Charging gun grabbing device and charging gun

Abstract

The charging gun comprises a gun body and a connecting part connected to the gun body, a locking hole is formed in the connecting part, the charging gun grabbing device comprises a mechanical arm and a grabbing assembly, the grabbing assembly comprises a connecting sleeve, a driving assembly and a locking mechanism, the connecting sleeve is connected to the mechanical arm, the driving assembly is connected to the mechanical arm, and the locking mechanism is connected to the mechanical arm. The driving assembly is telescopically inserted into the connecting sleeve, the locking mechanism is arranged at the end of the connecting sleeve, the locking mechanism is provided with a first position inserted into the locking hole and locked in the locking hole and a second position separated from the locking hole, and the driving assembly is used for driving the locking mechanism so that the locking mechanism can be switched between the first position and the second position. According to the charging gun grabbing device and the charging gun, the problems that in the prior art, a charging gun has potential safety hazards during plugging and unplugging and is not easy to plug and unplug can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of charging guns, and in particular to a charging gun grabbing device and a charging gun. Background Art

[0002] At present, the charging gun is mainly plugged in and unplugged manually. Manual plugging and unplugging is subject to environmental restrictions and the risk of leakage, which poses a great safety hazard. In addition, if the plug of the charging gun is heavy or the connection with the socket is tight, the force of manual plugging and unplugging is limited, making it difficult to unplug the charging gun. Utility Model Content

[0003] The main purpose of the present invention is to provide a charging gun gripping device and a charging gun, so as to at least solve the safety problem and the problem of difficulty in pulling out the charging gun when manually plugging and unplugging the charging gun.

[0004] According to one aspect of the present invention, a charging gun gripping device is provided. The charging gun includes a gun body and a connecting portion connected to the gun body, wherein the connecting portion is provided with a locking hole. The charging gun gripping device includes:

[0005] robotic arm;

[0006] A gripping assembly, the gripping assembly includes a connecting sleeve, a driving assembly and a locking mechanism, the connecting sleeve is connected to the robotic arm, the driving assembly can be telescopically inserted in the connecting sleeve, the locking mechanism is arranged at the end of the connecting sleeve, the locking mechanism has a first position inserted into the locking hole and locked in the locking hole and a second position disengaged from the locking hole, the driving assembly is used to drive the locking mechanism to switch the locking mechanism between the first position and the second position.

[0007] Furthermore, the locking mechanism includes a positioning pin and a locker arranged on the positioning pin, the positioning pin is inserted into the locking hole when the locking mechanism is in the first position, and the locker locks the locking mechanism in the locking hole when the locking mechanism is in the first position.

[0008] Furthermore, the locking device includes:

[0009] A housing, wherein the housing is provided with a first through hole and at least one second through hole, wherein the first through hole extends along a first direction, and the second through hole extends along a second direction perpendicular to the first direction and is connected to the first through hole;

[0010] a telescopic member, the telescopic member being disposed in the first through hole and being telescopic along the first direction;

[0011] a locking member, the locking member including at least one, the locking member being provided in one-to-one correspondence with the second through hole and being reciprocatable along the second direction;

[0012] The telescopic member is acted upon by an external force to drive the locking member to protrude from the outer surface of the housing or retract into the second through hole so that the locking mechanism is in the first position.

[0013] Furthermore, a groove is provided on the outer surface of the telescopic member, and when the locking mechanism is in the first position, the protruding portion of the locking member is located in the groove.

[0014] Furthermore, the driving assembly drives the telescopic member to move along the first direction so that the locking mechanism switches from the first position to the second position, and the driving assembly drives the telescopic member to move in a direction opposite to the first direction so that the locking mechanism switches from the second position to the first position.

[0015] Furthermore, the driving assembly includes a driving member and an elastic member, the driving member is used to make the telescopic member move in a direction opposite to the first direction, and the elastic member is used to make the telescopic member move in the first direction.

[0016] Furthermore, the charging gun grasping device also includes a visual recognition camera and a first detection element cooperating with the visual recognition camera. The visual recognition camera is arranged on the robotic arm, and the first detection element is arranged on the connecting part. The visual recognition camera is used to identify the position of the first detection element so that the robotic arm controls the grasping component to approach the connecting part.

[0017] Furthermore, the grasping assembly also includes a controller and a second detection element, the controller is electrically connected to the second detection element, the second detection element is used to detect whether the locking mechanism is inserted into the locking hole, and the controller controls the driving assembly according to the detection signal of the second detection element.

[0018] Furthermore, the driving assembly adopts hydraulic drive or electromagnetic drive.

