Automatic charging device

Abstract

An automatic charging device relates to the technical field of new energy. The automatic charging device comprises a robot and a tail end executing mechanism which are in signal connection, and the robot can clamp a charging gun; the tail end executing mechanism comprises an unlocking part, and the unlocking part is used for unlocking the charging gun, so that the charging gun can be inserted into the to-be-charged equipment; and the robot moves the charging gun to the charging port of the to-be-charged equipment, and the unlocking part drives the charging gun to be unlocked, so that the charging gun can be inserted into the to-be-charged equipment for charging. The automatic charging device can realize an automatic charging process, the operation process is time-saving and labor-saving, and the experience feeling of customers and the reliability and flexibility of charging operation are improved.

Description

Technical Field

[0001] This utility model relates to the field of new energy technology, and more specifically, to an automatic charging device. Background Technology

[0002] With the rapid development of the new energy industry, charging technology for new energy vehicles is gradually maturing. Currently, the charging process for new energy vehicles is mainly done manually, requiring manual operation of a series of actions such as opening the charging port cover, holding the charging gun, dragging the heavy charging cable, plugging in the gun, and unplugging the gun. The entire operation is time-consuming and laborious, resulting in a poor customer experience. Utility Model Content

[0003] The purpose of this utility model is to provide an automatic charging device that can realize an automated charging process, saving time and effort in operation, and improving the customer experience and the reliability and flexibility of charging operation.

[0004] The embodiments of this utility model are implemented as follows:

[0005] In one aspect, this utility model provides an automatic charging device, including a robot and an end effector connected by a signal. The robot can hold a charging gun. The end effector includes an unlocking part for unlocking the charging gun so that the charging gun can be inserted into the device to be charged. The robot moves the charging gun to the charging port of the device to be charged, and the unlocking part drives the charging gun to unlock so that the charging gun can be inserted into the device to be charged for charging.

[0006] Optionally, the end effector also includes an image sensor, which includes a 3D camera for acquiring image information and for identifying and locating the charging port of the device to be charged.

[0007] Optionally, the unlocking unit includes a drive assembly and an operating component, the operating component being used to unlock the charging gun; the drive assembly includes an electric push rod mounting plate, a drive component, and a push rod, the outer wall of the drive component being fixedly connected to the electric push rod mounting plate; one end of the push rod is connected to the output end of the drive component, and the other end is connected to the operating component.

[0008] Optionally, the push rod includes a body and a push rod adapter plate. The push rod adapter plate is fixedly connected to the output end of the drive component. One end of the body is fixedly connected to the end of the push rod adapter plate opposite to the drive component, and the other end is connected to the operating component.

[0009] Optionally, the main body has a first connecting rod, a second connecting rod, and a third connecting rod connected in sequence; the first connecting rod is fixedly connected to the push rod adapter plate, and the extension direction of the first connecting rod is parallel to the plate surface of the push rod adapter plate; the second connecting rod is connected at an angle to the end of the first connecting rod away from the push rod adapter plate; the third connecting rod is connected to the end of the second connecting rod away from the first connecting rod, and is parallel to the top surface of the charging gun's cover opening button.

[0010] Optionally, the operating element is a roller, which is rotatably connected to the end of the push rod, and the push rod rolls the top surface of the charging gun's cover opening button through the roller.

[0011] Optionally, the drive assembly also includes a buffer spring, the compression direction of which is the same as the movement direction of the push rod.

[0012] Optionally, the robot includes a robotic arm, and the end of the robotic arm is further provided with a flange connecting plate, a clamping block and a clamping block. The clamping block is fixedly connected to the charging gun. One side of the clamping block is fixedly connected to the clamping block and the other side is fixedly connected to the flange connecting plate. The side of the flange connecting plate opposite to the clamping block is connected to the end of the robotic arm.

[0013] Optionally, the automatic charging device also includes a cable clamp, which is cylindrical and has an inner wall that corresponds to the shape of the outer wall of the robotic arm, so as to cover the outer wall of the robotic arm.

[0014] Optionally, the automatic charging device also includes a cabinet, which includes a housing cavity communicating with the outside, and the robot is disposed in the housing cavity; the inner wall of the housing cavity is also provided with a cable manager, which has an arc-shaped slot for securing the cable of the charging gun.

