CN210129603U

CN210129603U - Charging gun and charging pile

Info

Publication number: CN210129603U
Application number: CN201921528723.3U
Authority: CN
Inventors: 李德胜; 冉鹏
Original assignee: Xi'an Landou New Energy Technology Co Ltd
Current assignee: Xi'an Landou New Energy Technology Co Ltd
Priority date: 2019-09-12
Filing date: 2019-09-12
Publication date: 2020-03-06
Anticipated expiration: 2029-09-12

Abstract

The application provides a rifle and fill electric pile charge relates to the technical field that charges. This rifle that charges includes rifle head and flexible coupling assembling, and flexible coupling assembling includes base and installed part, and installed part movable mounting is on the base, and the rifle head is installed on the installed part. At least one flexible piece is arranged between the mounting piece and the base, and pretightening force can be applied to the mounting piece by the flexible piece, so that the gun head is automatically positioned at a preset central position. This rifle that charges can realize automatic centering, can compensate the error that positioning accuracy is not enough to bring, guarantees that the rifle head inserts the stock smoothly, improves the life of rifle head and stock.

Description

Charging gun and charging pile

Technical Field

The utility model relates to a technical field that charges particularly, relates to a rifle and fill electric pile charge.

Background

Research shows that as the charging pile enters the field of unmanned automation, because the gap between a plug and a socket in the interface size specified by the national standard is small, the existing visual identification system of the automatic charging mechanical arm has errors in positioning identification, so that the precision is not high, and the charging gun head is difficult to be accurately butted with the socket of related equipment.

Thus, when the charging gun head is inserted into the socket under the condition of positioning error, the charging gun head is difficult to insert, or the charging gun head is more serious, the opposite insertion fails, and the equipment is damaged.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a rifle charges and fills electric pile, it can compensate the not high error of bringing of vision precision, makes the rifle head can insert the stock smoothly, avoids because of positioning error leading to the problem of difficult or damage equipment of pegging graft when rifle head and socket are to inserting.

The embodiment of the utility model is realized like this:

in a first aspect, the embodiment of the utility model provides a rifle charges, including rifle head and flexible coupling assembling, flexible coupling assembling includes base and installed part, the installed part movable mounting be in on the base, the rifle head is installed on the installed part.

At least one flexible piece is arranged between the mounting piece and the base, the flexible piece can apply pretightening force to the mounting piece, and when the gun head is free from external force, the gun head is automatically located at a preset central position.

In an alternative embodiment, the base is plugged with the mounting piece, and the flexible piece is clamped between the base and the mounting piece.

In an alternative embodiment, the base is a hollow structure and comprises an annular side wall, and the annular side wall is provided with a connecting part which is inwards protruded along the radial direction; the mounting piece is inserted into an insertion cavity defined by the annular side wall and is movably connected with the connecting part.

In an alternative embodiment, the mounting member is provided with a projection radially inwardly of an end of the mounting member remote from the lance tip, the projection and the connecting portion being connected by a connector, and the connector allowing a predetermined range of deflection of the mounting member relative to the base.

In an alternative embodiment, an annular mounting groove is provided on the base, and the flexible member is mounted in the annular mounting groove.

In an alternative embodiment, the number of the flexible members is plural, and the plural flexible members are arranged at intervals along the axial direction of the base.

In an alternative embodiment, the flexible member is a ring spring.

In an optional embodiment, the lance head comprises a plugging end and a mounting end which are connected with each other, the mounting end is mounted on the mounting member, and the plugging end is used for being connected with a corresponding socket; the insertion end is provided with a chamfer.

In an optional embodiment, the robot further comprises a mounting adapter, wherein the base is connected to the mounting adapter, and the mounting adapter is used for being connected with a mechanical arm; and a wire outlet hole is formed in the mounting adapter, so that the cable of the gun head can conveniently penetrate out.

A second aspect of the present invention provides a charging pile, including arm, visual positioning instrument and as aforementioned embodiment the rifle that charges, the arm with the rifle that charges is connected, visual positioning instrument installs on the rifle that charges.

