Charging execution mechanism

Abstract

The utility model provides a charging execution mechanism, which is used on a charging port with an insulating plug and is matched with a charging gun head to execute automatic charging operation, and comprises a plug plugging and unplugging assembly and a gun plugging and unplugging assembly, the plug plugging and unplugging assembly comprises an axial moving module, a radial moving module and a clamping module, the axial moving module is connected with the radial moving module, the radial moving module is connected with the clamping module, the axial moving module is used for driving the clamping module to move in the axial direction, and the clamping module is used for clamping an insulating plug; the insulating plug is pulled out and / or put in under the driving of the axial moving module, and the insulating plug is pulled out and / or moved back under the driving of the radial moving module; the plugging gun assembly comprises a plugging module and a guiding module, the plugging module is connected with the guiding module, the guiding module is used for guiding the charging gun head to be accurately inserted into the charging port, and the plugging module is used for driving the charging gun head to be inserted into the charging port and / or pulled out of the charging port. The charging execution mechanism provided by the utility model can efficiently complete charging.

Description

Technical Field

[0001] The present application belongs to the field of charging technology, and in particular relates to a charging actuator. Background Art

[0002] Currently, when using a charging pile for charging, it is necessary to first open the insulating cover covering the charging port of the charging seat, and then remove the insulating cover from the charging port to expose the charging port, thereby facilitating the charging actuator to clamp the charging gun head and plug it into the charging port of the charging seat for charging.

[0003] In the prior art, the insulating cover is usually removed manually, which cannot achieve fully automated charging. In order to achieve fully automated charging, the relevant technology has developed a corresponding plug-in and plug-out mechanism to shift the insulating plug. However, this process is not smoothly connected with the subsequent plug-in action, and the action is relatively fragmented, which makes the entire charging process cumbersome and inefficient. In addition, the charging gun head and the charging seat are often misaligned, resulting in the inability to effectively complete the plug-in charging between the charging gun head and the charging seat, or blockage during the plug-in process due to insufficient alignment accuracy. In severe cases, the charging gun head and / or the charging seat may be damaged due to improper plug-in. Utility Model Content

[0004] In view of this, the present application provides a charging actuator to solve the technical problems that the charging gun head and the charging base are often misaligned in the existing charging devices, resulting in ineffective plugging and charging, insufficient alignment accuracy causing the plugging process to be blocked, and damage to the charging gun head and / or the charging base.

[0005] The present application provides a charging actuator for performing automatic charging operations on a charging port with an insulating plug in cooperation with a charging gun head, including a plug-in and pull-out plug assembly and a plug-in and pull-out gun assembly;

[0006] The plug-in and plug-out assembly comprises an axial moving module, a radial moving module and a clamping module, wherein the axial moving module is connected to the radial moving module, and the radial moving module is connected to the clamping module, wherein the axial moving module is used to drive the clamping module to move axially, and the clamping module is used to clamp the insulating plug, and pull out and / or put in the insulating plug under the drive of the axial moving module, and remove and / or move back the insulating plug under the drive of the radial moving module;

[0007] The plug-in gun assembly includes a plug-in module and a guide module, the plug-in module is connected to the guide module, the guide module is used to guide the charging gun head to be accurately inserted into the charging port, and the plug-in module is used to drive the charging gun head to be inserted into the charging port and / or unplugged from the charging port.

[0008] The present application provides a charging actuator, and the plug-in and plug-out plug assembly includes an axial moving module, a radial moving module and a clamping module. The clamping module is used to clamp and release the insulating plug, and the axial moving module drives the clamping module to move axially, so that the clamping module can pull out and put in the insulating plug under the drive of the axial moving module, thereby realizing automatic pulling out and putting in of the insulating plug, and avoiding interference with the plug-in and pull-out path of the charging gun head, so that the clamping module can be driven by the radial moving module to move away and move back the insulating plug, thereby avoiding interference with the plug-in and pull-out path of the charging gun head, without the need for manual operation, which can not only reduce labor and improve efficiency, but also enable the charging actuator to realize fully automatic charging; in addition, through the pins and positioning parts in the guide module, the alignment degree between the charging port and the charging gun head can be improved, thereby improving the efficiency of automatic charging, realizing smooth plugging and unplugging of the charging gun head and the charging port, and effectively avoiding damage to the charging gun head and / or the charging port. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 This is a schematic diagram of the structure of the charging actuator and the charging gun head provided in the embodiment of the present application. Figure 1 ;

