An automatic docking charging gun and an outdoor charging device

Abstract

The application belongs to the technical field of charging piles, and particularly relates to an automatic docking charging gun and outdoor charging equipment, which comprises a charging pile main body. Two guide rails are arranged on the side surface of the charging pile main body, a moving seat is slidably connected to the guide rails, a base plate is arranged below the two guide rails, and a six-axis mechanical arm is arranged on the moving seat. When the vehicle slightly moves due to personnel getting on and off the vehicle, misoperation, slight deviation of the vehicle body or external collision, the charging gun in the floating clamping state can generate position compensation and buffer avoidance synchronously with the vehicle charging interface, so that the problem of extrusion, pushing or torsional stress between the charging interface and the charging gun caused by rigid fixation of the charging gun in the prior art is avoided, the cracking, deformation and damage of the charging gun or the vehicle charging interface are prevented, and the connection safety, charging stability and use reliability of the outdoor charging equipment in the automatic charging process are effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of charging pile technology, specifically an automatic docking charging gun and outdoor charging equipment. Background Technology

[0002] With the rapid popularization of new energy vehicles, the usage frequency of outdoor charging equipment and its supporting charging guns is constantly increasing. In order to reduce the difficulty of manually plugging in the charging gun and improve the efficiency of automated charging, some existing charging equipment has begun to use robotic arms, guiding mechanisms, or automatic propulsion mechanisms to drive the charging gun to automatically dock with the vehicle's charging interface to achieve automatic plug-in charging. However, when existing automatic docking charging guns are plugged in, in order to ensure stable conduction between the charging terminals, it is usually necessary to clamp and fix the charging gun with a rigid connection structure to keep the charging gun in a stable position during the plugging process and avoid displacement or poor contact.

[0003] However, in actual outdoor use, vehicles may still be affected by external factors while charging. These include accidental vehicle movement due to driver touch, vehicle shaking due to passengers getting in or out, uneven ground causing vehicle swaying, or minor displacement due to external collisions. When such shaking occurs, existing charging guns, mostly rigidly fixed and lacking cushioning capabilities, can easily cause mutual squeezing, pushing, or torsional forces between the vehicle's charging port and the charging gun. This can lead to deformation, breakage, or loosening of the charging gun plug, charging port, or internal connecting components. Especially in automatic docking structures, the mechanical propulsion mechanism often maintains a continuous pushing state. If the vehicle shifts, the charging gun cannot compensate for the position or flexibly reposition itself in time, further increasing localized stress. In severe cases, this can even damage the charging port, interrupt charging, and pose safety hazards to the equipment. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes an automatically docking charging gun and an outdoor charging device. This invention primarily addresses the problem that when the charging gun is automatically inserted into the charging interface for charging, its rigid clamping mechanism can cause deformation, breakage, or loosening of the charging gun plug, charging interface, or internal connecting components due to vehicle movement.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: an automatically docking outdoor charging device, including a charging pile body; two guide rails are installed on the side of the charging pile body, a movable seat is slidably connected to the outside of the guide rails, a pad is provided under the two guide rails, a six-axis robotic arm is installed on the movable seat, a transfer mechanism is provided between the movable seat and the pad, a connecting frame is installed at the end of the six-axis robotic arm, an optical lens is installed on the side of the six-axis robotic arm near the end, an assembly frame is installed under the connecting frame, a charging gun is provided in the assembly frame, the charging gun is connected to the assembly frame through a floating clamping assembly, a fixed clamping assembly is provided in the assembly frame, the fixed clamping assembly is used to press against the floating clamping assembly, and a cable is connected between the charging gun and the charging pile body.

[0006] As a further description of the above technical solution: the floating clamping assembly includes two clamping plates. The side of the clamping plate near the charging gun is set as an arc surface. The other side of the clamping plate is connected to two springs. The other end of the springs is installed on the inner wall of the assembly frame. A first connecting pin and a second connecting pin are sleeved inside the springs. The first connecting pin is installed on the outside of the clamping plate, and the second connecting pin is installed on the inner wall of the assembly frame.

[0007] As a further description of the above technical solution: the fixing clamping assembly includes a second electric push rod, which is installed in the assembly frame. A pressure plate is installed at one end of the second electric push rod located in the assembly frame. Two guide rods are installed on the side of the pressure plate near the second electric push rod, and the guide rods are slidably connected in the assembly frame.

