A charging device and a charging system

Abstract

The application provides a charging device and a charging system, which comprise a charging gun, a charging wire, a suspension structure, a mechanical arm and a gun-arm adapter structure; the charging wire is connected to the charging gun to transmit electric energy; the suspension structure is connected to the charging wire, the outlet of the charging wire for connecting the charging gun is located above the charging gun, and the connection position of the suspension structure and the charging wire is higher than the outlet; the mechanical arm can drive the charging gun, and the gun-arm adapter structure can connect or disconnect the mechanical arm and the charging gun. The scheme reduces the load required by the mechanical arm for connecting and driving the charging gun, reduces the power, output force and structural strength requirements of the mechanical arm and the gun-arm adapter structure, the mechanical arm can serve multiple charging spaces, the utilization rate of the mechanical arm is improved, and the charging cost is reduced.

Description

Technical Field

[0001] This application relates to the field of charging technology, and in particular to a charging device and a charging system. Background Technology

[0002] As the market share of electric vehicles continues to increase, the convenience of electric vehicle charging has received increasing attention. Some charging manufacturers are using multi-axis electric robotic arms as the core execution unit to achieve automatic charging. However, in order to charge faster, the power level of DC charging piles is constantly increasing, and the diameter of the charging gun cable is also increasing, resulting in a significant increase in weight. Related technologies improve the load-bearing capacity of the robotic arm by increasing the motor power and adding motor reduction mechanisms, thereby matching the increasingly heavy charging gun cable. However, this has also led to a significant increase in the cost of charging equipment, limiting the application and promotion of automatic charging systems. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a charging device with low cost. Furthermore, a charging system is proposed.

[0004] Firstly, in the first aspect, a charging device is proposed, comprising:

[0005] Charging gun, charging cable, suspension structure, robotic arm and gun arm adapter structure;

[0006] The charging cable is connected to the charging gun to transmit electrical energy; the suspension structure is connected to the charging cable, and the outlet of the charging gun for connecting the charging cable is located above the charging gun. The connection position of the suspension structure and the charging cable is higher than the outlet. The robotic arm can drive the charging gun, and the gun-arm adapter structure can connect to or disconnect the robotic arm from the charging gun.

[0007] In the above technical solution, the outlet of the charging gun is located above the charging gun. This means that most of the weight of the charging gun and charging cable is borne by the suspension structure, reducing the load required for the robotic arm to connect and drive the charging gun. It also reduces the power, output force, and structural strength requirements of the robotic arm and the gun-arm adapter structure, thereby lowering the cost of the charging equipment. Furthermore, the gun-arm adapter structure allows the robotic arm to detach from the charging gun. After driving one charging gun to connect to a vehicle, the robotic arm can detach from that charging gun and continue connecting to the next charging gun. This means the robotic arm can serve multiple charging spaces, improving its utilization rate and further reducing charging costs.

[0008] Optionally, the charging device further includes a camera assembly capable of identifying the location of the charging port, the camera assembly being connected to the gun arm adapter structure or the robotic arm.

[0009] Optionally, the camera assembly is located at the lower part of the charging gun, and the lens of the camera assembly faces the charging port area.

[0010] Optionally, the gun arm adapter structure includes an electromagnetic part and a magnetic part. The electromagnetic part is connected to the robotic arm, and the magnetic part is connected to the tail of the charging gun. The magnetic part includes a magnetic material. When the electromagnetic part is energized, it generates a magnetic field so as to be magnetically connected to the magnetic part.

[0011] Optionally, the electromagnetic part has a connecting section protruding toward the head of the charging gun, and the magnetic part has a connecting groove recessed toward the head of the charging gun, and the connecting section can be magnetically connected to the connecting groove.

[0012] Optionally, the magnetic part includes a first bracket and a second bracket detachably connected in a first direction, the first direction being the head-to-tail direction of the charging gun; the first bracket and the second bracket are clamped to the handle of the charging gun, the first bracket is located on the side near the robotic arm and includes magnetic material, and the electromagnetic part generates a magnetic field when energized so as to be magnetically connected to the first bracket.

[0013] Optionally, the gun arm adapter structure further includes a first positioning pin, which is connected to one of the electromagnetic part and the magnetic part. The other of the electromagnetic part and the magnetic part is provided with a first positioning hole, and the first positioning pin can be inserted into the first positioning hole.