[0015] The beneficial effects of this utility model include:

[0016] This application provides an automatic charging device, including a robot and an end effector connected by a signal connection. The robot can hold a charging gun; the end effector includes an unlocking part for unlocking the charging gun, allowing the charging gun to be inserted into a device to be charged; the robot moves the charging gun to the charging port of the device to be charged, and the unlocking part drives the charging gun to unlock, allowing the charging gun to be inserted into the device for charging. The above-mentioned automatic charging device can realize an automated charging process, saving time and effort, improving customer experience, and enhancing the reliability and flexibility of charging operations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the automatic charging device provided in an embodiment of the present utility model;

[0019] Figure 2A schematic diagram showing the connection between the flexible collaborative robot and the end effector provided in this embodiment of the utility model;

[0020] Figure 3 One of the structural schematic diagrams of the end effector provided in the embodiments of this utility model;

[0021] Figure 4 A second schematic diagram of the end effector provided in this embodiment of the present invention;

[0022] Figure 5 The third schematic diagram of the end effector provided in this embodiment of the utility model;

[0023] Figure 6 This is a magnified view of the details at point A.

[0024] Icons: 100 - Automatic charging device; 110 - Robot; 111 - Robotic arm; 111a - Flange connection plate; 111b - Clamping block; 111c - Clamping block; 120 - End effector; 121 - Unlocking part; 1221 - Drive assembly; 1221a - Electric push rod mounting plate; 1221b - Drive component; 1221c - Push rod; 1221d - Buffer spring; 1222 - Push rod adapter plate; 1223a - First connecting rod; 1223b - Second connecting rod; 1223c - Third connecting rod; 123 - Operating component; 124 - Housing; 125 - Image sensor; 1251 - 3D camera; 1252 - Camera mounting plate; 130 - Cabinet; 131 - Receiving cavity; 140 - Cable clamp; 150 - Cable manager; 151 - Arc-shaped slot; 200 - Charging gun; 210 - Gun body; 211 - Opening button; 212 - Gun head. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0027] In the description of this utility model, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation.

[0028] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] Please refer to Figure 1 and Figure 2 This embodiment provides an automatic charging device 100, including a robot 110 and an end effector 120 connected by a signal; the end effector 120 includes an unlocking part 121, which is used to unlock the charging gun 200, so that the charging gun 200 can be inserted into the device to be charged; the robot 110 moves the charging gun 200 to the charging port of the device to be charged, and the unlocking part 121 drives the charging gun 200 to unlock, so that the charging gun 200 can be inserted into the device to be charged for charging.

[0030] Specifically, such as Figure 1 As shown, the automatic charging device 100 mainly consists of a cabinet 130, a robot 110, and an end effector 120.

[0031] The cabinet 130 includes a power module that provides power for the charging process. The cabinet 130 has an externally connected cavity 131 in which a robot 110 is housed. The robot 110 extends the charging gun 200 out of the cabinet 130 to interact with the device being charged. The robot 110 possesses unique flexibility, comprising a control unit and multiple robotic arms 111. The control unit can control the robotic arms 111 to perform various flexible movements and can cooperate with the surrounding environment and other components, providing power and motion execution capabilities for the automated operation of the automatic charging device 100.

[0032] like Figure 2As shown, the end effector 120 mainly includes an unlocking part 121. The charging gun 200, as a component that directly connects to the device to be charged and transmits power, is tightly connected to the power module inside the cabinet 130 via a cable. In this way, the power provided by the power module can be transmitted to the charging gun 200 through the cable. Furthermore, the charging gun 200 is also connected to the robot 110, so that under the control of the robot 110, its relative position to the device to be charged can be flexibly adjusted to complete the corresponding charging action.

[0033] like Figure 3 and Figure 4 As shown, the unlocking unit 121 includes a housing 124, a drive assembly 1221, and an operating member 123. The drive assembly 1221 and the operating member 123 are both housed within the housing 124. The housing 124 provides protection for the drive assembly 1221 and the operating member 123, providing dust and water protection and preventing damage to the unlocking unit 121 from rain or other sources, thus extending the service life of the unlocking unit 121 and the automatic charging device 100.