[0019] On the other hand, the present invention further provides a charging gun, which includes the above-mentioned charging gun grabbing device.

[0020] In the present invention, a gripping assembly is driven by a robotic arm to cooperate with the charging gun to control the insertion and removal of the charging gun, and a locking mechanism is provided on the gripping assembly. The locking mechanism has a first position for being inserted into a locking hole of the mounting portion of the charging gun and a second position for being detached from the locking hole of the mounting portion of the charging gun. The locking mechanism is driven to switch between the first position and the second position by a driving assembly on the gripping assembly. The robotic arm can drive the gripping assembly to approach the charging gun through the cooperation of a visual recognition camera and a first detection element, and then detect the insertion of the locking mechanism into the locking hole of the connecting portion of the charging gun through the second detection element. An external force is applied to the driving assembly so that the driving assembly acts on the locking mechanism to switch the locking mechanism between the first position and the second position. The first position is when the locking mechanism is in a locked state, and the second position is when the locking mechanism is in an unlocked state. The gripping and removal of the charging gun are controlled by the robotic arm. When the weight of the charging gun is large or the connection between the charging gun and the socket is relatively tight, the charging gun can be more easily pulled out or inserted, thereby improving the safety and convenience of the charging gun insertion and removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 This is a three-dimensional structural diagram of a charging gun gripping device disclosed in an embodiment of the present utility model;

[0023] Figure 2 This is a plan view of a charging gun gripping device disclosed in an embodiment of the present utility model;

[0024] Figure 3 A three-dimensional structural diagram of a grabbing assembly disclosed in an embodiment of the present utility model;

[0025] Figure 4 A cross-sectional view of a locking device disclosed in an embodiment of the present utility model;

[0026] Figure 5 This is a three-dimensional structural diagram of the charging station disclosed in an embodiment of the present utility model.

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

[0028] 10. Charging gun; 11. Gun body; 12. Connecting part; 13. First detection element; 20. Robotic arm; 21. Visual recognition camera; 22. Mounting part; 30. Grabbing assembly; 31. Connecting sleeve; 32. Driving assembly; 33. Locking mechanism; 331. Positioning pin; 332. Locking device; 3321. Housing; 3321a. First through hole; 3321b. Second through hole; 3322. Telescopic part; 3322a. Groove; 3323. Locking part; 34. Second detection element. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0032] As described in the background technology, the plugging and unplugging of charging guns in the prior art are mainly done manually. The manual plugging and unplugging method has the safety hazard of leakage, and the charging gun is heavy or the connection is tight, which makes the charging gun difficult to pull out. Therefore, the present application provides an inverter box, which uses a mechanical arm to drive a grab assembly to cooperate with the charging gun to control the plugging and unplugging of the charging gun. The locking mechanism on the grab assembly has a first position for inserting into the locking hole of the mounting portion of the charging gun and a second position for disengaging from the locking hole of the mounting portion of the charging gun. The locking mechanism is driven by the driving assembly on the grab assembly to switch between the first position and the second position. The first position is a locked state and the second position is an unlocked state. The charging gun can be plugged and unplugged by the mechanical arm, and the charging gun can be more easily pulled out or inserted when the weight of the charging gun is large or the connection between the charging gun and the socket is tight, thereby improving the safety and convenience of plugging and unplugging the charging gun. The inverter of the utility model will be introduced and explained in detail below with reference to the accompanying drawings.

[0033] See also Figures 1 to 5 As shown, according to an embodiment of the present application, a charging gun grasping device is provided, the charging gun 10 includes a gun body 11 and a connecting part 12 connected to the gun body, the connecting part 12 is provided with a locking hole (not shown in the figure), the charging gun grasping device includes a mechanical arm 20 and a grasping assembly 30, wherein the grasping assembly 30 is connected to the mechanical arm 20, the grasping assembly 30 includes a connecting sleeve 31, a driving assembly 32 and a locking mechanism 33, the connecting sleeve 31 is connected to the mechanical arm 20, the driving assembly 32 is telescopically inserted in the connecting sleeve 31, the locking mechanism 33 is provided at the end of the connecting sleeve 31, the locking mechanism 33 has a first position inserted in the locking hole and locked in the locking hole and a second position disengaged from the locking hole, the driving assembly 32 is used to drive the locking mechanism 33 to switch the locking mechanism 33 between the first position and the second position. This embodiment utilizes a retractable drive assembly 32 to drive the locking mechanism 33. This drive assembly 32 can be inserted into the locking hole of the connection portion 12 of the charging gun 10, placing the locking mechanism 33 in a first position. This locks the locking mechanism 33 between the gripping assembly 30 and the locking hole of the charging gun 10, enabling quick and accurate docking and locking between the gripping assembly 30 and the charging gun 10, improving the efficiency of plugging and unplugging the charging gun 10. The drive assembly 32 can also be used to retract the locking mechanism 33 from the locking hole of the connection portion 12 of the charging gun 10, placing the locking mechanism 33 in a second position. This unlocks the locking mechanism 33 between the gripping assembly 30 and the locking hole of the charging gun 10, enabling quick separation between the gripping assembly 30 and the charging gun 10 and improving the efficiency and convenience of plugging and unplugging the charging gun. The cooperation between the locking mechanism 33 and the locking hole ensures that the charging gun 10 will not accidentally fall off during insertion or removal, thereby enhancing operational safety.