[0014] Optionally, the charging device further includes a cover opening mechanism for opening or closing the protective cover of the charging port, and the cover opening mechanism is connected to the gun arm adapter structure or the robotic arm.

[0015] Optionally, the cover opening mechanism includes a first driving member, a moving rod, and a rotating member. The first driving member drives the rotating member to rotate, and the rotating member is connected to the moving rod so that the moving rod can touch the protective cover.

[0016] Optionally, the end of the moving rod away from the tail of the charging gun is provided with a contact head, which is used to touch the protective cover; the contact head protrudes from the moving rod in the radial direction, and / or the portion of the contact head that contacts the protective cover is provided with a plastic surface.

[0017] Optionally, the gun arm adapter structure includes a gripper assembly, which includes a second drive member and a gripper. The second drive member is connected to the robotic arm, and the gripper extends in a first direction. The second drive member is used to drive the gripper to move in a second direction, so that the robotic arm connects to or disconnects from the charging gun. The first direction is the head-to-tail direction of the charging gun, and the second direction intersects with the first direction.

[0018] Optionally, the charging gun is provided with a clamping bracket at its tail. When the gripper abuts against the clamping bracket, the robotic arm is connected to the charging gun. When the gripper disengages from the clamping bracket, the robotic arm disengages from the charging gun.

[0019] The clamping bracket is provided with a positioning groove that extends along the first direction and restricts the movement of the gripper in a third direction. The third direction intersects both the first and second directions; and / or,

[0020] The charging device further includes a second positioning pin. One of the clamping bracket and the gripper is provided with the second positioning pin, and the other is provided with a second positioning hole. The second positioning pin can be inserted into the second positioning hole to restrict the relative movement of the gripper and the clamping bracket.

[0021] Optionally, the suspension structure includes a pull cord and a clamp, the clamp being fixedly connected to the connection position of the charging cable, the pull cord being connected to the clamp, and the pull cord being able to extend or shorten according to the movement of the charging cable.

[0022] Optionally, the gun arm adapter structure further includes a pressing component, the charging gun includes an unlock button, and the pressing component is used to press the unlock button of the charging gun; the pressing component includes a servo and a pressing plate, one end of the pressing plate is connected to the rotating shaft of the servo, and the other end is used to press the unlock button.

[0023] Secondly, a charging system is proposed, including the charging device as described above. This charging system has the same beneficial effects as the aforementioned charging device.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0026] Figure 1 This is a schematic diagram of the structure of a charging device according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the connection between the gun arm adapter structure and the charging gun according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the mechanical arm end of a gun arm adapter structure according to an embodiment of this application;

[0029] Figure 4 This is a schematic diagram of the charging gun end of a gun arm adapter structure according to an embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the opening mechanism according to one embodiment of this application;

[0031] Figure 6 This is a schematic diagram of the connection between the gun arm adapter structure and the charging gun according to another embodiment of this application;

[0032] Figure 7 This is a schematic diagram of the mechanical arm end of a gun arm adapter structure according to another embodiment of this application;

[0033] Figure 8 This is a schematic diagram of the charging gun end of a gun arm adapter structure according to another embodiment of this application;

[0034] Figure 9 for Figure 1 Detail I: Structural diagram.

[0035] Figure label:

[0036] 1. Robotic arm; 2. Gun arm adapter structure; 20. Mounting housing; 21. Connecting frame; 22. Camera assembly; 24. Electromagnetic component; 241. Connecting section; 25. First positioning pin; 26. Magnetic component; 261. First bracket; 262. Second bracket; 2611. Connecting groove; 2612. First positioning hole; 27. Pressing assembly; 271. Servo motor; 272. Pressing plate; 28. Gripper assembly; 281. Second driving component; 282. Gripper; 29. ​​Gripping bracket; 291. Positioning groove; 283. Second positioning pin; 293. Second positioning hole;

[0037] 3. Charging cable; 31. Connection position; 4. Charging station; 5. Charging gun; 51. Cable outlet; 52. Head; 53. Tail; 6. Suspension structure; 61. Pull cord; 62. Cable clamp;

[0038] 8. Opening mechanism; 81. First driving component; 82. Moving rod; 821. Contact head; 83. Rotating component; 84. Transmission nut; 85. Anti-rotation rod; 86. Axial elastic component;

[0039] X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0040] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0041] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] Please see Figure 1 This application provides a charging device, which includes a charging gun 5, a charging cable 3, a suspension structure 6, a robotic arm 1, and a gun-arm adapter structure 2. The charging cable 3 is connected to the charging gun 5 to transmit electrical energy. The suspension structure 6 is connected to the charging cable 3. The outlet 51 of the charging gun 5 for connecting the charging cable 3 is located above the charging gun 5. The connection position 31 between the suspension structure 6 and the charging cable 3 is higher than the outlet 51. The robotic arm 1 can drive the charging gun 5, and the gun-arm adapter structure 2 can connect or disconnect the robotic arm 1 from the charging gun 5.