[0011] Figure 2 yes Figure 1 Schematic diagram of the second perspective;

[0012] Figure 3 yes Figure 1 Schematic diagram of the third perspective;

[0013] Figure 4 yes Figure 1 Schematic diagram of the structure of the plug assembly Figure 1 ;

[0014] Figure 5 yes Figure 1 Schematic diagram of the structure of the plug assembly Figure 2 ;

[0015] Figure 6 yes Figure 1 Schematic diagram of the structure of the plug assembly Figure 3 ;

[0016] Figure 7 yes Figure 6 A schematic diagram of the structure after the third limiting member is hidden;

[0017] Figure 8 yes Figure 1 Schematic diagram of the structure after the plug assembly is hidden Figure 1 ;

[0018] Fig. 9 yes Figure 1 Schematic diagram of the structure after the plug assembly is hidden Figure 2 ;

[0019] Fig.10 This is a schematic diagram of the structure of the charging gun head and the installation gun assembly. Figure 1 ;

[0020] Fig.11 This is a schematic diagram of the structure of the charging gun head and the installation gun assembly. Figure 2 ;

[0021] Fig.12 yes Fig.11 Schematic diagram of the structure after hiding the unlocking module.

[0022] Among them, the figure numbers are:

[0023] 10. Plug and unplug assembly;

[0024] 11. Axial movement module; 111. Mounting seat; 112. Connecting seat; 113. First stopper; 1131. First fixed end; 1132. First extension end; 114. Second stopper; 1141. Second fixed end; 1142. Second extension end; 115. Reset member;

[0025] 12. radial movement module; 121. base; 1211. guide rail; 122. first linear drive member;

[0026] 13. Gripping module; 131. Second linear drive member; 1311. Flexible drive structure; 1312. First connecting member; 1313. Second connecting member; 1314. Third connecting member; 132. Rotating member; 133. First clamping jaw; 134. Second clamping jaw; 135. Third stop member; 136. Mounting bracket; 1361. Sliding block; 20. Plug-in gun assembly;

[0027] 21. plug-in module; 211. fixing seat; 212. fixing frame; 213. third linear drive member; 214. first guide shaft; 215. first distance measuring member;

[0028] 22. Guide module; 221. Positioning member; 2211. Mounting box; 2212. Camera; 2213. Fill light; 222. Fourth linear drive member; 223. Second guide shaft; 224. Guide seat; 225. Latch; 2250. Guide slope; 2251. Connecting part; 2252. Guide part; 226. Second distance measuring member; 30. Mounting gun assembly;

[0029] 31. Installation module; 311. Gun seat; 312. Gun frame; 313. First unlocking member; 314. Touch switch;

[0030] 32. unlocking module; 321. fixing member; 322. fifth linear driving member; 323. unlocking connecting rod;

[0031] 324, rotating shaft; 325, pressing wheel;

[0032] 40. Charging gun head; 400. Button. DETAILED DESCRIPTION

[0033] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0034] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0038] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means two or more.

[0039] It should be noted that the axial direction is the X direction in the drawings, the radial direction is the Y direction in the drawings, and the third direction is the Z direction in the drawings. The above is only for the convenience of explanation and should not be construed as limiting the scope of the present application.

[0040] The present application provides a charging actuator, such as Figures 1 to 3 As shown, the charging actuator is used to perform automatic charging operation on a charging port with an insulating plug in cooperation with a charging gun head 40, and the charging actuator includes a plug-in assembly 10 and a plug-in gun assembly 20;

[0041] The plug-in and plug-out assembly 10 includes an axial moving module 11, a radial moving module 12 and a clamping module 13. The axial moving module 11 is connected to the radial moving module 12, and the radial moving module 12 is connected to the clamping module 13. The axial moving module 11 is used to drive the clamping module 13 to move axially. The clamping module 13 is used to clamp the insulating plug, and pull out and / or put in the insulating plug under the drive of the axial moving module 11, and remove and / or move back the insulating plug under the drive of the radial moving module 12.