[0034] like Figure 3 As shown, the charging gun 200 itself includes a gun body 210 and a gun head 212. It should be noted that at least a portion of the gun body 210 is housed within the housing 124 of the unlocking part 121 to ensure that the driving component 1221b and the operating component 123 can act on the opening button 211 on the gun body 210. During actual operation, the robot 110 moves the charging gun 200 to the charging port of the device to be charged. The driving component 1221 drives the operating component 123 to move, causing the operating component 123 to precisely press against the opening button 211 on the gun body 210. When the operating component 123 applies pressure to the opening button 211, it causes the cover inside the gun head 212 to open, thereby unlocking the charging gun 200 and allowing it to be inserted into the device to be charged.

[0035] Similarly, after charging is completed, the robot 110 can drive the charging gun 200 away from the device to be charged through the robotic arm 111, and the drive component 1221 drives the operating component 123 to move, so that the operating component 123 is separated from the cover opening button 211. At this time, the cover inside the gun head 212 closes again, thereby ending the charging.

[0036] It should be noted that, in one possible implementation of this application, firstly, as... Figure 3 As shown, the end effector 120 also includes an image sensor 125, which includes a 3D camera 1251. The 3D camera 1251 is used to acquire image information, which is used to identify and locate the charging port of the device to be charged.

[0037] Specifically, such as Figure 3As shown, the image sensor 125 mainly consists of a 3D camera 1251 and a camera mounting plate 1252. The 3D camera 1251, as the core component for acquiring three-dimensional visual information, is mounted on the camera mounting plate 1252. In one specific embodiment of this application, the 3D camera 1251 establishes a signal connection with the control unit of the robot 110, enabling the information acquired by the 3D camera 1251 to be smoothly transmitted to the control unit of the robot 110. The control unit of the robot 110 processes and recognizes the image information, providing data support for the robot 110's subsequent action decisions. In another specific embodiment of this application, the 3D camera 1251 can also establish a signal connection with the control unit of the end effector 120, enabling the information acquired by the 3D camera 1251 to be smoothly transmitted to the control unit of the end effector 120. The control unit of the end effector 120 processes and recognizes the image information, providing data support for the robot 110's subsequent action decisions.

[0038] In terms of structural layout, such as Figure 3 As shown, one side of the housing 124 of the unlocking part 121 is firmly fixed to the side of the camera mounting plate 1252 facing away from the 3D camera 1251. This fixing method not only ensures that the structure of each component of the entire end effector 120 is compact and stable, but also ensures that each component can work together during operation. This allows the robot 110 to move the image sensor 125 while moving the charging gun 200, enabling the 3D camera 1251 to acquire image information in real time, thus providing reliability and flexibility for the automatic charging device 100.

[0039] The 3D camera 1251 can acquire image information of the surrounding environment through its built-in optical and electronic components. This image information can accurately reflect key data such as the position, shape, and relative distance of the device to be charged to the automatic charging device 100. After acquisition, the 3D camera 1251 immediately transmits this image information to the control unit of the robot 110 or the control unit of the end effector 120 through the established signal connection. After receiving this image information, the control unit can analyze and process the information according to the internal preset algorithms and programs, determine whether the hood is fully open, whether there are any abnormalities on the inside of the hood, etc., and determine whether to drive the charging gun 200 to perform the insertion task based on the judgment result, so as to avoid the robot 110 automatically plugging and unplugging in abnormal conditions, and also avoid the risk of scratches and damage to the vehicle due to charging in abnormal conditions. The control unit can accurately plan its own motion path to achieve precise control of the charging gun 200 and the unlocking unit 121, ultimately ensuring that the automatic charging device 100 can efficiently and accurately complete the docking and charging tasks with the device to be charged.

[0040] Second, such as Figure 1 and Figure 6 As shown, the automatic charging device 100 also includes a cable manager 150, which is located on the inner wall of the receiving cavity 131; the cable manager 150 has an arc-shaped slot 151 for securing the cable.