The embodiment of the utility model provides a beneficial effect is:

the embodiment of the utility model provides a rifle charges through setting up at least one flexure piece between installed part and base, and the pretightning force can be applyed to the installed part to this flexure piece, does not receive under the condition of external force when the rifle head, enables to make the rifle head of installing on the installed part automatically be in predetermined central point and puts. Due to the fact that the mounting piece is movably connected with the base, when the visual positioning accuracy is not high and positioning errors exist, the flexible piece enables the gun head to be smoothly inserted into the corresponding socket, the inserting connection is easier and more reliable, and damage of inserting friction force to equipment is reduced. And, after the rifle head of rifle that charges is taken out from the socket, this flexible piece can make rifle head self return to the centering position, preset central point promptly, and the butt joint is smooth with the socket when being convenient for next time charge.

The embodiment of the utility model provides a fill electric pile, including arm, visual positioning appearance and like aforementioned rifle that charges, the rifle that charges is installed on the arm, and visual positioning appearance installs on the rifle that charges. Because be equipped with flexible coupling assembling in the rifle that charges, can make the rifle head insert smoothly in the socket that corresponds, compensate the error that the visual positioning appearance precision is not enough to bring, peg graft more easily more reliably, reduce the impact and the damage of inserting the in-process to the arm, extension equipment life. And, after the rifle head of rifle that charges is taken out from the socket, this flexible member can make rifle head self return to the centering position, and the butt joint is smooth with the socket when being convenient for next charge.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of an application scene structure of a charging gun according to an embodiment of the present invention;

fig. 2 is a schematic view of an installation structure of a flexible connection assembly of a charging gun according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a flexible member of a charging gun according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a flexible member of a charging gun according to an embodiment of the present invention under an operating condition;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

fig. 6 is a schematic structural diagram of a flexible member of a charging gun according to an embodiment of the present invention under another operating condition;

fig. 7 is a partial enlarged view of fig. 6 at B.

Icon: 110-a flexible connection assembly; 120-a base; 121-a connecting part; 130-a mount; 131-a projection; 133-a first segment; 135-a second section; 141-a connector; 145-a flexible member; 150-gun head; 151-a plug end; 153-a mounting end; 155-chamfering; 160-a cable; 170-installing an adapter; 210-a robotic arm; 220-visual locator; 230-signal lines.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, the present embodiment provides a charging pile, which includes a charging gun, a visual positioning instrument 220 and a mechanical arm 210, wherein the charging gun is mounted on the mechanical arm 210, and the visual positioning instrument 220 is mounted on the charging gun. It is easy to understand that, when a vehicle to be charged enters the identification range of the visual locator 220, the visual locator 220 accurately calculates and locates the spatial position and posture coordinates of the corresponding socket of the charging gun, including the spatial position and posture information, and transmits the spatial position and posture information of the socket to a central controller (not shown in the figure) through a signal line 230, and the central controller sends a control command to drive the mechanical arm 210 to accurately insert the gun head 150 of the charging gun into the socket. When the gun head 150 is connected in place, a connection confirmation signal in the gun head 150 feeds back the state to a charging pile (not shown), and the charging pile starts charging.

Specifically, the charging gun comprises a gun head 150 and a flexible connecting assembly 110, wherein one end of the flexible connecting assembly 110 is used for installing the gun head 150, and the other end of the flexible connecting assembly is used for connecting with the mechanical arm 210. In this embodiment, the flexible connection assembly 110 includes a base 120 and a mount 130, the mount 130 is movably mounted on the base 120, and the lance tip 150 is mounted on the mount 130. At least one flexible piece 145 is arranged between the mounting piece 130 and the base 120, and the flexible piece 145 can apply pre-tightening force to the mounting piece 130, so that the gun head 150 is automatically located at a preset central position when the gun head 150 is free from external force.