[0042] The plug-in gun assembly 20 includes a plug-in module 21 and a guide module 22. The plug-in module 21 is connected to the guide module 22. The guide module 22 is used to guide the charging gun head 40 to be accurately inserted into the charging port. The plug-in module 21 is used to drive the charging gun head 40 to be inserted into the charging port and / or unplugged from the charging port.

[0043] The present application provides a charging actuator, wherein the plug-in and plug-out assembly 10 includes an axial moving module 11, a radial moving module 12 and a clamping module 13. The clamping module 13 is used to clamp and release the insulating plug, and the axial moving module 11 drives the clamping module 13 to move axially, so that the clamping module 13 can pull out and put in the insulating plug under the drive of the axial moving module 11, thereby realizing automatic pulling out and putting in of the insulating plug, and avoiding interference with the plug-in and pull-out path of the charging gun head 40, so that the clamping module 13 can be driven by the radial moving module 12 to remove and move back the insulating plug, thereby avoiding interference with the plug-in and pull-out path of the charging gun head 40 by the clamping module 13, without manual operation, which can not only reduce labor and improve efficiency, but also enable the charging actuator to realize fully automatic charging; in addition, through the pin 225 and the positioning member 221 in the guide module 22, the alignment degree between the charging port and the charging gun head 40 can be improved, thereby improving the efficiency of automatic charging, realizing smooth plug-in and pull-out of the charging gun head 40 and the charging port, and effectively avoiding damage to the charging gun head 40 and / or the charging port.

[0044] In some embodiments, Figure 3 and Figure 4 As shown, the axial movement module 11 includes a mounting seat 111, a connecting seat 112 and a first stopper 113;

[0045] The mounting seat 111 is arranged along the axial direction and is fixedly connected to the plug-in module 21. The connecting seat 112 is slidably connected to the mounting seat 111.

[0046] The first stopper 113 includes a first fixed end 1131 and a first extending end 1132, wherein the first fixed end 1131 is connected to the connecting seat 112, and the first extending end 1132 extends toward the plug-in module 21 and is used to abut against the plug-in module 21;

[0047] The connecting seat 112 is driven by the plug-in module 21 to abut against the first extending end 1132 and drive the connecting seat 112 to move axially.

[0048] In application, the first stopper 113 is an L-shaped block, the first fixed end 1131 is fixed on the connection seat 112, and the first extension end 1132 is used to abut against the plug-in module 21. When the plug-in module 21 moves axially, it abuts against the first stopper 113, thereby driving the entire axial movement module 11 to move axially.

[0049] In some embodiments, Figure 3 and 4 As shown, the axial movement module 11 further includes a second stopper 114 and a reset member 115;

[0050] One end of the reset member 115 is connected to the mounting seat 111, and the other end of the reset member 115 is connected to the connecting seat 112. The reset member 115 is used to pull the connecting seat 112 back to the initial position;

[0051] The second limiting member 114 includes a second fixed end 1141 and a second extending end 1142 . The second fixed end 1141 is disposed at one end of the connecting seat 112 close to the reset member 115 , and the second extending end 1142 extends toward the plug-in module 21 . The second limiting member 114 is used to limit the retracted position of the charging gun head 40 .

[0052] In application, the second limiter 114 has the same structure as the first limiter 113, but is different from the first limiter 113 in that the second limiter 114 is disposed at one end of the connection seat 112 away from the first limiter 113, and is used to abut the plug-in module 21. Its main function is to limit the position of the plug-in module 21 when the plug-in module 21 retreats axially, thereby limiting the position of the charging gun head 40. The reset member 115 is a tension spring. When the axial moving module 11 advances with the plug-in module 21, the tension spring is stretched to have elastic potential energy to retract. When the plug-in module 21 retreats, the elastic potential energy of the tension spring is released, thereby pulling the connection seat 112 back to its original position, thereby realizing the axial movement of the clamping module 13, that is, realizing the extraction and retraction of the insulating plug.

