yaw angle around the Z-axis), and completes spatial attitude matching through forward kinematics calculation, finally determining the target pose data of the robotic arm 10 actuator in the robotic arm coordinate system. The target pose data includes two core components: first, the absolute three-dimensional coordinates (X, Y, Z) of the geometric center of the magnetic connecting element 302 that the actuator needs to align with in the robotic arm coordinate system; and second, the attitude angle that the actuator needs to maintain (to ensure that the electromagnetic attraction element 205 of the gripping gun assembly and the magnetic attraction mating surface of the magnetic connecting element 302 are precisely fitted), and is adapted to the preset magnetic attraction attitude of the electromagnetic attraction element 205 and the installation posture height of the gun holster assembly 30.

[0089] Finally, the robot arm motion data is determined using the target pose data in the robot arm coordinate system. The specific steps are as follows:

[0090] After obtaining the target pose data in the robotic arm coordinate system, the control unit 209, combined with the current motion state of the robotic arm 10, determines the robotic arm motion data (including rotation angle data of multiple joint targets and position data of the execution end target) through inverse kinematics calculation and motion constraint optimization. The specific process is as follows:

[0091] First, the current pose reference of the robotic arm is obtained: the control unit 209 collects the current actual rotation angle data of each joint in real time through the encoder built into each joint of the robotic arm 10, and combines it with the forward kinematics calculation of the DH parameter model to infer the current spatial position and posture data of the robotic arm 10 execution end as the initial reference for motion calculation.

[0092] Secondly, the inverse kinematics calculation of the joint target rotation angle is performed: the target pose data in the robotic arm coordinate system is substituted into the inverse kinematics equations of the DH parameter model to solve for the required rotation angle increment of each joint of the robotic arm 10 and the final target rotation angle when moving from the current pose to the target pose. During the calculation process, the control unit 209 strictly follows the kinematic constraints of the robotic arm 10, including the rotation angle limits, motion speed thresholds, acceleration thresholds, etc. of each joint. Multiple sets of calculation results are screened and optimized to eliminate invalid solutions that may cause joint overtravel, motion jamming, or grasping deviation, and to determine the optimal combination of joint rotation angles, ensuring that the target rotation angle of each joint is within the safe movement range and that the motion trajectory is smooth and efficient.

[0093] Next, determine the target position data of the execution end: Based on the position mapping relationship between each joint and the execution end in the DH parameter model, substitute the optimized joint target rotation angle combination into the forward kinematic equation to deduce the target position data of the execution end of the robotic arm 10. This data is precisely matched with the three-dimensional coordinates in the target pose data, and is also converted into displacement parameters (including linear displacement and arc displacement components) that are adapted to the actual movement of the robotic arm 10, thus clarifying the spatial position and motion trajectory that the execution end needs to reach.

[0094] Finally, the motion data is integrated and verified: the control unit 209 integrates the target rotation angle data of each joint (corresponding to the specific rotation angle value of each moving joint of the robotic arm 10) with the target position data of the actuator to form complete robotic arm motion data. At the same time, the verification process is initiated, and the motion data is substituted into the DH parameter model for simulation calculation to verify whether the actuator can accurately reach the target pose after moving according to this data, and whether the electromagnetic attraction element 205 can perfectly fit with the magnetic connection element 302. If there is a deviation, the joint rotation angle data is corrected in real time until the grasping and docking requirements are met.

[0095] In summary, the entire process of determining the robotic arm's motion data starts with visual image data. Through the collaborative computation of the YOLO algorithm, calibration transformation matrix, and DH parameter model, it achieves a precise end-to-end transformation from two-dimensional image data to three-dimensional pose data, and then to the robotic arm's executable motion data. All calculation steps are highly compatible with the structural design and component connection relationships of the recognition components (camera unit 203, control unit 209, supplementary light 202), the gripper assembly (grip support 207, electromagnetic attraction element 205), and the holster assembly 30. No additional structural modifications to existing components are required, effectively avoiding interference from lighting and noise in the charging scenario. This ensures the accuracy, stability, and feasibility of the robotic arm's motion data, providing the core control basis for the robotic arm 10 to drive the gripping part 20 to precisely dock with the magnetic connection element 302 and realize the automated gripping of the charging gun 40.