As shown in fig. 2, optionally, the base 120 is plugged with the mounting member 130, and the flexible member 145 is sandwiched between the base 120 and the mounting member 130. In this alternative embodiment, the base 120 is a hollow structure, and the base 120 includes an annular sidewall, on which a connecting portion 121 is protruded radially inward; the mounting member 130 is inserted into the insertion cavity defined by the annular side wall and movably connected with the connecting portion 121. It will be readily appreciated that the connecting portions 121 may be disposed continuously along a circumference of the annular sidewall or may be disposed at intervals along the circumference to facilitate the movable connection with the mounting member 130. The length of the connecting part 121 protruding out of the annular side wall is not particularly limited, and the connecting requirement can be met; moreover, the length of the connection portion 121 protruding from the annular sidewall should be less than the radius of the annular sidewall, so that the base 120 has a through hole in the axial direction to facilitate the threading of the cable 160.

The end of the mounting member 130 remote from the lance tip 150 is provided with a projection 131 radially inwardly, the projection 131 and the connection portion 121 being connected by a connector 141. The protrusions 131 may be provided at the ends of the mounting member 130, or may be provided at the middle or other portions. Similarly, the mounting member 130 is also of a hollow structure, the mounting member 130 includes an annular housing, the protruding portion 131 extends inward along the radial direction of the annular housing, the length of the protruding portion 131 extending from the annular housing can be adapted to the length of the connecting portion 121, and the length of the protruding portion 131 should also be smaller than the radius of the annular housing, so that an axial through hole is formed in the annular housing, and the installation of the lance head 150 and the arrangement of the cable 160 are facilitated.

The connection member 141 limits the axial position of the mounting member 130 in the plug cavity, i.e. prevents the mounting member 130 from sliding out of the plug cavity of the base 120 and disengaging from the base 120, and the connection member 141 also allows a predetermined range of deflection of the mounting member 130 relative to the base 120. It should be understood that the offset within the predetermined range herein can refer to the translation of the mounting member 130 relative to the base 120 in any circumferential direction, and can also refer to the angular deflection of the mounting member 130 relative to the base 120 in any circumferential direction. In this embodiment, the relative displacement achieved by the movable connection between the mounting member 130 and the base 120 is to compensate for the positioning error caused by the insufficient precision of the visual locator 220, so that the magnitude of the relative displacement does not need to be too large, and preferably, the connecting member 141 can allow the mounting member 130 to translate in any direction of the circumference by about 0.5mm to 3mm, as shown in fig. 4 and 5. The translation amount H may be 0.5mm, 1mm, 1.5mm, 2mm, etc., and the translation amount H is 1mm in the present embodiment, which is not limited herein. In addition, the connection member 141 may allow the mounting member 130 to have an angular deflection of about 0.5 to 3 degrees in any circumferential direction with respect to the base 120, where the deflection angle a is an angle formed by the intersection of the axis of the base 120 and the axis of the mounting member 130 after the relative displacement occurs, or may be an angle formed by the end surface of the base 120 and the end surface of the mounting member 130, as shown in fig. 6 and 7. The deflection angle a may be 0.5 degrees, 1 degree, 2 degrees, etc., and in the present embodiment, the deflection angle a is 1 degree, which is not particularly limited herein.

The connecting member 141 may be connected by a bolt, and the connecting portion 121 and the protruding portion 131 are respectively provided with corresponding mounting holes, and the bolt is inserted into the mounting holes, wherein the nut does not need to be screwed too tightly, and has slight looseness, so that the mounting member 130 can be prevented from being separated from the base 120 in the axial direction, and the mounting member 130 can be translated and deflected in any circumferential direction with a small amplitude relative to the base 120. Thus, when the charging and plugging are needed, if the positioning accuracy is not high and has a certain error, the gun head 150 can be subjected to an external force when being plugged, and the mounting part 130 can realize small-range translation or deflection, so that the gun head 150 can be smoothly plugged into a corresponding socket.

Of course, the connecting member 141 may be other structures, such as a stud bolt inserted into the mounting hole and nuts mounted on both ends of the stud bolt, and the nuts are not tightened and have slight looseness. Alternatively, the mounting member 130 and the base 120 may be connected by a snap or hinge connection, and a slight play is provided in the connection, so that the mounting member 130 can achieve a small range of offset and can prevent separation from the base 120, which is not limited herein.