[0041] Specifically, the cable manager 150 plays a crucial role in the effective management and organization of cables throughout the device. The cable manager 150 is located on the inner wall of the accommodating cavity 131 to facilitate the rational layout and control of the cables connecting the power module and the charging gun 200. For example... Figure 1 As shown, the gun wire manager 150 is located at the top of the receiving cavity 131.

[0042] like Figure 6 As shown, the cable manager 150 has an arc-shaped slot 151. The shape and size of the arc-shaped slot 151 are adapted to the cable, and its main function is to hold the cable in place. During the operation of the automatic charging device 100, the charging gun 200 moves and docks under the control of the robot 110, and the cable will move accordingly. The arc-shaped slot 151 of the cable manager 150 can firmly hold the cable, ensuring that the cable remains orderly during movement and avoiding cable tangling, knotting, or random swinging. This ensures the stability of power transmission and the reliability of the entire automatic charging device 100, while also helping to extend the cable's service life and improve the overall safety and aesthetics of the device.

[0043] Third, such as Figure 4 As shown, the end of the robotic arm 111 is also provided with a flange connecting plate 111a, a clamping block 111b and a clamping block 111c. The clamping block 111c is fixedly connected to the gun body 210 of the charging gun 200. One side of the clamping block 111b is fixedly connected to the clamping block 111c and the other side is fixedly connected to the flange connecting plate 111a. The robot 110 includes a robotic arm 111, and the end of the robotic arm 111 is connected to the gun body 210 through the flange connecting plate 111a.

[0044] Specifically, such as Figure 4 As shown, the automatic charging device 100 of this application also adds a flange connecting plate 111a, a clamping block 111b and a clamping block 111c to the end of the robotic arm 111. These components work together to optimize the connection between the charging gun 200 and the robot 110 and the overall operating performance.

[0045] The clamping block 111c can be securely connected to the gun body 210 through welding, bolting, or other fixed connection methods, providing basic support for the installation of subsequent components. One end of the clamping block 111b is also fixed to the clamping block 111c by welding or fasteners. The other end of the clamping block 111b is fixedly connected to the flange connecting plate 111a. This connection structure design allows the clamping block 111b to play a good transition and stable connection role between the clamping block 111c and the flange connecting plate 111a.

[0046] The robotic arm 111 of the robot 110, as a key component for performing actions, has its end connected to the gun body 210 via a flange connecting plate 111a. Specifically, the structure of the end of the robotic arm 111 is adapted to the size and shape of the flange connecting plate 111a. Preferably, the flange connecting plate 111a, the clamping block 111b, and the clamping block 111c are all set as circular pieces adapted to the end of the robotic arm 111. Optionally, the end of the robotic arm 111 is tightly connected to the flange connecting plate 111a by means of bolts or other connection methods.

[0047] With the flange connecting plate 111a, the robotic arm 111 can stably and precisely control the charging gun 210 to perform various movements. When the automatic charging device 100 is running, the robotic arm 111, through its joint movements and motion control, uses the flange connecting plate 111a connected to the charging gun 210 to accurately move the charging gun 210 to the device to be charged, completing the docking operation between the charging gun 200 and the interface of the device to be charged, ensuring a smooth charging process. The entire connection structure ensures both the stability of the connection and the flexible control of the charging gun 210 by the robotic arm 111, providing a strong guarantee for the efficient and reliable operation of the automatic charging device 100.

[0048] The automatic charging device 100 provided in this application includes a robot 110 and an end effector 120 connected by a signal connection. The robot 110 can hold a charging gun 200. The end effector 120 includes an unlocking part 121, which is used to unlock the charging gun 200, allowing the charging gun 200 to be inserted into the device to be charged. When the robot 110 moves the charging gun 200 to the charging port of the device to be charged, the unlocking part 121 drives the charging gun 200 to unlock, allowing the charging gun 200 to be inserted into the device to be charged for charging. The above-mentioned automatic charging device 100 can realize an automated charging process, saving time and effort in operation, and improving the customer experience and the reliability and flexibility of charging operation.

[0049] For example, such as Figure 4As shown, the drive assembly 1221 includes an electric push rod mounting plate 1221a, a drive member 1221b, and a push rod 1221c. The electric push rod mounting plate 1221a is disposed inside the housing 124, and the outer wall of the drive member 1221b is fixedly connected to the electric push rod mounting plate 1221a. One end of the push rod 1221c is connected to the output end of the drive member 1221b, and the other end is connected to the operating member 123.