[0096] Step S103: In response to the robotic arm motion data, a first control instruction set is generated. The first control instruction set is used to control multiple robotic arm joints and actuators to be located in the corresponding target working positions.

[0097] In step S103, after the control unit 209 completes the calculation of the robotic arm motion data, it obtains complete motion parameters containing the rotation angle data of multiple robotic arm joints and the position data of the execution end target. These parameters have been verified by DH parameter model simulation to ensure that they are compatible with the motion constraints of the robotic arm 10 and the magnetic docking requirements of the gripper assembly and the holster assembly 30. Based on this, the control unit 209, as the core control module, immediately initiates the generation process of the first control instruction set. Through data parsing, instruction encoding, classification and integration, and verification and optimization, it transforms the abstract motion data into standardized control instructions that the robotic arm 10 can directly execute, achieving precise control of multiple robotic arm joints and the execution end, ensuring that both move synchronously to the corresponding target working position. The specific process is as follows:

[0098] First, the robotic arm motion data is parsed and its format standardized. The control unit 209 first performs layered parsing on the calculated robotic arm motion data, distinguishing between joint motion parameters and actuator motion parameters: For multiple robotic arm joints, it extracts the target rotation angle (including the rotation angle value around each coordinate axis), rotation speed threshold, acceleration threshold, and motion sequence logic for each joint. These parameters are precisely adapted to the signal format of the encoders of each joint of the robotic arm 10 and can be directly used to drive the joint motors. For the actuator, it extracts the target spatial position coordinates (X, Y, Z absolute coordinates), motion trajectory type (straight line trajectory or arc trajectory), and allowable range of trajectory accuracy error. At the same time, it associates the preset working state of the electromagnetic attraction element 205 of the gripper assembly to ensure that when the actuator reaches the target position, the electromagnetic attraction element 205 synchronously switches to the attraction working state. After parsing, the control unit 209 uses a built-in format conversion algorithm to convert all parameters into a standardized data format supported by the main control system of the robotic arm 10, eliminating data transmission and parsing deviations.

[0099] Secondly, the control commands are categorized and encoded. The control unit 209 encodes commands according to "joint control commands" and "execution end control commands," forming two core command subsets that together constitute the first control command set. The joint control command subset encodes each robotic arm joint individually. Each command includes the joint number, target rotation angle, start signal, stop signal, and fault feedback trigger threshold. For example, corresponding commands are generated for the shoulder, elbow, and wrist joints of the robotic arm 10, clearly defining the motion parameters and coordination logic of each joint to ensure that multiple joints move synchronously along a preset trajectory, avoiding motion interference. The execution end control command subset uses the end connector 210 as the controlled object. The encoded content includes the execution end target position coordinates, motion trajectory parameters, and the linkage signal between the motion and the electromagnetic attraction element 205. A position feedback verification mechanism is embedded in the command, which can receive signals from the execution end position sensor in real time to correct motion deviations. During the encoding process, the control unit 209 uses an industrial-grade communication protocol (such as the Profinet protocol) for command encapsulation to ensure the stability and real-time performance of command transmission, adapting to the complex electromagnetic environment of the charging scenario.

[0100] Secondly, the instruction set is integrated and the collaborative logic is configured. The control unit 209 integrates the two types of instruction subsets, sorts them according to the motion flow of the robotic arm 10, and configures the collaborative logic for instruction execution: it prioritizes issuing joint start commands to control multiple joints to operate synchronously at the target rotation angle, driving the actuator to move in the direction of the magnetic connecting element 302; when the actuator approaches the target position via feedback from the position sensor, it automatically triggers a precise positioning command for the actuator, finely adjusting the joint rotation angle so that the actuator accurately lands at the target position; simultaneously, it issues a start command for the electromagnetic attraction element 205 to ensure that when the actuator reaches the target working position, the electromagnetic attraction element 205 is precisely magnetically attracted and attached to the magnetic connecting element 302, achieving a reliable connection between the gripping gun assembly and the gun sheath assembly 30. In addition, the instruction set reserves emergency fault commands. When any joint or actuator experiences a motion deviation exceeding the threshold or an abnormal sensor signal, an emergency stop command can be immediately triggered to ensure equipment safety.

[0101] In one exemplary embodiment, when the distance between the actuator and the target position is ≤0.5mm, the actuator automatically triggers a precise positioning command. This achieves millimeter-level positioning calibration, ensuring the stability and accuracy of the actuator's positioning.