[0053] In some embodiments, Figure 4 and Figure 5 As shown, the radial movement module 12 includes a base 121 and a first linear driving member 122;

[0054] The base 121 is arranged radially, and one side of the base 121 is connected to the axial movement module 11, and the clamping module 13 is slidably arranged on the other side of the base 121;

[0055] The first linear drive member 122 is arranged radially, one end of the first linear drive member 122 is fixed to the base 121, and the other end of the first linear drive member 122 is connected to the clamping module 13. The first linear drive member 122 is used to drive the clamping module 13 to move radially.

[0056] In application, the base 121 is connected to the connecting seat 112 to achieve the connection between the radial movement module 12 and the axial movement module 11 .

[0057] In application, the first linear drive member 122 can be any one of a combination of a motor and a screw rod, a cylinder, and a flexible drive structure 1311. In a preferred embodiment, the first linear drive member 122 is a flexible drive structure 1311, wherein the flexible drive structure 1311 is a folding airbag. The advantage of using a folding airbag is that during the braking process, the friction area is large, the braking efficiency is high, the braking temperature is low, the heat dissipation is fast, the front and rear left and right braking synchronization is good, and there is no deflection, no side slip, no tail swing, no locking, and no noise during braking.

[0058] By cooperating with the radial moving module 12 and the axial moving module 11, the clamping module 13 can be moved in the radial and axial directions, so the steps of pulling out and inserting, removing and returning the insulating plug can be realized, and the working process of the entire plug-in assembly 10 is carried out simultaneously with the plug-in gun assembly 20. The movements of the two are relatively coherent and cooperate with each other, thereby improving the fluency and efficiency of the entire automatic charging operation.

[0059] In some embodiments, Figures 5 to 7 As shown, the gripping module 13 includes a second linear driving member 131, a rotating member 132, a first clamping jaw 133 and a second clamping jaw 134;

[0060] One end of the second linear drive member 131 is connected to the radial movement module 12, and the other end of the second linear drive member 131 is connected to the rotating member 132. The rotating member 132 is connected to the first clamp 133 and / or the second clamp 134. The rotating member 132 rotates under the drive of the second linear drive member 131 and drives the first clamp 133 and the second clamp 134 to move closer and farther.

[0061] In application, the driving force of the second linear driving member 131 is then converted by the rotating member 132 to make the first clamping jaw 133 and / or the second clamping jaw 134 move closer to and away from each other, so as to clamp and loosen the insulating plug.

[0062] In some embodiments, Figures 5 to 7 As shown, the second linear driving member 131 includes a flexible driving structure 1311, a first connecting member 1312, a second connecting member 1313 and a third connecting member 1314;

[0063] The flexible driving structure 1311 is connected to the radial moving module 12 and can move in a radial straight line; the two ends of the first connecting member 1312 are rotatably connected to the flexible driving structure 1311 and the rotating member 132 respectively;

[0064] Two ends of the second connecting member 1313 are rotatably connected to the rotating member 132 and the first clamping jaw 133 respectively. Two ends of the third connecting member 1314 are rotatably connected to the rotating member 132 and the second clamping jaw 134 respectively. The first clamping jaw 133 and the second clamping jaw 134 are arranged opposite to each other in the radial direction.

[0065] In application, the second linear drive member 131 further includes a mounting frame 136, on which the flexible drive structure 1311 is mounted, a slider 1361 is provided on the side of the mounting frame 136 away from the flexible drive structure 1311, and a guide rail 1211 is provided on the base 121 to slide with the slider 1361, so as to realize radial movement of the flexible drive structure 1311 on the base 121. The rotating member 132 is a rotating disk, the first connecting member 1312 is a connecting curved rod, and the second connecting member 1313 and the third connecting member 1314 are straight connecting rods. The flexible drive structure 1311 is a folding airbag.

[0066] In some embodiments, Figures 5 to 7 As shown, the clamping module 13 further includes a third limiter 135 disposed between the first clamping jaw 133 and the second clamping jaw 134 , and the third limiter 135 is used to limit the distance between the first clamping jaw 133 and the second clamping jaw 134 so as to control the clamping force within a preset range.

[0067] In application, the third limiting member 135 is a limiting block, and the thickness of the limiting block is smaller than the diameter of the insulating plug, wherein the thickness of the limiting block refers to the thickness of the limiting block in the radial direction.