[0008] As a further description of the above technical solution: the pressure plate has a tapered protrusion on the side near the clamping plate, and a contact tapered groove is opened on the outside of the clamping plate at the position corresponding to the pressure plate.

[0009] As a further description of the above technical solution: the transfer mechanism includes a mounting frame installed outside the movable seat, a motor installed inside the mounting frame, a first gear fixedly connected to the output shaft of the motor, a second gear meshing with the first gear, a rack meshing with the side of the second gear, the rack being located below the first gear, the rack being installed outside the pad, a connecting shaft installed inside the second gear, and a first electric push rod rotatably connected to the top end of the connecting shaft, the first electric push rod being installed inside the mounting frame.

[0010] As a further description of the above technical solution: a limiting gear assembly is installed at the bottom end of the connecting shaft. The limiting gear assembly includes a flexible gear and a mounting sleeve. The mounting sleeve is connected through the center of the flexible gear, and the connecting shaft is installed on the inner wall of the mounting sleeve.

[0011] As a further description of the above technical solution: connecting grooves are provided at the corresponding teeth positions in the mounting sleeve and the flexible gear, and a pressing rod is slidably connected in the connecting groove. A pressure sensor is installed on the bottom wall of the mounting sleeve, and the side of the pressure sensor corresponding to the pressing rod is set as a conical surface.

[0012] As a further description of the above technical solution: a press-to-unlock mechanism is installed on the side of the upper clamping plate. The press-to-unlock mechanism is used to press the button of the charging gun. The press-to-unlock mechanism includes an extension frame installed on the side of the clamping plate. A third electric push rod is connected through the side of the extension frame. A movable wheel is installed on the telescopic end of the third electric push rod. A slider is installed on the movable wheel. The slider is slidably connected in a groove.

[0013] As a further description of the above technical solution: the inner wall of the pad is provided with a tank chain, the end of the tank chain is connected to the main body of the charging pile, the cable is located inside the tank chain, and the control cable of the six-axis robotic arm is located inside the tank chain.

[0014] An automatic docking charging gun, wherein a button is provided on the upper side of the charging gun near the grip, and the charging gun has no handle on the outside.

[0015] The beneficial effects of this invention are as follows: 1. In this invention, during the movement process, the optical lens captures real-time images of the vehicle's charging interface area. The controller identifies the outline of the charging interface in the captured images and calculates the center coordinates and orientation angle of the charging interface based on its edge position. Subsequently, it controls a six-axis robotic arm to adjust its posture, ensuring the charging gun end face is parallel to the charging interface end face, preventing tilting collisions or misalignment during charging gun insertion. After posture adjustment, the controller further controls the six-axis robotic arm to perform lateral and longitudinal position compensation based on the charging interface center coordinates, ensuring the charging gun center position coincides with the charging interface center position, thereby improving positioning accuracy and docking stability during automatic insertion. After the charging gun completes position correction, the fixed clamping component pushes the floating clamping component to move, thus stably clamping the charging gun and maintaining high structural stability during insertion, ensuring charging... The charging gun can be stably inserted into the charging interface, achieving automatic docking between the charging gun and the vehicle's charging interface. After the charging gun is inserted, the controller controls the separation of the fixed clamping component and the floating clamping component, switching the charging gun from a rigid fixed state to a floating clamping state. At this time, the charging gun remains connected but can generate a buffer offset within a certain range. Therefore, when the vehicle moves slightly due to people getting in and out, accidental starting and shaking, slight body offset, or external collision, the charging gun in the floating clamping state can synchronously generate position compensation and buffer avoidance with the vehicle's charging interface. This avoids the problem of squeezing, pushing, or torsional forces between the charging interface and the charging gun caused by the rigid fixing of the charging gun in the existing technology, preventing cracking, deformation, and damage to the charging gun or the vehicle's charging interface. This effectively improves the connection safety, charging stability, and reliability of outdoor charging equipment during automatic charging.