[0044] In the above technical solution, the outlet 51 of the charging gun 5 is located above the charging gun 5. This means that most of the weight of the charging gun 5 and the charging cable 3 is borne by the suspension structure, reducing the load required for the robotic arm 1 to connect and drive the charging gun 5. This also reduces the power, output force, and structural strength requirements of the robotic arm 1 and the gun-arm adapter structure 2, thereby lowering the cost of the charging equipment. Furthermore, the gun-arm adapter structure 2 allows the robotic arm to detach from the charging gun 5. After connecting one charging gun 5 to a vehicle, the robotic arm 1 can detach from that charging gun 5 and connect to the next charging gun 5, meaning the robotic arm 1 can serve multiple charging spaces, improving its utilization rate and further reducing charging costs. In addition, this solution avoids the problems of charging cables dragging on the ground, causing significant wear on the outer sheath, and requiring overcoming considerable friction during plugging and unplugging, resulting in a poor user experience, which are common in current solutions. Furthermore, this solution also meets the need for manual operation when robotic arm 1 malfunctions or the user wishes to operate it manually. The user can directly hold the charging gun (the connector at the gun end is present but does not affect the grip) and remove the gun from the arm end for manual charging. This interaction mode perfectly supports human-machine collaboration. The gun-arm adapter structure 2 can reliably transmit mechanical force while allowing for easy manual intervention. At the same time, the top-out cable significantly reduces the perceived weight of the charging gun 5 and charging cable 3 during manual operation, conforming to ergonomic principles.

[0045] For example, the charging equipment also includes a charging pile 4, with a suspension structure 6 mounted on top of the charging pile 4. A lifting device is provided on the upper surface of the top of the charging pile 4, facilitating the hoisting and on-site installation of the entire charging equipment after assembly, thus improving installation efficiency. In other embodiments, the suspension structure 6 can also be mounted on the top beam structure of the charging station building, utilizing existing structures to further reduce the manufacturing cost of the charging equipment.

[0046] In some embodiments, the robotic arm 1 is a 3-axis electric robotic arm, one end of which is fixed to one side of the charging pile 4, and the other end is connected to or disconnected from the charging gun 5 via a gun-arm adapter structure 2. This arrangement is suitable for enabling one robotic arm 1 to charge vehicles at two adjacent charging positions, such as... Figure 1 The robotic arm 1 has a high utilization rate at the right charging position P1 and the left charging position P2. Furthermore, one fixed end of the robotic arm 1 is installed on the same base as the charging pile 4, integrated as part of the charging equipment. This improves integration, allowing the robotic arm 1 to effectively utilize the power supply unit, control unit, human-machine interface display screen, and installation space of the charging pile 4, further reducing costs. In other embodiments, the robotic arm 1 can be installed on a mobile vehicle, such as an AGV, allowing it to serve more charging guns 5, enabling more vehicles to charge simultaneously, resulting in higher charging efficiency, higher utilization of the robotic arm 1, and lower overall charging system costs.

[0047] In some embodiments, the charging device further includes a camera assembly 22, which is capable of identifying the location of the charging port. The camera assembly 22 is connected to the gun arm adapter structure 2 or the robotic arm 1. This design enables the robotic arm 1 to achieve automatic alignment with a "visual closed loop" even without preset coordinate guidance, making it suitable for compatible charging scenarios with different vehicle models and different charging port locations. Furthermore, with the assistance of an infrared fill light, the outline and positioning marks of the vehicle's charging port can be stably identified even at night or in strong light conditions.