[0068] It should be noted that controlling the clamping force within a preset range means that the clamping force between the first clamp 133 and the second clamp 134 can clamp the insulating plug and will not loosen easily, and can maintain clamping under the movement of the axial moving module 11 and the radial moving module 12, and will not be too tight to avoid damaging the insulating plug.

[0069] In some embodiments, Figure 8 and Fig. 9 As shown, the plug-in module 21 includes a fixing seat 211, a fixing frame 212, a third linear driving member 213 and a first guide shaft 214;

[0070] The fixing frame 212 is parallel to the fixing seat 211 and is spaced apart from each other;

[0071] The third linear driving member 213 is installed on the fixing seat 211. The third linear driving member 213 has a driving end, and the driving end is used to connect with the charging gun head 40 and drive the charging gun head 40 to move axially to complete the automatic charging action;

[0072] One end of the first guide shaft 214 is fixed to the fixing seat 211 , the other end of the first guide shaft 214 is fixed to the fixing frame 212 , and the driving end is slidably connected to the first guide shaft 214 .

[0073] The driving end of the third linear driving member 213 drives the charging gun head 40 to move axially, the fixing seat 211 and the fixing frame 212 play a supporting and fixing role, and the first guide shaft 214 plays a guiding role to guide the charging gun head 40 to move toward the direction and position of the charging port.

[0074] In application, the third linear drive member 213 can be any one of a combination of a motor and a screw, a cylinder, and a fluid flexible drive structure 1311. In a preferred embodiment, the third linear drive member 213 is a fluid flexible drive structure 1311, wherein the fluid flexible drive structure 1311 is a folded airbag.

[0075] In some embodiments, Figure 8 and Fig. 9 As shown, the plug-in module 21 further includes a first distance measuring member 215 , which is disposed on the fixing seat 211 , and is used to measure the relative position and / or movement distance of the charging gun head 40 in the axial direction in real time.

[0076] In application, the first distance measuring component 215 includes a laser distance measuring sensor, which is an instrument that uses laser to measure the target distance, so as to measure the position of the charging gun head 40 in real time, thereby obtaining the moving distance.

[0077] In some embodiments, Figure 8 and Fig. 9 As shown, the guide module 22 includes a positioning member 221, a fourth linear driving member 222, a second guide shaft 223, a guide seat 224 and a latch 225;

[0078] The positioning member 221 is disposed above the charging gun head 40 , and the positioning member 221 is used to obtain the position of the charging port and / or the charging gun head 40 in real time;

[0079] The fourth linear drive member 222 and the second guide shaft 223 are both arranged axially, one end of the second guide shaft 223 is connected to the driving end of the fourth linear drive member 222, the other end of the second guide shaft 223 is connected to the guide seat 224, and the second guide shaft 223 passes through the fixing frame 212, and the pin 225 is installed on the end of the guide seat 224 away from the second guide shaft 223. The pin 225 is used to plug and cooperate with the groove around the charging port to facilitate the accurate insertion of the charging gun head 40 into the charging port.

[0080] In the application, it also includes a background processing system, which locates the position of the charging port and the charging gun head 40 through the positioning member 221, and then sends the position information to the background processing system, and gives control instructions according to the position information to control the plug assembly 10 and the plug gun assembly 20 to plug and unplug and move the charging gun head 40 to realize automatic charging operation.

[0081] In application, the positioning member 221 includes a camera 2212, which visually positions the charging port and the charging gun head 40 by taking visual photos. The fourth linear drive member 222 can be any one of a combination of a motor and a screw, a cylinder, and a fluid flexible drive structure 1311. In a preferred embodiment, the third linear drive member 213 is a fluid flexible drive structure 1311, wherein the fluid flexible drive structure 1311 is a folded airbag.

[0082] In some embodiments, Figure 8 and Fig. 9 As shown, the latch 225 includes a connecting portion 2251 and a guiding portion 2252, the connecting portion 2251 is connected to the guide seat 224, the guiding portion 2252 is connected to the connecting portion 2251, and the guiding portion 2252 has a guiding slope 2250, and the guiding slope 2250 is arranged to be inclined downward from a side close to the connecting portion 2251 to a side close to the charging port.