[0034] Furthermore, the locking mechanism 33 includes a positioning pin 331 and a locker 332 disposed on the positioning pin 331. The positioning pin 331 is inserted into the locking hole when the locking mechanism 33 is in the first position, and the locker 332 locks the locking mechanism 33 in the locking hole when the locking mechanism 33 is in the first position. Specifically, the positioning pin 331 comprises two inwardly bent elastic protrusions, with the locker 332 disposed between the two elastic protrusions. The positioning pin 331 is configured as two inwardly bent elastic protrusions, which enhances the strength of the positioning pin 331 and prevents insertion into the locking hole due to manufacturing or workmanship errors. When the positioning pin 331 is inserted into the locking hole, the two elastic protrusions are inserted into the locking hole along the inner wall of the locking hole until the locker 332 reaches the locking position. After the positioning pin 331 is inserted into the locking hole, the locker 332 further strengthens the connection between the locking mechanism 33 and the charging gun 10, ensuring that the charging gun 10 can be firmly maintained on the gripping device even in a dynamic or vibrating environment, thereby enhancing the stability and safety of the locking and reducing the risk of docking failure or damage to the charging gun due to position deviation.

[0035] Specifically, the locker 332 includes a housing 3321, a telescopic member 3322 and a locking member 3323, wherein the housing 3321 is provided with a first through hole 3321a and at least one second through hole 3321b, the first through hole 3321a is along the first direction (such as Figure 4 The second through hole 3321b is extended in a second direction perpendicular to the first direction (as indicated by the arrow X shown in FIG. Figure 4 The housing 3321 is provided with a telescopic member 3322 (in the direction indicated by the arrow Y shown) and is in communication with the first through hole 3321a. The telescopic member 3322 is disposed in the first through hole 3321a and is telescopic in the first direction. The locking member 3323 includes at least one locking member 3323, which is disposed in a one-to-one correspondence with the second through hole 3321b and is capable of reciprocating in the second direction. The telescopic member 3322, under the action of an external force, drives the locking member 3323 to protrude from the outer surface of the housing 3321 or retract into the second through hole 3321b, thereby placing the locking mechanism 33 in the first position.

[0036] In this embodiment, the telescopic movement of the telescopic member 3322 along the first direction is directly linked to the protrusion and retraction of the locking member 3323. This linkage mechanism enables locking and unlocking by simply controlling the telescopic member 3322, eliminating the need for complex operating steps or the coordination of multiple components, thereby improving the convenience of plugging and unplugging the charging gun. The locking member 3323 can reciprocate in a direction perpendicular to the movement direction of the telescopic member 3322 (i.e., the second direction). Under the action of an external force, it protrudes from the outer surface of the housing 3321 or retracts into the second through hole 3321b, achieving the dual functions of locking and unlocking. This allows the lock 332 to provide stronger fixing force in the locked state, preventing accidental unlocking or loosening.

[0037] The drive assembly 32 drives the telescopic member 3322 to move in a first direction to switch the locking mechanism 33 from the first position to the second position. The drive assembly 32 drives the telescopic member 3322 to move in a direction opposite to the first direction to switch the locking mechanism 33 from the second position to the first position. The outer surface of the telescopic member 3322 is provided with a groove 3322a. When the locking mechanism 33 is in the first position, the protruding portion of the locking member 3323 is located within the groove 3322a. Furthermore, the drive assembly 32 includes a drive member and an elastic member. The drive member is used to move the telescopic member 3322 in a direction opposite to the first direction, and the elastic member is used to move the telescopic member 3322 in the first direction. In this embodiment, the driving member includes a driving cylinder, and the elastic member includes a spring. When the driving cylinder is acted upon by a driving force, the telescopic member 3322 is pushed in a first direction to compress the spring. When the telescopic member 3322 just reaches the point where the locking member 3323 can enter the groove 3322a, a force is applied to the contact point between the surface of the locking member 3323 and the groove 3323a, causing the locking member 3323 to move in the direction of the groove 3323a. When the locking member 3323 no longer protrudes from the outer surface of the housing 3321, the locking mechanism 33 can be removed from the locking hole of the charging gun 10 by the action of the robotic arm 20. Then, when the driving member is no longer acted upon by the driving force, the elastic force generated by the elastic deformation of the spring pushes the telescopic member 3322 in a direction opposite to the first direction. The locking member 3323 is squeezed in a second direction by the force applied at the contact point with the groove 3323a until the locking member 3323 no longer protrudes from the groove 3322a, at which point the locking mechanism 33 and the locking hole re-enter the locked state.