[0016] 2. In this invention, after the charging gun is inserted into the vehicle's charging interface by a six-axis robotic arm, if the vehicle moves forward a short distance due to misoperation, external pushing, or collision, the vehicle's charging interface will exert a forward pulling force on the charging gun. However, in existing automatic docking charging equipment, the charging gun is mostly rigidly mounted at the end of the robotic arm. When the vehicle moves suddenly, the robotic arm cannot move synchronously in time, which can easily lead to large tensile stress between the charging gun and the charging interface, resulting in breakage, cracking, or damage to the charging gun, charging interface, or internal connecting structure. After the charging gun is inserted, the controller controls the first electric push rod to shorten, causing the first electric push rod to drive the second gear to move upward, thereby disengaging the second gear from the rack and simultaneously releasing the contact limit between the second gear and the first gear. In the current state, after the limit is released, the six-axis robotic arm and the moving structure are no longer in a completely rigid locked state. At this time, when the vehicle moves forward a short distance, the vehicle charging interface can pull the charging gun and the six-axis robotic arm to move synchronously along the slide rail for a certain distance, thereby releasing and buffering the pulling force generated by the vehicle movement. This invention, by releasing the movement limit of the robotic arm after the charging docking is completed, switches the charging gun from a rigid fixed state to a movable buffer state, which can effectively avoid the problem of rigid compression, forced pulling or structural breakage between the charging gun and the charging interface when the vehicle moves forward unexpectedly. This improves the safety and reliability of the automatic docking charging process, enabling outdoor automatic charging equipment to better adapt to the actual use conditions of short-distance vehicle movement or shaking, and ensuring that the charging process is stable and safe.

[0017] 3. In this invention, after the charging gun is inserted into the vehicle charging interface by the six-axis robotic arm, the controller controls the first electric push rod to shorten, so that the first electric push rod drives the second gear to move upward, thereby disengaging the second gear from the rack and releasing the contact limit state between the second gear and the first gear; at the same time, the flexible gear moves upward to the position of meshing with the rack. At this point, the mobile base, six-axis robotic arm, and charging gun are no longer in a completely rigid locked state. When the vehicle moves forward abnormally due to misoperation, collision, or external force, the vehicle charging interface can drive the charging gun and six-axis robotic arm to move synchronously along the slide rail. During the movement, the flexible gear can undergo elastic deformation after being squeezed by the rack, thereby buffering and releasing the impact and pulling forces generated during the movement. This avoids the problems of forced pulling, squeezing breakage, or interface damage between the charging gun and the charging interface caused by the rigid fixation of the robotic arm in the prior art, improving the connection safety and structural reliability during automatic charging. While the flexible gear is engaged with the rack, it can also flexibly limit the mobile base, preventing the mobile base, six-axis robotic arm, and charging gun from sliding freely due to wind, minor collisions with personnel, or equipment vibration in the standby state, thus improving the overall structural stability. After charging is complete... Subsequently, when the charging gun needs to be retracted to the vicinity of the charging pile body, the controller controls the first electric push rod to extend, causing the second gear to move downwards to a position where it simultaneously meshes with the first gear and the rack, thereby re-establishing the rigid transmission connection between the motor and the moving seat. Then, the controller controls the motor to run, and the motor drives the moving seat to move to the left along the slide rail through the meshing action between the first gear, the second gear, and the rack, thereby driving the six-axis robotic arm and the charging gun back to the vicinity of the charging pile body, realizing the automatic retrieval of the charging gun. Since the flexible gear always maintains flexible contact with the rack during standby, it can pre-guide and limit the position when the second gear moves down again, so that its teeth can more smoothly enter the rack tooth grooves after the second gear moves down, avoiding problems such as tooth collision, misalignment, or jamming, thereby improving the stability and reliability when the second gear and the rack re-mesh, and ensuring the smooth progress of the automatic retrieval process of the charging gun. Attached Figure Description

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a side view of the three-dimensional structure of the present invention; Figure 3 This is a three-dimensional structural schematic diagram of the six-axis robotic arm of the present invention; Figure 4 This is a three-dimensional structural diagram of the charging gun in this invention; Figure 5This is a schematic diagram of the three-dimensional cross-section of the assembly frame in this invention; Figure 6 This is a three-dimensional cross-sectional structural diagram of the press-to-unlock mechanism in this invention; Figure 7 This is a schematic diagram of the transfer mechanism in this invention from the right side view; Figure 8 This is a three-dimensional structural schematic diagram of the transfer mechanism in this invention; Figure 9 This is a schematic diagram of the three-dimensional cross-section of the flexible gear in this invention; Figure 10 This is a top view cross-sectional structural diagram of the flexible gear in this invention.