[0083] In application, a groove is usually provided around the charging port for the pin 225 to be inserted for positioning, and the guide slope 2250 of the guide portion 2252 is provided to further facilitate the plugging of the pin 225 into the groove, and during the plugging process, it can provide precise guidance so that the charging gun head 40 can be accurately plugged into the charging port.

[0084] In some embodiments, Fig. 9 As shown, the positioning member 221 includes a mounting box 2211, a camera 2212 and a fill light 2213. The mounting box 2211 is mounted on the plug-in module 21, the camera 2212 is mounted in the mounting box 2211, and the fill light 2213 is disposed in the mounting box 2211 and is located below the camera 2212, for assisting the camera 2212 in visual positioning to improve stability.

[0085] In application, the fill light 2213 is used to fill in the ambient light, thereby reducing the dependence of the camera 2212 on the ambient light and enhancing the stability, so that the visual positioning function of the camera 2212 can be guaranteed under different brightness conditions.

[0086] In some embodiments, Figure 8 and Fig. 9As shown, the guide module 22 also includes a second distance measuring member 226, which is arranged axially with the fourth linear drive member 222 and is located on a side away from the driving end of the fourth linear drive member 222. The second distance measuring member 226 is used to measure the relative position of the positioning member 221 and / or the axial movement distance of the pin 225 in real time.

[0087] In application, the second distance measuring member 226 includes a laser distance measuring sensor, which is an instrument that uses laser to measure the target distance, so as to measure the position of the latch 225 in real time, thereby obtaining the distance the latch 225 moves.

[0088] In some embodiments, Figures 10 to 12 As shown, the charging actuator also includes an installation gun assembly 30, which includes an installation module 31 and an unlocking module 32. The installation module 31 is fixedly connected to the charging gun head 40, and the unlocking module 32 is connected to the installation module 31. The unlocking module 32 is used to unlock the charging gun head 40.

[0089] In application, the charging gun head 40 usually has a self-locking function, that is, after being plugged into the charging port for charging, the button 400 on the charging gun head 40 needs to be pressed to unlock it before it can be unplugged. Therefore, by adding an unlocking module 32 to unlock the charging gun head 40, the entire charging action can be fully automated.

[0090] In some embodiments, Figures 10 to 12 As shown, the mounting module 31 includes a gun seat 311, a gun frame 312 and a first unlocking member 313;

[0091] The gun seat 311 is connected to the plug-in module 21 , the gun frame 312 is used to connect the charging gun head 40 , the gun frame 312 is connected to the gun seat 311 , the first unlocking piece 313 is provided on the gun frame 312 , and the first unlocking piece 313 is used to unlock the connection between the gun frame 312 and the charging gun head 40 .

[0092] In application, the gun seat 311 is connected to the driving end of the third linear drive member 213. The first unlocking member 313 includes a pin sleeve, a pin shaft, a pin cover, a pull ring and an induction shaft, wherein the connection relationship of each component is not the focus of this application and is not described here. The first unlocking member 313 can realize the unlocking and fixing of the connection between the charging gun head 40 and the gun frame 312.

[0093] In some embodiments, Figures 10 to 12 As shown, the gun seat 311 is provided with touch switches 314 on both sides around the charging gun head 40 , and the touch switches 314 are used to contact the plane around the charging port to confirm the insertion status of the charging gun head 40 .

[0094] In some embodiments, the touch switch is symmetrically arranged relative to the center of the axis of the charging gun head or symmetrically arranged in a vertical plane passing through the axis of the charging gun head, so as to more accurately confirm the insertion status of the charging gun head 40.

[0095] In some embodiments, Figures 10 to 12 As shown, the unlocking module 32 includes a fixing member 321, a fifth linear driving member 322, an unlocking connecting rod 323 and a rotating shaft 324;

[0096] The fixing member 321 is installed on the plug-in module 21;

[0097] The fifth linear driving member 322 is disposed on the fixing member 321 along the third direction;

[0098] One end of the unlocking link 323 is hingedly connected to the driving end of the fifth linear driving member 322, and the other end of the unlocking link 323 extends toward the charging gun head 40 and is located above the button 400 of the charging gun head 40;

[0099] The rotating shaft 324 is radially arranged on the gun seat 311, and the rotating shaft 324 is hingedly connected to the middle part of the unlocking connecting rod 323;

[0100] The fifth linear driving member 322 is used to drive one end of the unlocking link 323 to tilt up, so that the other end of the unlocking link 323 is pressed down, thereby pressing the button 400 on the charging gun head 40 to complete the unlocking.