[0102] Finally, the instruction set is verified and optimized before being issued. After generating the complete first control instruction set, the control unit 209 initiates dual verification: first, logic verification, which simulates the entire process of the robotic arm 10 moving according to the instruction set to verify the coordination of multi-joint movements, the positional accuracy of the actuator, and the linkage accuracy with the electromagnetic suction element 205, ensuring no instruction conflicts, movement interference, or positioning deviations; second, format verification, which checks the instruction encoding format and communication protocol compatibility to avoid instructions failing to execute due to format errors. After passing the verification, the control unit 209 transmits the first control instruction set to the main control system of the robotic arm 10 in real time through the electrical connection channel. After receiving the instruction, the main control system issues it to each joint motor and actuator drive module in the order of instructions, driving multiple robotic arm joints to rotate to the target angle, and driving the actuator (and the gripping gun assembly) to move precisely to the corresponding target working position. Finally, the electromagnetic suction element 205 and the magnetic connection element 302 of the gun sheath assembly 30 are precisely magnetically attracted together, laying the foundation for the subsequent gripping action of the charging gun 40.

[0103] The entire process of generating the first control instruction set is seamlessly integrated with the preceding process of calculating the robotic arm motion data and determining the pose data. The instruction parameters are strictly matched to the structural characteristics of each component (such as the installation position of the gripper support 207 and the magnetic attraction requirements of the electromagnetic attraction element 205), requiring no additional hardware adaptation or modification. The generated first control instruction set possesses high precision, coordination, and anti-interference capabilities, effectively controlling multiple robotic arm joints and the actuator to synchronously reach the target working position, ensuring the smooth execution of the automated gripping process.

[0104] After receiving the first control command set, the main control system of robotic arm 10 drives multiple robotic arm joints to operate synchronously according to the target rotation angle, causing the actuator (and gripping gun assembly) to move along a preset trajectory until the deviation between the actual rotation angle fed back by the encoder of each joint and the target rotation angle is within the allowable range (≤0.1°), and the actual position coordinates fed back by the position sensor of the actuator perfectly match the target position data. That is, multiple robotic arm joints and actuators are stably positioned at the corresponding target working positions. At this time, the electromagnetic attraction element 205 of the gripping gun assembly is exactly aligned with the magnetic connection element 302 of the gun sleeve assembly 30, and the two are in a preset magnetic attraction alignment posture. The main control system of robotic arm 10 immediately transmits the "target position confirmation signal" to the control unit 209 of the recognition component in real time through the electrical connection channel. After receiving the signal and completing the validity verification, the control unit 209 starts the generation process of the second control command set, which is specifically used to precisely control the electromagnetic attraction element 205 to switch to the adsorption working state, ensuring reliable magnetic adhesion between the two, and providing a stable connection basis for the gripping of the charging gun 40. The specific process is as follows:

[0105] First, the positioning signal is verified and the adsorption prerequisite is confirmed. After receiving the positioning confirmation signal, the control unit 209 performs a dual verification: first, a signal integrity verification, checking the feedback data of each joint angle and the position feedback data of the actuator contained in the signal, comparing it with the previously calculated robotic arm motion data to confirm that there are no issues such as motion deviation exceeding the threshold or signal loss; second, an alignment posture verification, calling the previously calculated posture data of the magnetic connecting element 302, combined with the real-time posture feedback from the actuator position sensor, to verify whether the contact surfaces of the electromagnetic attraction element 205 and the magnetic connecting element 302 are completely aligned and whether the distance is within the effective magnetic attraction range (≤2mm). At the same time, the camera unit 203 captures real-time images to assist in the verification, ensuring that there are no factors such as misalignment or obstruction that affect the adsorption effect. If the verification is successful, the control unit 209 confirms that the adsorption prerequisite is established and triggers the subsequent instruction generation process; if the verification fails, a deviation correction instruction is generated and fed back to the main control system of the robotic arm 10 to fine-tune the joint angle and actuator position until the adsorption prerequisite is met.