[0020] In the diagram: 1. Charging pile body; 2. Guide rail; 3. Movable seat; 4. Pad; 5. Six-axis robotic arm; 6. Transfer mechanism; 61. Mounting frame; 62. Motor; 63. First gear; 64. Second gear; 65. Connecting shaft; 66. First electric push rod; 67. Rack; 68. Limit gear assembly; 681. Flexible gear; 682. Mounting sleeve; 683. Connecting groove; 684. Extrusion rod; 685. Pressure sensor; 7. Optical lens; 8. Connecting frame; 9. Assembly frame; 10. Charging gun; 11. Floating clamping assembly; 111. Clamping plate; 112. First connecting pin; 113. Second connecting pin; 114. Spring; 12. Fixed clamping assembly; 121. Second electric push rod; 122. Pressure plate; 123. Guide rod; 124. Contact cone groove; 13. Press unlocking mechanism; 131. Extension frame; 132. Third electric push rod; 133. Moving wheel; 134. Slider; 135. Slide groove; 14. Cable; 15. Tank chain. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] Example 1:

[0023] like Figures 1 to 10As shown, an automatically docking outdoor charging device includes a charging pile body 1; two guide rails 2 are installed on the side of the charging pile body 1, and a movable seat 3 is slidably connected to the outside of the guide rails 2. A pad 4 is provided under the two guide rails 2, and a six-axis robotic arm 5 is installed on the movable seat 3. A transfer mechanism 6 is provided between the movable seat 3 and the pad 4. A connecting frame 8 is installed at the end of the six-axis robotic arm 5, and an optical lens 7 is installed on the side of the six-axis robotic arm 5 near the end. An assembly frame 9 is installed under the connecting frame 8, and a charging gun 10 is provided inside the assembly frame 9. The charging gun 10 is connected to the assembly frame 9 through a floating clamping assembly 11. A fixed clamping assembly 12 is provided inside the assembly frame 9 to clamp the floating clamping assembly 11. A cable 14 is connected between the charging gun 10 and the charging pile body 1.

[0024] After a vehicle requiring charging is parked in its designated space, the driver exits the vehicle and scans the QR code on the charging station body 1 with their mobile phone to complete payment. Charging then begins. The controller controls the transfer mechanism 6 to move the mobile seat 3 and the six-axis robot to the right, causing the mobile seat 3 to move along the slide rail until the optical lens 7 captures an image of the vehicle's charging interface. The optical lens 7 then captures an image of the charging interface area. The controller identifies the outline of the charging interface in the captured image and determines the center coordinates and orientation angle of the charging interface based on its edge position. Subsequently, the controller controls the six-axis robotic arm 5 to rotate according to the orientation angle of the charging interface, thereby adjusting the orientation of the charging gun 10 end face to ensure it is parallel to the charging interface end face. After the orientation of the charging gun 10 end face is adjusted, the controller... The six-axis robotic arm 5, controlled by the center coordinate of the charging port, performs lateral and longitudinal position compensation to ensure that the center position of the charging gun 10 coincides with the center position of the charging interface. At this time, the fixed clamping component 12 presses against the floating clamping component 11, thereby fixing and clamping the charging gun 10. Then, the six-axis robotic arm 5 is controlled to move the charging gun 10 toward the charging interface. The charging gun 10 is then stably inserted into the charging interface, thus completing the automatic docking of the charging gun 10. Then, the controller controls the fixed clamping component 12 to separate from the floating clamping component 11. At this time, the charging gun 10 is in a floating clamping state. Even if the vehicle shakes due to accidental starting or people getting on or off, the safe connection between the charging gun 10 and the charging interface can still be maintained, and the connection between the charging interface and the charging gun 10 will not be squeezed and cracked, ensuring the safe and smooth charging process after the automatic docking of the charging gun 10.

[0025] like Figures 1 to 5As shown, the floating clamping assembly 11 includes two clamping plates 111. The side of the clamping plate 111 closest to the charging gun 10 is set as an arc surface. The other side of the clamping plate 111 is connected to two springs 114. The other end of the springs 114 is installed on the inner wall of the assembly frame 9. A first connecting pin 112 and a second connecting pin 113 are sleeved inside the springs 114. The first connecting pin 112 is installed on the outside of the clamping plate 111, and the second connecting pin 113 is installed on the inner wall of the assembly frame 9.

[0026] When the six-axis robotic arm 5 drives the charging gun 10 into the charging interface, the controller then controls the fixed clamping assembly 12 to separate from the floating clamping assembly 11. At this time, the elastic force of the spring 114 acts on the clamping plate 111, thereby clamping the charging gun 10 with the two clamping plates 111. This allows the charging gun 10 and the clamping plate 111 to float in the X and Y axes, and the charging gun 10 can rotate slightly between the clamping plates 111. This allows the charging gun 10 to flexibly follow the vehicle's movement during charging, while ensuring a stable and safe connection with the charging interface, thus ensuring the smooth and safe charging process.