[0050] Specifically, the drive component 1221b mainly consists of several key components: an electric push rod mounting plate 1221a, the drive component 1221b, and a push rod 1221c. The electric push rod mounting plate 1221a is shaped and sized to fit the inner wall space of the housing 124 of the unlocking part 121, and is reliably fixed within the housing 124 using screws, welding, or other secure methods. This arrangement provides a stable base platform for the installation of the drive component 1221b, ensuring that the drive component 1221b maintains a stable position during operation.

[0051] The driving component 1221b serves as the power source for the driving assembly 1221. Its outer wall is firmly fixedly connected to the electric push rod mounting plate 1221a, ensuring that the driving component 1221b will not shift or shake during operation, thus guaranteeing the stability of the power output. In specific embodiments of this application, the driving component 1221b can be a motor, cylinder, hydraulic press, etc. This application does not impose any restrictions on the specific arrangement of the driving component 1221b, as long as it can drive the electric push rod mounting plate 1221a to move.

[0052] One end of the push rod 1221c is connected to the output end of the drive member 1221b, which can effectively convert the rotational motion output by the drive member 1221b into the linear motion of the push rod 1221c, and ensure stable and reliable power transmission between the two. The other end of the push rod 1221c is connected to the operating member 123, so that when the push rod 1221c moves linearly under the drive of the drive member 1221b, it can drive the operating member 123 to move synchronously.

[0053] When the robot 110 issues a command to start the drive component 1221, the drive component 1221b starts to operate, transmitting rotational power to the push rod 1221c, causing the push rod 1221c to produce linear displacement, which in turn drives the connected operating component 123 to move towards the opening button 211 on the gun body 210, and precisely presses it onto the opening button 211, realizing the opening action of the inner cover of the gun head 212, creating conditions for the subsequent docking of the charging gun 200 with the device to be charged.

[0054] Furthermore, such as Figure 5As shown, the push rod 1221c includes a body and a push rod adapter plate 1222. The push rod adapter plate 1222 is fixedly connected to the output end of the drive member 1221b. One end of the body is fixedly connected to the end of the push rod adapter plate 1222 that is away from the drive member 1221b, and the other end is connected to the operating member 123.

[0055] Specifically, the push rod 1221c is composed of a body and a push rod adapter plate 1222. The push rod adapter plate 1222 serves as a transitional connection in the entire connection system. Its shape and size are adapted to the output end of the drive component 1221b and the body of the push rod 1221c, ensuring that the rotational power output by the drive component 1221b can be stably and efficiently transmitted to the push rod adapter plate 1222.

[0056] The push rod 1221c, as a key component directly transmitting power to the operating member 123 and realizing linear motion, has one end fixedly connected to the end of the push rod adapter plate 1222 opposite to the drive member 1221b. In this way, when the push rod adapter plate 1222 rotates under the drive of the output end of the drive member 1221b, this motion is effectively converted into linear motion of the push rod 1221c. The other end of the push rod 1221c is connected to the operating member 123, ensuring that the push rod 1221c can accurately drive the operating member 123 during movement, pressing it onto the cover opening button 211 of the gun body 210 according to a predetermined trajectory and force. Through this meticulous structural design and connection method, the rotational power of the drive member 1221b can be effectively converted into a linear pressing action of the operating member 123, providing a reliable power transmission path for the automatic charging device 100 to unlock the cover of the gun head 212.

[0057] Furthermore, such as Figure 5 As shown, the main body has a first connecting rod 1223a, a second connecting rod 1223b, and a third connecting rod 1223c connected in sequence; the first connecting rod 1223a is fixedly connected to the push rod adapter plate 1222, and the extension direction of the first connecting rod 1223a is parallel to the plate surface of the push rod adapter plate 1222; the second connecting rod 1223b is connected to the end of the first connecting rod 1223a away from the push rod adapter plate 1222 at an angle; the third connecting rod 1223c is connected to the end of the second connecting rod 1223b away from the first connecting rod 1223a, and is parallel to the top surface of the cover opening button 211.