[0106] Secondly, the second control instruction set is encoded and its parameters are configured. Based on the operating characteristics of the electromagnetic attracting element 205, the control unit 209 generates a targeted second control instruction set. This instruction set is a subset of single-target control instructions, with its core revolving around the energized adsorption logic design of the electromagnetic attracting element 205. During the encoding process, the control unit 209 first extracts the pre-stored operating parameters of the electromagnetic attracting element 205, including the rated adsorption current, energized start-up delay, and adsorption holding current threshold. Combined with the current alignment status, the instruction parameters are configured: the core content of the instruction is the energized start-up signal of the electromagnetic attracting element 205, specifying the energized voltage level and the start-up current ramp-up rate (to avoid sudden current changes damaging the element). Simultaneously, an adsorption status feedback instruction is embedded, requiring the built-in magnetic sensor of the electromagnetic attracting element 205 to provide real-time feedback on the adsorption intensity signal. Furthermore, the instruction set includes reserved protection instructions, setting an upper limit threshold for the adsorption current and an adsorption time threshold to prevent overheating or structural damage due to excessive current or adsorption timeout. After encoding, the control unit 209 is encapsulated using an industrial-grade communication protocol (such as the Profinet protocol) consistent with the first control instruction set to ensure communication compatibility with the drive module of the electromagnetic attraction element 205, while also ensuring the transmission stability of instructions in the complex electromagnetic environment of the charging scenario.

[0107] Secondly, instruction set verification and linkage logic adaptation are performed. After generating the second control instruction set, the control unit 209 initiates a special verification: first, parameter verification, checking whether the power-on parameters and protection thresholds in the instructions are consistent with the rated parameters of the electromagnetic suction element 205, to avoid component failure due to parameter mismatch; second, linkage logic verification, confirming that the execution timing of the second control instruction set is seamlessly connected with the preceding action flow, ensuring that adsorption is initiated only after the robotic arm joint and execution end are completely stable in the target position, without any risk of action interference. At the same time, the control unit 209 configures instruction linkage logic so that after the electromagnetic suction element 205 switches to the adsorption working state, it synchronously feeds back a "adsorption complete signal" to the main control system of the robotic arm 10, providing a basis for initiating subsequent grasping actions (such as the robotic arm 10 moving the charging gun 40), forming a control closed loop.

[0108] Finally, the command is issued and the adsorption status is confirmed. After successful verification, the control unit 209 transmits the second control command set to the drive module of the electromagnetic attraction element 205 in real time through a dedicated electrical connection channel. After receiving the command, the drive module energizes the electromagnetic attraction element 205 according to preset parameters, causing it to quickly generate strong magnetism and achieve reliable magnetic adhesion with the magnetic connection element 302. The magnetic sensor built into the electromagnetic attraction element 205 collects adsorption intensity data in real time and feeds it back to the control unit 209. The control unit 209 compares the feedback data with the pre-stored standard adsorption intensity threshold. After confirming that the adsorption is firm (adsorption intensity ≥ 80% of the preset threshold), it determines that the second control command set has been executed and generates an "adsorption success signal," which is synchronously transmitted to the main control system of the robotic arm 10 and its own storage module, completing the entire adsorption control process. If the feedback data shows that the adsorption intensity is insufficient, the control unit 209 issues a current fine-tuning command to appropriately increase the adsorption current to the threshold range until a stable adsorption state is achieved. If the adsorption requirements still cannot be met after multiple fine-tunings, a fault alarm command is triggered, the adsorption process is stopped, and abnormal information is fed back.

[0109] The generation and execution of the second control instruction set strictly rely on the target position status of the robotic arm joints and the execution end, realizing the precise linkage between the adsorption action of the electromagnetic suction element 205 and the movement of the robotic arm. The instruction parameters are highly compatible with the structural characteristics and working requirements of the electromagnetic suction element 205 and the magnetic connection element 302, which not only ensures the reliability of the magnetic connection, but also avoids the risk of component failure through multiple verification and protection mechanisms. This provides stable structural support and control guarantee for the subsequent automated grasping and moving action of the charging gun 40, while maintaining logical consistency and smoothness with the control process described above.

[0110] According to another specific embodiment of this application, a car charging device is also provided, including an automatic gun removal device for car charging, wherein the automatic gun removal device for car charging is the aforementioned automatic gun removal device for car charging.