[0101] In application, the fixing member 321 is a frame, and the fixing member 321 is installed on the driving end of the third linear driving member 213 .

[0102] In application, a pressure wheel 325 is provided at one end of the unlocking link 323, and the pressure wheel 325 is located above the button 400 of the charging gun head 40. The pressure wheel 325 is made of a flexible material, so that the button 400 of the charging gun head 40 can be protected to avoid damage during the pressing process.

[0103] In application, the fifth linear drive member 322 can be any one of a combination of a motor and a screw, a cylinder, and a fluid flexible drive structure 1311. In a preferred embodiment, the fifth linear drive member 322 is a fluid flexible drive structure 1311, wherein the fluid flexible drive structure 1311 is a folded airbag.

[0104] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0105] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A charging actuator, used to perform automatic charging operation on a charging port with an insulating plug in cooperation with a charging gun head, characterized in that: The charging actuator includes a plug-in assembly and a plug-in gun assembly; The plug-in and plug-out assembly comprises an axial moving module, a radial moving module and a clamping module, wherein the axial moving module is connected to the radial moving module, and the radial moving module is connected to the clamping module, wherein the axial moving module is used to drive the clamping module to move axially, and the clamping module is used to clamp the insulating plug, and pull out and / or put in the insulating plug under the drive of the axial moving module, and remove and / or move back the insulating plug under the drive of the radial moving module; The plug-in gun assembly includes a plug-in module and a guide module, the plug-in module is connected to the guide module, the guide module is used to guide the charging gun head to be accurately inserted into the charging port, and the plug-in module is used to drive the charging gun head to be inserted into the charging port and / or unplugged from the charging port.

2. The charging actuator according to claim 1, characterized in that: The axial movement module comprises: A mounting seat, arranged along the axial direction and fixedly connected to the plug-in module; A connecting seat, slidably connected to the mounting seat; and A first stopper, comprising a first fixed end and a first extending end, wherein the first fixed end is connected to the connecting seat, and the first extending end extends toward the plug-in module and is used to abut against the plug-in module; Wherein, under the drive of the plug-in module, the connecting seat abuts against the first extension end and drives the connecting seat to move axially; The axial movement module also includes a second limiting member and a reset member; One end of the reset member is connected to the mounting seat, and the other end of the reset member is connected to the connecting seat, and the reset member is used to pull the connecting seat back to the initial position; The second limiting member includes a second fixed end and a second extending end, the second fixed end is arranged at one end of the connecting seat close to the reset member, the second extending end extends toward the plug-in module, and the second limiting member is used to limit the retracted position of the charging gun head.

3. The charging actuator according to claim 1, characterized in that: The radial movement module comprises: A base is arranged radially and connected to the axial moving module on one side, and the clamping module is slidably arranged on the other side of the base; The first linear drive member is arranged along the radial direction, one end of the first linear drive member is fixed to the base, the other end of the first linear drive member is connected to the clamping module, and the first linear drive member is used to drive the clamping module to move along the radial direction.

4. The charging actuator according to claim 1, characterized in that: The clamping module includes a second linear drive member, a rotating member, a first clamp and a second clamp, one end of the second linear drive member is connected to the radial movement module, the other end of the second linear drive member is connected to the rotating member, the rotating member connects the first clamp and / or the second clamp, and the rotating member rotates under the drive of the second linear drive member and drives the first clamp and the second clamp to move closer and farther.

5. The charging actuator according to claim 4, characterized in that: The second linear driving member includes a flexible driving structure, a first connecting member, a second connecting member and a third connecting member; The flexible driving structure is connected to the radial moving module and can move in a radial straight line; the two ends of the first connecting member are rotatably connected to the flexible driving structure and the rotating member respectively; Two ends of the second connecting member are rotatably connected to the rotating member and the first clamping jaw respectively, and two ends of the third connecting member are rotatably connected to the rotating member and the second clamping jaw respectively, and the first clamping jaw and the second clamping jaw are arranged opposite to each other in the radial direction; The clamping module further includes a third limiter disposed between the first clamping jaw and the second clamping jaw, wherein the third limiter is used to limit the distance between the first clamping jaw and the second clamping jaw so as to control the clamping force within a preset range.