[0058] Specifically, such as Figure 5 As shown, the main body consists of a first connecting rod 1223a, a second connecting rod 1223b, and a third connecting rod 1223c connected in sequence. This multi-rod connection design allows for flexible adaptation to different spatial layouts and motion execution requirements.

[0059] The first connecting rod 1223a plays a crucial role in connecting with the push rod adapter plate 1222 in the entire structure. The extension direction of the first connecting rod 1223a is parallel to the surface of the push rod adapter plate 1222, allowing the first connecting rod 1223a to smoothly convert the rotational motion of the push rod adapter plate 1222 into a linear motion along a specific direction when the push rod adapter plate 1222 rotates under the drive of the output end of the drive member 1221b. This lays the foundation for the subsequent motion transmission of the second connecting rod 1223b and the third connecting rod 1223c.

[0060] One end of the second connecting rod 1223b is connected at an angle to the end of the first connecting rod 1223a away from the push rod adapter plate 1222. This angled connection allows the second connecting rod 1223b to reasonably change the direction of the linear motion transmitted from the first connecting rod 1223a, making it more consistent with the trajectory requirements of the final press of the cover opening button 211. When the first connecting rod 1223a moves linearly under the drive of the push rod adapter plate 1222, the second connecting rod 1223b will continue to transmit the motion at a specific angle and direction based on its angle relationship with the first connecting rod 1223a.

[0061] The third connecting rod 1223c is connected to the end of the second connecting rod 1223b furthest from the first connecting rod 1223a. Furthermore, the direction of the third connecting rod 1223c is parallel to the top surface of the lid-opening button 211, ensuring that when the third connecting rod 1223c moves linearly under the influence of the second connecting rod 1223b, it moves precisely towards the lid-opening button 211 and ultimately presses onto the lid-opening button 211 with appropriate force and angle. Because the third connecting rod 1223c is parallel to the top surface of the lid-opening button 211, pressure is evenly applied to the lid-opening button 211 during pressing, preventing misoperation or failure to open the lid effectively due to uneven force. Through the structural design of the first connecting rod 1223a, the second connecting rod 1223b, and the third connecting rod 1223c connected in sequence and with specific direction and angle settings, the push rod 1221c body can efficiently and accurately convert the rotational power output by the drive component 1221b into the pressing action of the cover opening button 211, providing a reliable execution path for the automatic charging device 100 to unlock the cover of the gun head 212.

[0062] For example, the operating element 123 is a roller, which is rotatably connected to the end of the push rod 1221c. The push rod 1221c rolls the top surface of the cover opening button 211 through the roller.

[0063] Specifically, in the unlocking part 121 structure of the automatic charging device 100, the operating member 123 is in the form of a roller, and the roller is assembled with the end of the push rod 1221c by a rotatable connection. Specifically, a suitable connecting structure is provided at the end of the push rod 1221c, such as a connecting seat with a central shaft hole, and a corresponding shaft is provided at the center of the roller. The roller's shaft is inserted into the shaft hole of the connecting seat at the end of the push rod 1221c, and the rotatable connection between the two is achieved through components such as bearings. This rotatable connection allows the roller to rotate freely around the connection point with the end of the push rod 1221c, thereby ensuring smooth rolling when the roller contacts the cover opening button 211 during subsequent operation.

[0064] When the automatic charging device 100 performs an unlocking operation, the push rod 1221c moves linearly under the action of the drive assembly 1221. As the push rod 1221c moves towards the cover opening button 211 on the gun body 210, the roller, which is rotatably connected to the end of the push rod 1221c, also approaches the cover opening button 211. Finally, the roller contacts the top surface of the cover opening button 211. Due to the rotatable connection between the roller and the end of the push rod 1221c, as the push rod 1221c continues to push the roller forward, the roller rolls to achieve a rolling operation on the top surface of the cover opening button 211.

[0065] Compared to direct flat pressing, this rolling method can reduce friction to a certain extent, reduce wear between the operating part 123 and the opening button 211, and at the same time, it can more accurately control the magnitude and direction of the pressure applied to the opening button 211, improve the stability and reliability of the unlocking operation, and ensure that the cover inside the gun head 212 can be opened smoothly under the control of the robot 110, creating the necessary conditions for the subsequent docking and charging process between the charging gun 200 and the device to be charged.