[0111] Applying the technical solution of this invention, the automatic gun-grabbing device of the car charging equipment drives the joints to operate precisely through the main control system of the robotic arm 10, ensuring that the rotation angle deviation of each joint is ≤0.1° and that the position of the execution end matches the target data. This ensures that the electromagnetic attraction element 205 is accurately aligned with the magnetic connection element 302 of the gun sleeve assembly 30. The control unit 209 confirms the adsorption premise through double verification and auxiliary verification by the camera unit 203, and generates a second control instruction set that is adapted to the working parameters of the electromagnetic attraction element 205, including current protection and status feedback mechanisms. This achieves precise linkage between the adsorption action and the movement of the robotic arm 10, ensuring reliable adsorption and avoiding component failures. It forms a control closed loop, providing stable support for the grabbing of the charging gun 40, adapting to the complex needs of charging scenarios, and exhibiting a high degree of automation and strong safety.

[0112] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0113] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0114] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic charging gun dispensing device for automobiles, characterized in that, include: Holster assembly (30), the holster assembly (30) is used to cooperate with different types of charging guns (40); The gripping unit (20) includes a gripping gun assembly and an identification assembly. The gripping gun assembly is located on one side of the identification assembly. The identification assembly is connected to the gripping gun assembly. One end of the gripping gun assembly is connected to the execution end of the robotic arm (10). The gripping gun assembly is detachably connected to the holster assembly (30). The identification component is used to acquire the position data of the holster assembly (30), the gun-grabbing component has a working position connected to the holster assembly (30), and the gun-grabbing component has an idle position separated from the holster assembly (30).

2. The automatic gun dispensing device for car charging according to claim 1, characterized in that, The holster assembly (30) has a mounting cavity in which a portion of the charging gun (40) is located.

3. The automatic gun dispensing device for car charging according to claim 1 or 2, characterized in that, The other end of the gun-grabbing assembly has an electromagnetic attraction element (205), and one end of the gun holster assembly (30) is provided with a magnetic connecting element (302) that magnetically engages with the electromagnetic attraction element (205); The electromagnetic attraction element (205) has an adsorption working state for adsorbing the magnetic connection element (302), and the electromagnetic attraction element (205) has a non-working state when it is not powered on. When the gripper assembly is in the working position, the electromagnetic attraction element (205) is in the adsorption working state.

4. The automatic gun dispensing device for car charging according to claim 3, characterized in that, The identification component includes: A support housing module having a working cavity, and a portion of the support housing module being connected to the grab gun assembly; A camera unit (203) is located inside the working cavity. Part of the camera unit (203) is connected to the support housing module. The camera unit (203) is used to acquire the position data of the holster assembly (30).

5. The automatic gun dispensing device for car charging according to claim 4, characterized in that, The identification component further includes: Control unit (209), the control unit (209) is located in the working cavity, the control unit (209) is disposed at a distance from the camera unit (203), part of the control unit (209) is connected to the support housing module, the control unit (209) is electrically connected to the electromagnetic attraction element (205), the control unit (209) is used to control the electromagnetic attraction element (205) to be in the non-working state and the adsorption working state.

6. The automatic gun dispensing device for car charging according to claim 5, characterized in that, The identification component further includes: A fill light (202) is located inside the working cavity and above the camera unit (203). The fill light (202) is positioned at a distance from the control unit (209). The fill light (202) is electrically connected to the control unit (209). The control unit (209) is also used to control the fill light (202) to be in an on state and an off state.

7. The automatic gun dispensing device for car charging according to claim 6, characterized in that, The supporting housing module includes: The housing body (201) has the working cavity, the camera unit (203), the control unit (209) and the fill light (202) are respectively connected to the housing body (201), and the housing body (201) abuts against the grab gun assembly; The first connecting plate (208) is located below the housing body (201). The first connecting plate (208) is disposed on one side of the grab gun assembly. One end of the first connecting plate (208) is connected to the housing body (201), and a portion of the first connecting plate (208) is connected to the grab gun assembly. The second connecting plate (206) is located below the housing body (201). The second connecting plate (206) and the first connecting plate (208) are spaced apart along the length of the housing body (201). The second connecting plate (206) is located on the other side of the grab gun assembly. One end of the second connecting plate (206) is connected to the housing body (201), and a portion of the second connecting plate (206) is connected to the grab gun assembly.