6. The charging actuator according to claim 1, characterized in that: The plug-in module comprises: Fixed seat; A fixing frame, arranged parallel to and spaced apart from the fixing seat; a third linear drive member, mounted on the fixing seat, the third linear drive member having a driving end, the driving end being connected to the charging gun head and driving the charging gun head to move axially to complete an automatic charging action; and A first guide shaft, one end of which is fixed to the fixing seat, and the other end of which is fixed to the fixing frame, and the driving end is slidably connected to the first guide shaft; The plug-in module further includes a first distance measuring component, which is disposed on the fixing seat and is used for measuring the relative position and / or movement distance of the charging gun head in the axial direction in real time.

7. The charging actuator according to claim 6, characterized in that: The guide module includes a positioning member, a fourth linear drive member, a second guide shaft, a guide seat and a latch; The positioning member is disposed above the charging gun head, and the positioning member is used to obtain the position of the charging port and / or the charging gun head in real time; The fourth linear drive member and the second guide shaft are both arranged in the axial direction, one end of the second guide shaft is connected to the driving end of the fourth linear drive member, the other end of the second guide shaft is connected to the guide seat, and the second guide shaft passes through the fixing frame, the latch is installed at one end of the guide seat away from the second guide shaft, and the latch is used to be plugged and matched with the groove around the charging port, so that the charging gun head can be accurately inserted into the charging port; The latch includes a connecting portion and a guiding portion, wherein the connecting portion is connected to the guiding seat, and the guiding portion is connected to the connecting portion, and the guiding portion has a guiding inclined surface, and the guiding inclined surface is arranged to be inclined downward from a side close to the connecting portion to a side close to the charging port; The fourth linear drive member includes a fluid-driven flexible structure.

8. The charging actuator according to claim 7, characterized in that: The positioning member includes a mounting box, a camera and a fill light, wherein the mounting box is mounted on the plug-in module, the camera is mounted in the mounting box, and the fill light is arranged on the mounting box and below the camera, and is used to assist the camera in visual positioning to improve stability; The guide module also includes a second distance measuring member, which is arranged axially with the fourth linear drive member and is located on a side away from the driving end of the fourth linear drive member. The second distance measuring member is used to measure the relative position of the positioning member and / or the axial movement distance of the pin in real time.

9. The charging actuator according to any one of claims 1 to 8, characterized in that: The charging actuator also includes a mounting gun assembly, which includes a mounting module and an unlocking module, wherein the mounting module is fixedly connected to the charging gun head, the unlocking module is connected to the mounting module, and the unlocking module is used to unlock the charging gun head; The installation module includes: A gun seat connected to the plug-in module; A gun frame, used to connect the charging gun head, the gun frame is connected to the gun seat; and A first unlocking member, provided on the gun frame, and used to unlock the connection between the gun frame and the charging gun head; The gun seat is provided with touch switches on both sides surrounding the charging gun head, and the touch switches are used to contact the plane around the charging port to confirm the insertion status of the charging gun head.

10. The charging actuator according to claim 9, characterized in that: The unlocking module comprises: A fixing member, mounted on the plug-in module; a fifth linear driving member, arranged on the fixing member along a third direction; an unlocking link, one end of which is hingedly connected to the driving end of the fifth linear drive member, and the other end of which extends toward the charging gun head and is located above the button of the charging gun head; and A rotating shaft, which is radially arranged on the gun seat and is hingedly connected to the middle portion of the unlocking connecting rod; The fifth linear drive member is used to drive one end of the unlocking link to tilt up, so that the other end of the unlocking link is pressed down, thereby pressing the button on the charging gun head to complete the unlocking; The touch switch is symmetrically arranged relative to the center of the axis of the charging gun head or symmetrically arranged on a vertical plane passing through the axis of the charging gun head.

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