[0066] Optionally, such as Figure 3 As shown, the drive assembly 1221 also includes a buffer spring 1221d, which is disposed on the camera mounting plate 1252. The compression direction of the buffer spring 1221d is the same as the movement direction of the push rod 1221c.

[0067] Specifically, the buffer spring 1221d is mounted on the camera mounting plate 1252. One end of the buffer spring 1221d is securely connected to the camera mounting plate 1252 by means of welding, screw fastening, or other connection methods to ensure that it will not shift or fall off during the operation of the device.

[0068] The compression direction of the buffer spring 1221d is the same as the movement direction of the push rod 1221c. When the drive assembly 1221 is working, the push rod 1221c moves linearly under the drive of the drive component 1221b, advancing towards the cover opening button 211 on the gun body 210. During this process, without the buffer spring 1221d, the movement of the push rod 1221c may be relatively rigid. When the operating component 123 contacts the cover opening button 211, the instantaneous impact force may be too large, potentially damaging the cover opening button 211 and related components. It may also affect the stability and accuracy of the entire automatic charging device 100.

[0069] The buffer spring 1221d acts as a buffer and shock absorber during the movement of the push rod 1221c. When the operating component 123 is about to contact the cover opening button 211 or during the pressing of the cover opening button 211, the movement of the push rod 1221c pushes the buffer spring 1221d, causing it to compress and deform. Through its own elastic deformation, the buffer spring 1221d absorbs and disperses part of the impact force generated by the movement of the push rod 1221c, making the pressure applied by the operating component 123 when pressing the cover opening button 211 more stable and gentle. This not only effectively protects the cover opening button 211 and related components of the charging gun 200, extending their service life, but also improves the accuracy and reliability of the unlocking operation of the automatic charging device 100, ensuring that the unlocking action of the gun head 212 cover can be completed stably and efficiently under various working conditions, providing a strong guarantee for the smooth docking and charging process between the charging gun 200 and the device to be charged.

[0070] In one possible implementation of this application, such as Figure 2 As shown, the automatic charging device 100 also includes a cable clamp 140, which is cylindrical and has an inner wall that corresponds to the shape of the outer wall of the robotic arm 111, so as to cover the outer wall of the robotic arm 111.

[0071] Specifically, such as Figure 2 As shown, the cable clamp 140 is cylindrical and effectively protects the robotic arm 111. Specifically, the inner wall shape of the cable clamp 140 corresponds to the outer wall shape of the robotic arm 111 of the robot 110. As a key component of the robot 110 in performing actions, the robotic arm 111 needs to be connected to various cables, such as electrical cables and air pipes, during operation to ensure power supply and signal transmission. The fit between the inner wall of the cable clamp 140 and the outer wall shape of the robotic arm 111 allows it to tightly enclose the outer wall of the robotic arm 111.

[0072] During actual installation, the pipeline clamp 140 can be installed on the robotic arm 111 using appropriate fixing methods such as snap-fit ​​connection or bolt fastening. After the pipeline clamp 140 covers the outer wall of the robotic arm 111, it can store various pipelines connected to the robotic arm 111 in its internal space.

[0073] On the one hand, this protects the pipelines, preventing damage from scratches or collisions with external objects during the movement of the robotic arm 111, thus effectively extending the pipelines' lifespan and ensuring the stability and reliability of the automatic charging device 100. On the other hand, by neatly storing the pipelines within the pipeline clamp 140, the layout of the entire automatic charging device 100 becomes more organized, avoiding tangled pipelines and improving the overall aesthetics of the device. It also facilitates equipment maintenance and repair.

[0074] When the automatic charging device 100 is running, the robotic arm 111 performs various actions, such as driving the charging gun 200 to dock, and the cable clamping member 140 moves with the robotic arm 111 and always maintains effective clamping and protection of the cable, providing strong support for the efficient and stable operation of the automatic charging device 100.

[0075] The above description is merely an optional embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

[0076] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, this utility model will not describe the various possible combinations separately.