[0048] In some embodiments, the camera assembly 22 is located below the charging gun 5, with its lens facing the charging port area. This arrangement ensures the camera is positioned low and fixed relative to the robotic arm 1, while the charging cable 3 and charging gun 5 are above or in front of it, resulting in completely separate trajectories. The camera is solely responsible for identifying the charging port location and guiding the robotic arm 1, without its view being obstructed by the swinging of the charging cable. This layout allows the camera assembly 22 to simultaneously capture the edge of the charging port cover, the center point of the socket, and surrounding vehicle features when the charging gun 5 approaches the charging port, improving positioning accuracy. For example, the camera assembly 22 is fixedly connected to the lower part of the charging arm adapter structure 2, facing diagonally downwards or directly towards the vehicle's charging port area; for the aforementioned arrangement where one end of the robotic arm 1 is fixed, the camera's field of view, calibrated by an algorithm, can cover two parking spaces.

[0049] In some embodiments, the gun arm adapter structure 2 includes an electromagnetic part 24 and a magnetic part 26. The electromagnetic part 24 is connected to the robotic arm 1, and the magnetic part 26 is connected to the tail of the charging gun 5. The magnetic part 26 includes a magnetic material. When the electromagnetic part 24 is energized, it generates a magnetic field so that it can magnetically connect with the magnetic part 26. This solution connects the robotic arm 1 and the charging gun 5 through electromagnetic attraction. When the power is off, the charging gun 5 can be removed from the robotic arm 1. The operation response is fast, and there is no wear and maintenance required.

[0050] In some embodiments, the gun arm adapter structure 2 further includes a mounting housing 20 and a connecting frame 21. One end of the connecting frame 21 is connected to the robotic arm 1, and the other end is connected to the mounting housing 20. The mounting housing 20 serves as the mounting base and reference for the gun arm adapter structure 2, and other structures of the gun arm adapter structure 2 can be connected to the mounting housing 20. Specifically, the connecting frame 21 is a flange bracket for easy assembly. The electromagnetic component 24 is connected to the mounting housing 20, and the two form a relatively fixed whole.

[0051] In some embodiments, the electromagnetic part 24 has a connecting section 241 protruding towards the head of the charging gun 5, and the magnetic part 26 has a connecting groove 2611 recessed towards the head of the charging gun 5. The connecting section 241 can be magnetically connected to the connecting groove 2611. This structure forms a "plug-in magnetic attraction" fit, which is accurately positioned and provides axial guidance while magnetically attracting, so that the charging gun 5 automatically centers during docking, and the magnetic attraction connection is reliable and stable. Exemplarily, the connecting section 241 is a cylindrical boss with a nickel-plated surface for rust prevention; the connecting groove 2611 is a matching blind hole, constructed of magnetic material (such as neodymium iron boron permanent magnet material or magnet steel, etc.). In other embodiments, the connecting section 241 may also be a polygonal boss or a spline boss, and the shape of the connecting groove 2611 matches it, which restricts relative rotation between the electromagnetic part 24 and the magnetic part 26 while connecting. Specifically, the electromagnetic part 24 is connected to the mounting housing 20.

[0052] In some embodiments, the magnetic part 26 includes a first bracket 261 and a second bracket 262 detachably connected in a first direction X, where the first direction X is the head-to-tail direction of the charging gun 5. The first bracket 261 and the second bracket 262 are clamped to the handle of the charging gun 5. The first bracket 261 is located on the side near the robotic arm 1 and includes magnetic material. The electromagnetic part 24 generates a magnetic field when energized, so as to be magnetically connected to the first bracket 261. This structure is suitable for different models of charging guns 5, with better universal compatibility. The first bracket 261 and the second bracket 262 can be locked from both sides of the handle with screws without damaging the original structure of the charging gun 5 and without affecting manual operation. Furthermore, the aforementioned connecting groove 2611 is integrally formed and connected to the first bracket 261.

[0053] In some embodiments, the gun arm adapter structure 2 further includes a first positioning pin 25, which is connected to one of the electromagnetic part 24 and the magnetic part 26. The other of the electromagnetic part 24 and the magnetic part 26 is provided with a first positioning hole 2612, into which the first positioning pin 25 can be inserted. This improves the docking accuracy between the robotic arm 1 and the charging gun 5. Combined with the aforementioned "plug-in magnetic attraction" between the connecting section 241 and the connecting groove 2611, it also restricts relative rotation between the robotic arm 1 and the charging gun 5. There can be one, two, three, or four first positioning pins 25 and first positioning holes 2612, respectively.