[0038] In this embodiment, by controlling the interaction between the drive member and the elastic member, it is possible to ensure that the locking member 3323 accurately enters or exits the groove 3322a when the telescopic member 3322 is in a specific position, thereby achieving precise switching of the locking mechanism 33 between the first and second positions, ensuring the stability and safety of the charging gun 10 during the grasping and releasing processes. The provision of a spring provides a stable return force for the telescopic member 3322, ensuring that the locking mechanism 33 automatically returns to the locked state when no external driving force is applied. This improves the reliability and stability of the charging gun grasping device and reduces the risk of the charging gun falling due to operational errors or system failures.

[0039] It is understood that the lock 332 includes multiple locking members 3323. Without considering cost and manufacturing difficulty, the greater the number of locking members 3323, the less force a single locking member 3323 is subjected to, and the more secure the connection between the locking mechanism 33 and the connecting portion 12 of the charging gun 10 is, effectively preventing the charging gun from falling off due to a loose connection. Specifically, the locking hole of the connecting portion 12 is provided with a mating hole that mates with the locking member 3323 when in the locked state. In this embodiment, the number of locking members 3323, the second through hole 3321b, the groove 3322a, and the mating hole in the locking hole are all the same.

[0040] Furthermore, the charging gun grasping device also includes a visual recognition camera 21 and a first detection element 13 cooperating with the visual recognition camera 21, as well as a controller (not shown in the figure) and a second detection element 34. The visual recognition camera 21 is provided on the robot arm 20, and the first detection element 13 is provided on the connecting portion 12. The visual recognition camera 21 is used to identify the position of the first detection element 13 so that the robot arm 20 controls the grasping assembly 30 to approach the connecting portion 12. The controller is electrically connected to the second detection element 34. The second detection element 34 is used to detect whether the locking mechanism 33 is inserted into the locking hole. The controller controls the driving assembly 32 according to the detection signal of the second detection element 34. The first detection element 13 of this embodiment is provided as a visual recognition module having a specific shape, such as Figure 1 and Figure 2 As shown, the first detection element 13 is set to a double-arched block structure, and the visual recognition camera 21 is a 3D recognition camera. The internal program of the visual recognition camera 21 has been pre-set with a program for detecting the 3D model of the double-arched block structure of the first detection element 13. When the robotic arm 20 drives the visual recognition camera 21 to move toward the charging gun 10, it performs preliminary positioning by identifying the shape of the first detection element 13. After detecting the shape of the first detection element 13, the robotic arm 20 drives the visual recognition camera 21 and the grasping component 30 to move toward the first detection element 13 and approach the connecting part 12. When the second detection element 34 detects that the locking mechanism 33 is fully inserted into the locking hole, the second detection element 34 feeds back a detection signal to the controller. The controller controls the drive component 32 to move according to the detection signal fed back by the first detection element, so that the drive component 32 pushes the telescopic part 3322 to move in the first direction to unlock the locking mechanism 33.

[0041] In this embodiment, the visual recognition camera 21 and the first detection element 13 work together to enable the robotic arm 20 to accurately identify the position of the connection portion 12 of the charging gun 10 and perform preliminary positioning. This visual recognition-based positioning method is more accurate and faster than traditional mechanical positioning. The dual detection of visual recognition and the second detection element 34 ensures that the locking mechanism 33 is fully inserted into the locking hole before unlocking. This avoids the risk of the charging gun falling out due to misoperation or incomplete locking, and improves safety during use.

[0042] refer to Figure 1 、 Figure 2 and Figure 5 As shown, in the charging station, the grabbing assembly 30 is fixedly mounted on the mounting portion 22 of the robotic arm 20. The mounting portion 22 is provided with a plurality of mounting holes for mounting the grabbing assembly 30. This embodiment adopts bolt connection. The bolt connection has high strength and rigidity, which can ensure that the grabbing assembly 30 is firmly mounted on the robotic arm 20. By providing a plurality of mounting holes on the mounting portion 22, more connection points are provided, thereby increasing the redundancy and stability of the connection.