8. The automatic gun dispensing device for car charging according to claim 3, characterized in that, The grabbing gun assembly includes: A gripper support base (207) is provided, a portion of which is connected to the identification component. An electromagnetic attraction element (205) is located at one end of the gripper support base (207). The gripper support base (207) has a positioning cavity, and the electromagnetic attraction element (205) is disposed in the positioning cavity. A portion of the electromagnetic attraction element (205) is connected to the gripper support base (207). End connector (210) is located at the other end of the gripper support (207). One end of the end connector (210) is connected to the gripper support (207), and the other end of the end connector (210) is connected to the execution end of the robotic arm (10).

9. The automatic gun dispensing device for car charging according to claim 3, characterized in that, The holster assembly (30) includes: The gun head module has a first mounting cavity, a portion of the charging gun (40) is located in the first mounting cavity, and the gun head module is detachably connected to the gun head of the charging gun (40). A gun handle module (305) is located at one end of the gun head module. A portion of the gun handle module (305) is connected to the gun head module. The gun handle module (305) has a second mounting cavity. A portion of the charging gun (40) is located in the second mounting cavity. The gun head module is detachably connected to the grip of the charging gun (40). A support plate (303) is located above the gun handle module (305), and the gun head module is disposed on one side of the support plate (303). A portion of the support plate (303) is connected to at least one of the gun handle module (305) and the gun head module. A magnetic connecting element (302) is located on the other side of the support plate (303), and a portion of the magnetic connecting element (302) is connected to the support plate (303).

10. The automatic gun dispensing device for automobile charging according to claim 9, characterized in that, The gun head module includes: An upper connecting plate (304) is located above the gun head, and a portion of the upper connecting plate (304) is connected to at least one of the gun handle module (305) and the support plate (303); The lower connecting ring (306) is located below the gun head. The lower connecting ring (306) is disposed at a distance from the support plate (303) and the gun handle module (305). Part of the lower connecting ring (306) is connected to the upper connecting plate (304). The lower connecting ring (306) includes multiple rings, and the multiple rings (306) are spaced apart along the length direction of the upper connecting plate (304). The upper connecting plate (304) and the lower connecting ring (306) form the first mounting cavity.

11. The automatic gun dispensing device for automobile charging according to claim 9, characterized in that, The holster assembly (30) further includes: a pressing rod (301), which is located above the gun handle module (305), and is spaced apart from the gun head module. The pressing rod (301) is movably connected to the support plate (303). The gripping part (20) further includes a push rod (204), which is located on one side of the gripping part. One end of the push rod (204) is connected to at least one of the gun gripping assembly and the identification assembly. The push rod (204) is detachably connected to the pressing rod (301). The push rod (204) can be controlled to push the pressing rod (301) to move, so that the pressing rod (301) has a pressing position that cooperates with the button of the charging gun (40), and the pressing rod (301) has a disengaged position that is separated from the button. When the gripping gun assembly is in the working position, the pressing rod (301) is in the pressing position.

12. A control method for an automatic charging gun dispensing device for automobile charging, the control method being used to control the automatic charging gun dispensing device for automobile charging as described in any one of claims 1-11, characterized in that, include: In response to a control request from a robotic arm to automatically grasp a universal charging gun, position data of the gun holster assembly is acquired, wherein the position data is visual image data of the magnetic connecting element; Based on the position data, robotic arm motion data is determined, wherein the robotic arm motion data includes: target rotation angle data of multiple robotic arm joints and target position data of the actuator. In response to the robotic arm motion data, a first control instruction set is generated, which controls the multiple robotic arm joints and the actuator to be located in the corresponding target working position.

13. The control method according to claim 12, characterized in that, Based on the position data, the robotic arm motion data is determined, including: Based on the location data, the coordinates of the feature points of the magnetic connecting element are determined using the YOLO extraction algorithm; Based on the coordinates of the feature points of the magnetic connecting element, the target pose data in the robotic arm coordinate system is determined through a pre-configured calibration transformation matrix and DH parameter model. The robot arm motion data is determined using the target pose data in the robot arm coordinate system.

14. The control method according to claim 12, characterized in that, The control method further includes: In response to the completion of the multiple robotic arm joints and the actuators in the corresponding target working positions, a second set of control instructions is generated. The second set of control instructions is used to control the adsorption working state of the electromagnetic attraction element.

15. A car charging device, comprising an automatic charging gun dispensing device for car charging, characterized in that, The automatic charging gun removal device for automobiles is the automatic charging gun removal device for automobiles as described in any one of claims 1-11.

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