[0027] like Figures 1 to 5 As shown, the fixed clamping assembly 12 includes a second electric push rod 121, which is installed in the assembly frame 9. A pressure plate 122 is installed at one end of the second electric push rod 121 located in the assembly frame 9. Two guide rods 123 are installed on the side of the pressure plate 122 near the second electric push rod 121, and the guide rods 123 are slidably connected in the assembly frame 9.

[0028] The controller controls the transfer mechanism 6 to move the mobile seat 3 and the six-axis robot to the right, causing the mobile seat 3 to move along the slide rail to the right until the image captured by the optical lens 7 identifies the vehicle's charging interface. At this point, the controller controls the second electric push rod 121 to move the pressure plate 122, which then adheres to the surface of the clamping plate 111, thereby clamping the charging gun 10. The optical lens 7 captures an image of the vehicle's charging interface area, and the controller identifies the outline of the charging interface in the captured image, determining the center coordinates and orientation angle of the charging interface based on its edge position. Subsequently, the controller controls the six-axis robotic arm 5 to rotate according to the orientation angle of the charging interface, thereby adjusting the orientation of the charging gun 10's end face to ensure it is parallel to the charging interface's end face. After the 0-end face orientation is adjusted, the controller controls the six-axis robotic arm 5 to perform lateral and longitudinal position compensation based on the center coordinates of the charging interface, so that the center position of the charging gun 10 corresponds to the center position of the charging interface. Then, the controller controls the six-axis robotic arm 5 to move the charging gun 10 toward the charging interface, so that the charging gun 10 is stably inserted into the charging interface, thereby completing the automatic docking of the charging gun 10. This solution ensures that the charging gun 10 is rigidly fixed during the insertion of the charging interface, ensuring that the charging gun 10 will not shake or shift its position during the insertion process, and ensuring that the position of the charging gun 10 remains accurate as it approaches the charging interface. The charging insertion process is accurate and reliable, thus making the automatic docking process accurate and reliable. Moreover, during charging, the stability between the charging gun 10 and the charging interface can be maintained.

[0029] like Figures 1 to 5 As shown, the pressure plate 122 has a tapered protrusion on the side near the clamping plate 111, and a contact tapered groove 124 is opened on the outside of the clamping plate 111 at the position corresponding to the pressure plate 122.

[0030] The controller controls the transfer mechanism 6 to move the mobile seat 3 and the six-axis robot to the right, causing the mobile seat 3 to move along the slide rail to the right until the image captured by the optical lens 7 identifies the vehicle's charging interface. At this point, the controller controls the second electric push rod 121 to move the pressure plate 122, causing the conical protrusion of the pressure plate 122 to enter the contact conical groove 124. The two conical surfaces contact each other, adjusting the position of the clamping plate 111 to be aligned. Then, the pressure plate 122 adheres to the surface of the clamping plate 111, thereby fixing and clamping the charging gun 10. This ensures precise positioning of the clamping plate 111 and the charging gun 10, preventing the charging gun 10 from floating downwards within the assembly frame 9 before being fixed and clamped. This ensures that the charging gun 10 can be accurately inserted into the charging interface, thus enabling the charging process to proceed smoothly and accurately.

[0031] Example 2:

[0032] like Figures 1 to 2 and Figures 7 to 8 As shown, the transfer mechanism 6 includes a mounting frame 61 installed outside the movable seat 3. A motor 62 is installed inside the mounting frame 61. The output shaft of the motor 62 is fixedly connected to a first gear 63. A second gear 64 meshes with the first gear 63. A rack 67 meshes with the side of the second gear 64. The rack 67 is located below the first gear 63 and is installed outside the pad 4. A connecting shaft 65 is installed inside the second gear 64. A first electric push rod 66 is rotatably connected to the top of the connecting shaft 65. The first electric push rod 66 is installed inside the mounting frame 61.