[0054] For example, the first positioning pin 25 is a cylindrical steel pin, which is connected to the mounting housing 20 to achieve a relatively fixed connection with the electromagnetic part 24. The first positioning pin 25 is located beside the electromagnetic part 24, and the length of the first positioning pin 25 in the first direction X is greater than the length of the connecting section 241. The first positioning hole 2612 is provided in the first bracket 261 of the magnetic part 26. Before magnetic attraction, the first positioning pin 25 is first inserted into the first positioning hole 2612 to achieve pre-positioning in the circumferential and radial directions. Then, the connecting section 241 extends into the connecting groove 2612 to avoid collisions or abnormal noises caused by offset during magnetic attraction, which would affect the lifespan of the electromagnetic components. This structure works in conjunction with magnetic attraction to improve the accuracy of repeated positioning during docking. In addition, the first positioning pin 25 can also serve as a positioning structure for connecting the connecting bracket 21 to the mounting housing 20.

[0055] In some embodiments, the charging device further includes a cover-opening mechanism 8 for opening or closing the protective cover of the charging port. The cover-opening mechanism 8 is connected to the gun arm adapter structure 2 or the robotic arm 1. This design enables fully automated operation, eliminating the need for the user to manually open the protective cover of the vehicle charging port, thus improving user safety and user experience. Exemplarily, the cover-opening mechanism 8 is mounted on the side wing of the mounting housing 20 of the gun arm adapter structure 2.

[0056] In some embodiments, the cover-opening mechanism 8 includes a first driving member 81, a moving rod 82, and a rotating member 83. The first driving member 81 drives the rotating member 83 to rotate, and the rotating member 83 is connected to the moving rod 82 so that the moving rod 82 can touch the protective cover. In this solution, the stroke force of the cover-opening mechanism 8 can be controlled automatically, with high control precision and stable torque. It can adapt to protective cover structures with different opening forces, and can open or close the protective cover when the robotic arm 1 is connected to the charging gun 5, with fewer operation steps and higher charging efficiency. In other embodiments, the cover-opening mechanism 8 can be directly driven by the robotic arm 1 to push the protective cover open and close, achieving automatic cover opening while reducing costs. For example, the first driving member 81 is a motor, and the rotating member 83 is a lead screw, with the motor shaft coaxially connected to the lead screw. The cover-opening mechanism 8 also includes a transmission nut 84, which is meshed with the lead screw and connected in a transmission manner. The moving rod 82 is connected to the transmission nut 84 and is arranged parallel to and spaced apart from the lead screw. In this way, when the lead screw rotates, it is fitted with the transmission nut 84 for transmission, and the transmission nut 84 cannot rotate but can only move along the lead screw. In some embodiments, the cover opening mechanism 8 further includes an axial elastic element 86 and an anti-rotation rod 85. The axial elastic element 86 is disposed between the transmission nut 84 and the moving rod 82, and can realize adaptive adjustment of the output force and stroke of the moving rod 82. One end of the anti-rotation rod 85 is connected to the transmission nut 84, and the other end is connected to the housing of the cover opening mechanism 8, so as to prevent the transmission nut 84 from rotating and guide the movement of the transmission nut 84, so as to make the movement of the transmission nut 84 and the moving rod 82 more stable.

[0057] In some embodiments, a contact head 821 is provided at the end of the movable rod 82 away from the tail of the charging gun 5. The contact head 821 is used to actuate the protective cover. The contact head 821 protrudes radially from the movable rod 82. This structure increases the contact area between the contact head 821 and the protective cover, preventing damage. It can not only push the charging port protective cover but also hook it to unlock the rotating cover with a latch lock at the charging port.

[0058] In some embodiments, the portion of the contact head 821 that contacts the protective cover has a plastic surface. This also helps to prevent injury from impacts. The plastic surface has anti-slip, shock-absorbing, and insulating properties, improving the operation and safety performance of the cover opening mechanism 8.

[0059] In some embodiments, please refer to Figure 6 and Figure 7 The gun arm adapter structure 2 includes a gripper assembly 28, which includes a second drive member 281 and a gripper 282. The second drive member 281 is connected to the robotic arm 1, and the gripper 282 extends in the first direction X. The second drive member 281 is used to drive the gripper 282 to move in the second direction Y, so that the robotic arm 1 connects to or disconnects from the charging gun 5. The first direction X is the head and tail direction of the charging gun 5, and the second direction Y intersects with the first direction X.