[0043] On the other hand, this application also discloses a charging gun, which includes the above-mentioned charging gun gripping device. Therefore, the charging gun includes all the technical effects of the above-mentioned charging gun gripping device. Since the technical effects of the charging gun gripping device have been described in detail above, they will not be repeated here.

[0044] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0045] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this utility model.

[0046] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A charging gun gripping device, wherein the charging gun (10) comprises a gun body (11) and a connecting portion (12) connected to the gun body, wherein the connecting portion (12) is provided with a locking hole, characterized in that: The charging gun grasping device comprises: Robotic arm (20); A gripping assembly (30), comprising a connecting sleeve (31), a driving assembly (32) and a locking mechanism (33), wherein the connecting sleeve is connected to the mechanical arm (20), the driving assembly (32) is telescopically inserted into the connecting sleeve (31), the locking mechanism (33) is arranged at the end of the connecting sleeve (31), the locking mechanism (33) has a first position in which the locking mechanism is inserted into the locking hole and locked in the locking hole, and a second position in which the locking mechanism is disengaged from the locking hole, and the driving assembly (32) is used to drive the locking mechanism (33) so that the locking mechanism (33) switches between the first position and the second position.

2. The charging gun gripping device according to claim 1, characterized in that: The locking mechanism (33) comprises a positioning pin (331) and a locker (332) arranged on the positioning pin (331); the positioning pin (331) is inserted into the locking hole when the locking mechanism (33) is in the first position; and the locker (332) locks the locking mechanism (33) in the locking hole when the locking mechanism (33) is in the first position.

3. The charging gun gripping device according to claim 2, characterized in that: The locking device (332) comprises: A housing (3321), the housing (3321) being provided with a first through hole (3321a) and at least one second through hole (3321b), the first through hole (3321a) extending along a first direction, the second through hole (3321b) extending along a second direction perpendicular to the first direction and communicating with the first through hole (3321a); a telescopic member (3322), the telescopic member (3322) being disposed in the first through hole (3321a) and telescoping along the first direction; a locking member (3323), the locking member (3323) comprising at least one, the locking member (3323) being arranged in a one-to-one correspondence with the second through hole (3321b) and being capable of reciprocating along the second direction; The telescopic member (3322) is acted upon by an external force to drive the locking member (3323) to protrude from the outer surface of the shell (3321) or retract into the second through hole (3321b) so that the locking mechanism (33) is in the first position.

4. The charging gun gripping device according to claim 3, characterized in that: The outer surface of the telescopic member (3322) is provided with a groove (3322a), and when the locking mechanism (33) is in the first position, the protruding portion of the locking member (3322) is located in the groove (3322a).

5. The charging gun gripping device according to claim 3, characterized in that: The driving assembly (32) drives the telescopic member (3322) to move along the first direction so that the locking mechanism (33) switches from the first position to the second position, and the driving assembly (32) drives the telescopic member (3322) to move in a direction opposite to the first direction so that the locking mechanism (33) switches from the second position to the first position.

6. The charging gun gripping device according to claim 3, characterized in that: The driving assembly (32) includes a driving member and an elastic member, wherein the driving member is used to move the telescopic member (3322) in a direction opposite to the first direction, and the elastic member is used to move the telescopic member (3322) in the first direction.

7. The charging gun gripping device according to claim 6, characterized in that: The driving member includes a driving cylinder, and the elastic member includes a spring.

8. The charging gun gripping device according to claim 1, characterized in that: The charging gun grasping device also includes a visual recognition camera (21) and a first detection element (13) cooperating with the visual recognition camera (21), wherein the visual recognition camera (21) is arranged on the robotic arm (20), and the first detection element (13) is arranged on the connecting portion (12), and the visual recognition camera (21) is used to identify the position of the first detection element (13) so that the robotic arm (20) controls the grasping component (30) to approach the connecting portion (12).

9. The charging gun gripping device according to any one of claims 1 to 8, characterized in that: The grabbing assembly (30) further includes a controller and a second detection element (34), wherein the controller is electrically connected to the second detection element (34), and the second detection element (34) is used to detect whether the locking mechanism (33) is inserted into the locking hole, and the controller controls the driving assembly (32) according to a detection signal of the second detection element (34).

10. A charging gun, characterized in that: The charging gun includes the charging gun gripping device according to any one of claims 1 to 9.

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