[0033] When the charging gun 10 is inserted into the charging interface, if the vehicle is collided with or pushed forward, the charging interface will pull the charging gun 10 forward. However, since the charging gun 10 is mounted on the six-axis robotic arm 5, it cannot move significantly, which could cause the charging gun 10 or the charging interface to break. Furthermore, the frontmost part of the guide rail 2 serves as a buffer zone, with an alarm at its end. After the six-axis robotic arm 5 pulls the charging gun 10 into the charging interface, the controller controls the first electric push rod 66 to shorten, causing the first electric push rod 66 to drive the second gear 64 upwards and separate from the rack 67, thus releasing the contact limit between the second gear 64 and the first gear 63. When the vehicle moves forward, it will pull the charging gun 10 and the six-axis robotic arm 5 a certain distance through the charging interface. When the charging gun 10 moves into the buffer zone, the alarm is triggered by the moving seat 3, and then the controller activates the alarm, allowing the driver to promptly detect abnormal vehicle movement. This reduces the probability of rigid tension causing breakage between the charging gun 10 and the charging interface, thus ensuring the safety of the charging process.

[0034] like Figures 7 to 9 As shown, a limiting gear assembly 68 is installed at the bottom of the connecting shaft 65. The limiting gear assembly 68 includes a flexible gear 681 and a mounting sleeve 682. The mounting sleeve 682 is connected through the center of the flexible gear 681, and the connecting shaft 65 is installed on the inner wall of the mounting sleeve 682.

[0035] If the second gear 64 separates from the rack 67, and the moving seat 3 and charging gun 10 are moved by wind or slight contact, causing partial overlap between the teeth of the rack 67 and the second gear 64, the second gear 64 will collide with the teeth of the rack 67 when it moves downwards. After the six-axis robotic arm 5 drives the charging gun 10 to insert into the charging interface, the controller controls the first electric push rod 66 to shorten, thereby causing the first electric push rod 66 to drive the second gear 64 upwards to separate from the rack 67, thus releasing the contact limit between the second gear 64 and the first gear 63. At the same time, the flexible gear 681 moves upwards to the position where it meshes with the rack 67. When the vehicle moves abnormally forward, the flexible gear 681 is squeezed and deformed by the moving rack 67. At this time, the moving seat 3, the six-axis robotic arm 5, and the charging gun 10 can still move horizontally. When the charging gun 10 needs to be moved towards the charging pile body 1 after charging is completed, the controller controls the first electric push rod 66 to extend. Utilizing the axial guiding effect of the flexible gear 681, the second gear 64 moves downward to a position where it simultaneously meshes with the first gear 63 and the rack 67. Then, the controller controls the motor 62 to run, which in turn uses the first gear 63, the second gear 64, and the rack 67 to control the moving seat 3 to move to the left, thereby driving the six-axis robotic arm 5 and the charging gun 10 to move near the charging pile body 1. In this design, the flexible gear 681 not only prevents the moving seat 3 and the charging gun 10 from moving due to wind or slight contact, but also guides the downward movement of the second gear 64 and its meshing with the rack 67, ensuring that the teeth of the second gear 64 smoothly move into the spaces between the teeth of the rack 67.

[0036] like Figures 7 to 10 As shown, connecting grooves 683 are provided at the corresponding tooth positions in both the mounting sleeve 682 and the flexible gear 681. A pressing rod 684 is slidably connected in the connecting groove 683. A pressure sensor 685 is installed on the bottom wall of the mounting sleeve 682, and the side of the pressure sensor 685 corresponding to the position of the pressing rod 684 is set as a conical surface.

[0037] When the charging gun 10 is charging the vehicle, if the vehicle is bumped or accidentally pushed forward, the vehicle will pull the charging gun 10 and the six-axis robotic arm 5 a certain distance through the charging interface. At this time, the flexible gear 681 is deformed by the moving rack 67. The internal compression rod 684 is pushed by the deformed flexible gear 681 towards the pressure sensor 685. The compression rod 684 compresses the conical surface of the pressure sensor 685, thereby detecting the deformation of the flexible gear 681. At this time, the controller determines that there is abnormal vehicle movement, and then the controller controls the six-axis robotic arm 5 to pull out the charging gun 10 to avoid the charging gun 10 or the cable being pulled and broken, thus ensuring the safety performance of the charging process.

[0038] like Figures 4 to 6As shown, a press-to-unlock mechanism 13 is installed on the side of the upper clamping plate 111. The press-to-unlock mechanism 13 is used to press the button of the charging gun 10. The press-to-unlock mechanism 13 includes an extension frame 131 installed on the side of the clamping plate 111. A third electric push rod 132 is connected through the side of the extension frame 131. A moving wheel 133 is installed on the telescopic end of the third electric push rod 132. A slider 134 is installed on the moving wheel 133. The slider 134 is slidably connected in the slide groove 135.