[0060] The gripper assembly 28 of this solution not only enables the connection and disconnection of the robotic arm 1 and the charging gun 5, but also adapts to the protective cover and internal charging port plug of the vehicle-side charging port. Specifically, the gripper and robotic arm work together to open and close the external charging port protective cover, while the gripping structure at the front end of the gripper body releases and clamps, allowing for the removal and placement of the internal AC / DC charging port plug. In other words, the gripper assembly 28, in conjunction with the robotic arm 1, can automatically open and close the vehicle-side charging port protective cover and internal charging port plug, and automatically insert and remove the charging gun, resulting in higher utilization, eliminating the need for a separate opening mechanism, and lower cost. Furthermore, the head of the gripper has a plastic surface to prevent damage during the opening and closing of the protective cover and plug, providing protection. This structure is suitable for the charging gun 5 made of non-magnetic materials, providing a reliable mechanical connection, and can also form a redundant backup with the electromagnetic solution, improving system robustness. It should be noted that in the embodiments of this application, the second direction Y can be either the left-right direction of the charging gun 5 or the up-down direction of the charging gun 5.

[0061] For example, the second drive element 281 can be a rotary motor, which uses a rack and pinion transmission to open and close the gripper 282. In other embodiments, the second drive element 281 can be a linear motor, which uses a linkage structure to open and close the gripper 282. In still other embodiments, the second drive element 281 can also be a cylinder.

[0062] In some embodiments, the tail of the charging gun 5 is provided with a clamping bracket 29. When the gripper 282 abuts against the clamping bracket 29, the robotic arm 1 is connected to the charging gun 5; when the gripper 282 disengages from the clamping bracket 29, the robotic arm 1 disengages from the charging gun 5. The clamping bracket 29 is provided with a positioning groove 291, which extends along the first direction X and restricts the movement of the gripper 282 in the third direction Z. The third direction Z intersects with the first direction X and the second direction Y, respectively. This improves the reliability and stability of the connection between the robotic arm 1 and the charging gun 5. Exemplarily, the clamping bracket 29 is formed by connecting two parts in the second direction Y, and clamps the handle at the tail of the charging gun 5 between the two parts. In other embodiments, the clamping bracket 29 can be integrally formed with the handle at the tail of the charging gun 5.

[0063] In some embodiments, the charging device further includes a second positioning pin 283. One of the clamping bracket 29 and the gripper 282 is provided with the second positioning pin 283, and the other is provided with a second positioning hole 293. The second positioning pin 283 can be inserted into the second positioning hole 293 to restrict the relative movement of the gripper 282 and the clamping bracket 29. This improves the reliability and stability of the connection between the robotic arm 1 and the charging gun 5.

[0064] For example, such as Figure 7 and Figure 8 The inner side of the gripper 282 is provided with a second positioning pin 283, and the gripping bracket 29 is provided with a second positioning hole 293 accordingly. There are two second positioning pins 283 and two second positioning holes 293, one of which is a round hole and the other is an oblong hole, so as to facilitate positioning and connection.

[0065] In some embodiments, such as Figure 9As shown, the suspension structure 6 includes a pull rope 61 and a clamp 62. The clamp 62 is fixedly connected to the connection position 31 of the charging cable 3. The pull rope 61 is connected to the clamp 62, and the pull rope 61 can extend or shorten according to the movement of the charging cable 3. This makes it easier for the robotic arm 1 or manual operation of the charging gun cable. For example, the pull rope 61 can automatically raise and lower and return the charging gun cable through an automatic charging gun cable management mechanism; the clamp 62 can be a double-lobed aluminum alloy clamp with a silicone pad inside, clamping the outer sheath of the charging cable 3 without damaging the insulation layer. The clamping force is pre-tightened and adjusted by a spring and fasteners to ensure no slippage when the tension changes. The automatic charging gun cable management mechanism can include an adaptive telescopic winding wheel driven by a coil spring, or a winding wheel with adjustable tension driven by a motor, etc. The charging cable 3 is led out from the top. During charging, the charging gun cable is led out downwards to complete the charging process. In the non-charging state, the charging gun 5 is placed in the charging gun holder, and the charging cable 3 is in a U-shaped suspended state. When the charging gun is removed, the automatic cable management mechanism provides a pulling force to prevent the cable from dragging on the ground, reducing insertion and removal resistance and improving operational safety. When manually or with a robotic arm, only a small vertical pulling force and insertion / removal resistance need to be overcome.