Claims

1. An automatic charging device, characterized by comprising: The robot (110) and the end effector (120) comprising a signal connection, the robot (110) can clamp the charging gun (200); the end effector (120) comprises an unlocking part (121), the unlocking part (121) is used for unlocking the charging gun (200), enabling the charging gun (200) to be inserted into the equipment to be charged; the robot (110) moves the charging gun (200) to the charging port of the equipment to be charged, and the unlocking part (121) drives the charging gun (200) to be unlocked, enabling the charging gun (200) to be inserted into the equipment to be charged.

2. The automatic charging device according to claim 1, characterized in that, The end effector (120) further comprises an image sensor (125), and the image sensor (125) comprises a 3D camera (1251) used for collecting image information, and the image information is used for identifying and positioning the charging port of the equipment to be charged.

3. The automatic charging device according to claim 1, characterized in that, The unlocking part (121) comprises a driving assembly (1221) and an operating piece (123), and the operating piece (123) is used for unlocking the charging gun (200); the driving assembly (1221) comprises an electric push rod mounting plate (1221a), a driving piece (1221b) and a push rod (1221c), and the outer wall of the driving piece (1221b) is fixedly connected with the electric push rod mounting plate (1221a); one end of the push rod (1221c) is connected with the output end of the driving piece (1221b), and the other end is connected with the operating piece (123).

4. The automatic charging device according to claim 3, characterized in that, The push rod (1221c) comprises a body and a push rod adapter plate (1222), the push rod adapter plate (1222) is fixedly connected with the output end of the driving piece (1221b), one end of the body is fixedly connected with the end of the push rod adapter plate (1222) away from the driving piece (1221b), and the other end is connected with the operating piece (123).

5. The automatic charging device according to claim 4, characterized in that, The body has a first connecting rod (1223a), a second connecting rod (1223b) and a third connecting rod (1223c) connected in sequence; the first connecting rod (1223a) is fixedly connected with the push rod adapter plate (1222), and the extension direction of the first connecting rod (1223a) is parallel to the plate surface of the push rod adapter plate (1222); the second connecting rod (1223b) is connected at an angle with the end of the first connecting rod (1223a) away from the push rod adapter plate (1222); the third connecting rod (1223c) is connected with the end of the second connecting rod (1223b) away from the first connecting rod (1223a), and is parallel to the top surface of the cover opening button (211) of the charging gun (200).

6. The automatic charging device according to claim 3, wherein The operating piece (123) is a roller, the roller is rotationally connected with the end of the push rod (1221c), and the push rod (1221c) rolls on the top surface of the cover opening button (211) of the charging gun (200) through the roller.

7. The automatic charging device according to claim 3, wherein The driving assembly (1221) further comprises a buffer spring (1221d), a compression direction of the buffer spring (1221d) is same as a movement direction of the push rod (1221c).

8. The automatic charging device of claim 1, wherein, The robot (110) comprises a mechanical arm (111), an end of the mechanical arm (111) is further provided with a flange connecting plate (111a), a clamping block (111b) and a clamping block (111c), the clamping block (111c) is fixedly connected with the charging gun (200), one side of the clamping block (111b) is fixedly connected with the clamping block (111c), and the other side is fixedly connected with the flange connecting plate (111a), and the side, away from the clamping block (111b), of the flange connecting plate (111a) is connected with the end of the mechanical arm (111).

9. The automatic charging device according to claim 8, characterized in that, The automatic charging device (100) further comprises a pipeline package clamping piece (140), the pipeline package clamping piece (140) is in a cylindrical shape, and an inner wall thereof corresponds to a shape of an outer wall of the mechanical arm (111) so as to be wrapped on the outer wall of the mechanical arm (111).

10. The automatic charging device according to claim 1, characterized in that, The automatic charging device (100) further comprises a cabinet (130), the cabinet (130) comprises a containing cavity (131) in communication with the outside, and the robot (110) is arranged in the containing cavity (131); an inner wall of the containing cavity (131) is further provided with a gun wire manager (150), the gun wire manager (150) has an arc-shaped clamping groove (151), and the arc-shaped clamping groove (151) is used for clamping the cable of the charging gun (200).

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