[0039] After charging is completed, the controller controls the third electric push rod 132 to extend, thereby driving the moving wheel 133 to move closer to the button, so that the moving wheel 133 presses the button to unlock it. Then, the controller controls the six-axis robotic arm 5 to run, so that the charging gun 10 can be smoothly pulled out of the charging interface, making the process of pulling out the charging gun 10 automatic and efficient.

[0040] like Figures 1 to 3 As shown, the inner wall of the pad 4 is provided with a tank chain 15. The end of the tank chain 15 is connected to the charging pile body 1. The cable 14 is located inside the tank chain 15, and the control cable of the six-axis robotic arm 5 is located inside the tank chain 15.

[0041] When adjusting the charging gun 10 and the six-axis robotic arm 5 to move forward, the controller controls the motor 62 to run, thereby driving the first gear 63 to rotate, which in turn drives the second gear 64 to rotate. This causes the second gear 64 to mesh with the rack 67, and the second gear 64, the mounting bracket 61, and the six-axis robot to move to the right along the rack 67. At this time, the tank chain 15 bends, thus smoothly stretching the control cable and the power cable 14, preventing the power cable 14 and the control cable from getting tangled on the surface of the six-axis robotic arm 5. This ensures that the power cable 14 and the control cable are not prone to breakage due to long-term frequent bending, thus guaranteeing the service life of the power cable 14 and the control cable and the normal operation of the charging equipment.

[0042] A charging gun 10 that automatically docks has a button on its upper side near the grip, and no handle on the outside of the charging gun 10.

[0043] During operation, when a vehicle requiring charging is parked in the corresponding parking space, the driver gets out of the car, scans the QR code on the charging pile body 1 with their mobile phone, completes the payment, and confirms the start of charging. The controller then controls the motor 62 to run, which drives the first gear 63 to rotate. This, in turn, drives the second gear 64 to rotate, causing the second gear 64 to mesh with the rack 67. The second gear 64, the mounting bracket 61, and the six-axis robot move to the right along the rack 67, which in turn moves the moving base 3 to the right along the slide rail until the optical lens 7 captures an image and identifies the vehicle's charging interface. At this point, the controller... The controller stops the motor 62, and the optical lens 7 captures an image of the vehicle's charging interface area. The controller identifies the outline of the charging interface in the captured image and determines the center coordinates and orientation angle of the charging interface based on its edge position. Subsequently, the controller controls the six-axis robotic arm 5 to rotate according to the orientation angle of the charging interface, thereby adjusting the orientation of the charging gun 10's end face to ensure it is parallel to the charging interface's end face. After the orientation of the charging gun 10's end face is adjusted, the controller controls the six-axis robotic arm 5 to perform lateral and longitudinal position compensation based on the charging interface's center coordinates, ensuring the center position of the charging gun 10 is aligned with the charging interface. The center positions of the ports align, and then the six-axis robotic arm 5 is controlled to move the charging gun 10 toward the charging interface, thus stably inserting the charging gun 10 into the charging interface, completing the automatic docking of the charging gun 10. Then, the controller controls the second electric push rod 121 to shorten, causing the pressure plate 122 to separate from the contact cone groove 124. At this point, the charging gun 10 is floatingly clamped by the clamping plate 111 and the spring 114. Then, the controller controls the first electric push rod 66 to shorten, causing the first electric push rod 66 to drive the second gear 64 upwards to separate from the rack 67, while the flexible gear 681... The device moves upward until it engages with the rack 67. Then, the controller controls the charging pile body 1 to run and start charging the vehicle. After charging is completed, the controller controls the second electric push rod 121 to move the pressure plate 122. Then, the conical protrusion under the pressure plate 122 abuts against the surface of the contact cone groove 124 to fix and clamp the clamping plate 111 and the charging gun 10. Then, the controller controls the third electric push rod 132 to extend, so that the third electric push rod 132 drives the moving wheel 133 to move closer to the button. The moving wheel 133 presses the button to unlock it. Then, the controller controls the six-axis robotic arm 5 to run, so that the charging gun 10 can be smoothly pulled out of the charging interface.