[0066] In some embodiments, please refer to Figure 2 and Figure 3 The gun arm adapter structure 2 also includes a pressing component 27. The charging gun 5 includes an unlock button, and the pressing component 27 is used to press the unlock button of the charging gun 5. The pressing component 27 includes a servo motor 271 and a pressing plate 272. One end of the pressing plate 272 is connected to the shaft of the servo motor 271, and the other end is used to press the unlock button. This solution can realize an automated "one-click gun removal" process, improving user experience and safety. The end of the pressing plate 272 can be fitted with a flexible plastic head to avoid damaging the button. When the robotic arm 1 completes charging, the system controls the servo motor 271 to press the unlock button, allowing the charging gun 5 to be pulled out of the charging port.

[0067] This application also provides a charging system, which includes the charging equipment described above. This charging system has the same beneficial effects as the aforementioned charging equipment. The system can be deployed in multi-parking scenarios such as large parking lots, bus hubs, and logistics parks. For example, the charging system includes a charging pile 4, a robotic arm 1, two sets of charging guns 5, and charging cables 3. This charging system can serve two charging spaces, increasing the number of vehicles served daily, reducing charging costs, and improving the overall energy efficiency of the system, thus possessing significant economic benefits and promotional value.

[0068] To better understand the above embodiments, the entire charging process of the charging system will be described below.

[0069] When vehicle A drives into the charging parking space and parks, it sends a charging request. The camera component 22 will identify the location information of the vehicle's charging port and send a charging command to the robotic arm 1. The robotic arm 1 will then perform the action of finding the vehicle and locating the charging port cover.

[0070] For vehicles with manual charging ports, both the magnetic and gripper-type charging gun adapter structures can open, close, or clamp the external charging port protective cover and the internal DC port plug on the vehicle side, achieving automatic charging for any vehicle type. For vehicles with automatic charging ports, the action of opening the external large charging protective cover and the internal small plug can be omitted, directly driving the charging gun to plug and unplug.

[0071] When the end of the robotic arm 1 approaches the charging gun 5, the electromagnet of the electromagnetic part 24 is energized, generating a magnetic attraction force that combines the electromagnetic part 24 and the magnetic part 26, or the gripper assembly 28 abuts against the clamping bracket 29, thereby connecting the robotic arm 1 to the charging gun 5. After the robotic arm 1 completes the insertion (for the vehicle end) and return (for the charging pile end) actions, the electromagnet of the electromagnetic part 24 is de-energized, or the second drive member 281 moves in the opposite direction, thereby disengaging the robotic arm 1 from the charging gun 5. The robotic arm 1 returns to its original position to await subsequent insertion / removal commands. If vehicle B enters the parking space on the other side at this time, the robotic arm 1 can perform the charging operation for vehicle B according to the same insertion process. In another scenario, when vehicle B enters, the robotic arm 1 is moving towards the charging port of vehicle A with the charging gun cable. Since the other charging gun cable is separated from the robotic arm 1, the owner can choose to pick up the charging gun to charge vehicle B, or wait for the robotic arm 1 to complete the insertion process for vehicle A before automatically charging vehicle B. Meanwhile, the entire charging process is completed with the charging gun cable in the outgoing state, making the operation more convenient, especially for thicker and heavier high-power charging gun cables.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A charging device, characterized by, include: Charging gun (5), charging cable (3), suspension structure (6), robotic arm (1) and gun arm adapter structure (2); The charging cable (3) is connected to the charging gun (5) to transmit electrical energy; the suspension structure (6) is connected to the charging cable (3), and the outlet (51) of the charging gun (5) for connecting the charging cable (3) is located above the charging gun (5). The connection position (31) of the suspension structure (6) and the charging cable (3) is higher than the outlet (51); the robotic arm (1) can drive the charging gun (5), and the gun-arm adapter structure (2) can enable the robotic arm (1) to connect to or disconnect from the charging gun (5).

2. The charging device according to claim 1, characterized in that, The charging device also includes a camera assembly (22) which is capable of identifying the location of the charging port and is connected to the gun arm adapter structure (2) or the robotic arm (1).

3. The charging device according to claim 2, characterized in that, The camera assembly (22) is located at the lower part of the charging gun (5), and the lens of the camera assembly (22) faces the charging port area.

4. The charging device according to any one of claims 1 to 3, characterized in that, The gun arm adapter structure (2) includes an electromagnetic part (24) and a magnetic part (26). The electromagnetic part (24) is connected to the robotic arm (1), and the magnetic part (26) is connected to the tail of the charging gun (5). The magnetic part (26) includes a magnetic material. The electromagnetic part (24) generates a magnetic field when energized, so as to be magnetically connected to the magnetic part (26).