[0044] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An automatically docking outdoor charging device, comprising a charging pile body (1); characterized in that: Two guide rails (2) are installed on the side of the charging pile body (1); a movable seat (3) is slidably connected to the outside of the guide rails (2); a pad (4) is provided under the two guide rails (2); a six-axis robotic arm (5) is installed on the movable seat (3); a transfer mechanism (6) is provided between the movable seat (3) and the pad (4); a connecting frame (8) is installed at the end of the six-axis robotic arm (5); an optical lens (7) is installed on the side of the six-axis robotic arm (5) near the end; an assembly frame (9) is installed under the connecting frame (8); a charging gun (10) is provided inside the assembly frame (9); the charging gun (10) is connected to the assembly frame (9) by a floating clamping assembly (11); a fixed clamping assembly (12) is provided inside the assembly frame (9); the fixed clamping assembly (12) is used to press against the floating clamping assembly (11); a cable (14) is connected between the charging gun (10) and the charging pile body (1).

2. The automatically docking outdoor charging device according to claim 1, characterized in that: The floating clamping assembly (11) includes two clamping plates (111); the side of the clamping plate (111) near the charging gun (10) is set as an arc surface; the other side of the clamping plate (111) is connected to two springs (114); the other end of the spring (114) is installed on the inner wall of the assembly frame (9); a first connecting pin (112) and a second connecting pin (113) are sleeved inside the spring (114); the first connecting pin (112) is installed outside the clamping plate (111); the second connecting pin (113) is installed on the inner wall of the assembly frame (9).

3. The automatically docking outdoor charging device according to claim 2, characterized in that: The fixing clamping assembly (12) includes a second electric push rod (121); the second electric push rod (121) is installed in the assembly frame (9); a pressure plate (122) is installed at one end of the second electric push rod (121) located in the assembly frame (9); two guide rods (123) are installed on the side of the pressure plate (122) near the second electric push rod (121); the guide rods (123) are slidably connected in the assembly frame (9).

4. The automatically docking outdoor charging device according to claim 3, characterized in that: The pressure plate (122) has a tapered protrusion on the side near the clamping plate (111); the clamping plate (111) has a contact tapered groove (124) at the position corresponding to the pressure plate (122).

5. The automatically docking outdoor charging device according to claim 4, characterized in that: The transfer mechanism (6) includes a mounting frame (61) installed outside the movable seat (3); a motor (62) is installed inside the mounting frame (61); the output shaft of the motor (62) is fixedly connected to a first gear (63); a second gear (64) meshes with the first gear (63); a rack (67) meshes with the side of the second gear (64); the rack (67) is located below the first gear (63); the rack (67) is installed outside the pad (4); a connecting shaft (65) is installed inside the second gear (64); a first electric push rod (66) is rotatably connected to the top of the connecting shaft (65); the first electric push rod (66) is installed inside the mounting frame (61).

6. The automatically docking outdoor charging device according to claim 5, characterized in that: The bottom end of the connecting shaft (65) is fitted with a limiting gear assembly (68); the limiting gear assembly (68) includes a flexible gear (681) and a mounting sleeve (682); the mounting sleeve (682) is connected through the center of the flexible gear (681); the connecting shaft (65) is mounted on the inner wall of the mounting sleeve (682).

7. An automatically docking outdoor charging device according to claim 6, characterized in that: The mounting sleeve (682) and the flexible gear (681) are provided with connecting grooves (683) at the corresponding tooth positions; a pressing rod (684) is slidably connected in the connecting groove (683); a pressure sensor (685) is installed on the bottom wall of the mounting sleeve (682), and the side of the pressure sensor (685) corresponding to the pressing rod (684) is set as a conical surface.

8. An automatically docking outdoor charging device according to claim 7, characterized in that: A press-to-unlock mechanism (13) is installed on the side of the upper clamp (111); the press-to-unlock mechanism (13) is used to press the button of the charging gun (10); the press-to-unlock mechanism (13) includes an extension frame (131) installed on the side of the clamp (111); a third electric push rod (132) is connected through the side of the extension frame (131); a moving wheel (133) is installed on the telescopic end of the third electric push rod (132); a slider (134) is installed on the moving wheel (133); the slider (134) is slidably connected in the groove (135).

9. An automatically docking outdoor charging device according to claim 8, characterized in that: The inner wall of the pad (4) is provided with a tank chain (15); the end of the tank chain (15) is connected to the charging pile body (1); the cable (14) is located inside the tank chain (15); the control cable of the six-axis robotic arm (5) is located inside the tank chain (15).

10. An automatically docking charging gun, applicable to the outdoor charging equipment according to any one of claims 1-9, characterized in that: The charging gun (10) has a button on its upper side near the grip; the charging gun (10) has no handle on its outer side.

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