5. The charging apparatus according to claim 4, characterized by, The electromagnetic part (24) is provided with a connecting section (241) protruding toward the head of the charging gun (5), and the magnetic part (26) is provided with a connecting groove (2611) recessed toward the head of the charging gun (5). The connecting section (241) can be magnetically connected to the connecting groove (2611).

6. The charging apparatus according to claim 4, characterized by, The magnetic part (26) includes a first bracket (261) and a second bracket (262) detachably connected in a first direction (X), the first direction (X) being the head-to-tail direction of the charging gun (5); the first bracket (261) and the second bracket (262) are clamped to the handle of the charging gun (5), the first bracket (261) is located on the side close to the robotic arm (1) and includes magnetic material, and the electromagnetic part (24) generates a magnetic field when energized so as to be magnetically connected to the first bracket (261).

7. The charging apparatus according to claim 4, characterized by, The gun arm adapter structure (2) further includes a first positioning pin (25), which is connected to one of the electromagnetic part (24) and the magnetic part (26). The other of the electromagnetic part (24) and the magnetic part (26) is provided with a first positioning hole (2612), and the first positioning pin (25) can be inserted into the first positioning hole (2612).

8. The charging apparatus according to claim 4, characterized by, The charging device also includes a cover opening mechanism (8), which is used to open or close the protective cover of the charging port. The cover opening mechanism (8) is connected to the gun arm adapter structure (2) or the robotic arm (1).

9. The charging apparatus according to claim 8, characterized by, The opening mechanism (8) includes a first driving member (81), a moving rod (82) and a rotating member (83). The first driving member (81) drives the rotating member (83) to rotate. The rotating member (83) is connected to the moving rod (82) so that the moving rod (82) can touch the protective cover.

10. The charging apparatus according to claim 9, characterized by, The movable rod (82) has a contact head (821) at one end away from the tail of the charging gun (5), the contact head (821) is used to touch the protective cover; the contact head (821) protrudes from the movable rod (82) in the radial direction, and / or the part of the contact head (821) that contacts the protective cover has a plastic surface.

11. The charging device according to any one of claims 1 to 3, characterized in that, The gun arm adapter structure (2) includes a gripper assembly (28), which includes a second drive member (281) and a gripper (282). The second drive member (281) is connected to the robotic arm (1), and the gripper (282) extends in a first direction (X). The second drive member (281) is used to drive the gripper (282) to move in a second direction (Y), so that the robotic arm (1) connects to or disconnects from the charging gun (5). The first direction (X) is the head-to-tail direction of the charging gun (5), and the second direction (Y) intersects with the first direction (X).

12. The charging apparatus according to claim 11, characterized by, The charging gun (5) is provided with a clamping bracket (29) at its tail. When the gripper (282) abuts against the clamping bracket (29), the robotic arm (1) is connected to the charging gun (5). When the gripper (282) disengages from the clamping bracket (29), the robotic arm (1) disengages from the charging gun (5). The clamping bracket (29) is provided with a positioning groove (291) extending along the first direction (X) and restricting the movement of the gripper (282) in a third direction (Z), which intersects the first direction (X) and the second direction (Y) respectively; and / or, The charging device further includes a second positioning pin (283). One of the clamping bracket (29) and the gripper (282) is provided with the second positioning pin (283), and the other is provided with a second positioning hole (293). The second positioning pin (283) can be inserted into the second positioning hole (293) to restrict the relative movement of the gripper (282) and the clamping bracket (29).

13. The charging device according to any one of claims 1 to 3, characterized in that, The suspension structure (6) includes a pull rope (61) and a clamp (62). The clamp (62) is fixedly connected to the connection position (31) of the charging cable (3). The pull rope (61) is connected to the clamp (62). The pull rope (61) can extend or shorten according to the movement of the charging cable (3).

14. The charging apparatus according to any one of claims 1 to 3, characterized by, The gun arm adapter structure (2) further includes a pressing component (27). The charging gun (5) includes an unlock button. The pressing component (27) is used to press the unlock button of the charging gun (5). The pressing component (27) includes a servo motor (271) and a pressing plate (272). One end of the pressing plate (272) is connected to the shaft of the servo motor (271), and the other end is used to press the unlock button.

15. A charging system, characterized by Includes the charging device as described in any one of claims 1-14.

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