The number of the connecting members 141 may be one or more, and in this embodiment, is preferably four, and four connecting members 141 are uniformly spaced, but of course, the number of the connecting members 141 may also be two or three, and the like. In this embodiment, the mounting element 130 is inserted into the base 120, that is, the base 120 is sleeved on the outer surface of the mounting element 130, in other alternative embodiments, the mounting element 130 may also be sleeved on the outer surface of the base 120, that is, the base 120 is inserted into the inner cavity of the mounting element 130.

An annular mounting groove is provided on the base 120, and the flexible member 145 is mounted in the annular mounting groove. In this embodiment, the inner wall of the base 120 is provided with an annular mounting groove for mounting the flexible member 145; of course, without being limited thereto, an annular mounting groove may be provided on the outer wall of the mounting member 130. The number of the flexible members 145 may be one or more, and when the flexible members 145 are provided in plurality, the plurality of flexible members 145 are provided at intervals in the axial direction of the base 120. Alternatively, the flexible member 145 may be a ring spring, as shown in fig. 3. In this embodiment, the number of the flexible members 145 is three, the number of the corresponding annular mounting grooves is also three, one flexible member 145 is mounted in each annular mounting groove, and the three flexible members 145 are mutually independent and uniformly distributed at intervals. When the mounting member 130 is inserted into the flexible base 120, the annular spring is slightly compressed, and the compression is an installation pre-tightening force, so that the lance tip 150 is automatically in a centering position without external force, that is, the axis of the lance tip 150, the axis of the mounting member 130 and the axis of the base 120 are all located on the same straight line. Preferably, in order to realize the reuse, the lance tip 150 can be precisely inserted into the corresponding socket, and the self-returning and centering position of the lance tip 150 in the free state (i.e. without external force) is calibrated as the zero point position of the visual aligner 220.

Specifically, the annular housing of the mounting member 130 includes a first segment 133 and a second segment 135, the first segment 133 having an inner diameter smaller than an inner diameter of the second segment 135, the first segment 133 having an outer diameter smaller than an outer diameter of the second segment 135, such that a stop surface is formed at a junction of the first segment 133 and the second segment 135, the first segment 133 is inserted into an insertion cavity of the base 120, and the second segment 135 is used for mounting the lance tip 150. The end of the base 120 adjacent the lance tip 150 bears against this stop surface so that the flexible member 145 is firmly and securely clamped between the base 120 and the mounting member 130.

The gun head 150 adopts the gun head 150 which is commonly charged by an electric automobile, and can be adapted to a charging socket at any vehicle end through corresponding modification. The lance tip 150 comprises a mating end 151 and a mounting end 153 connected to each other, the mounting end 153 being mounted on the mounting member 130, in particular, the mounting end 153 being inserted into the cavity formed by the second section 135, the mating end 151 being adapted to be connected to a corresponding socket. In this embodiment, a chamfer 155 is provided at the insertion end 151 of the universal gun head 150. Optionally, the insertion end 151 is provided with a chamfer 155 of about 1mm by 3mm in the circumferential direction, the chamfer 155 can resolve the force of inserting the gun when contacting with the corresponding socket, and under the action of the flexible connection assembly 110, the gun head 150 can adapt to the displacement and angle error of the socket, so as to ensure that the gun head 150 can slide into the socket smoothly when being inserted.

The charging gun further includes a mounting adapter 170, the mounting adapter 170 being disposed at an end of the base 120 distal from the mount 130. The base 120 is connected to a mounting adapter 170, and the mounting adapter 170 is used for connecting with the mechanical arm 210; the mounting adapter 170 is provided with a wire outlet hole for allowing the cable 160 of the torch head 150 to pass through. Specifically, the mounting adapter 170 and the base 120 are connected by screws, but may also be bolted, clamped, bonded, welded, or screwed. The end of the mounting adapter 170 away from the base 120 is provided with a connecting hole for connecting with the robot arm 210. The side of the mounting adapter 170 is provided with a wire outlet, the wire outlet is communicated with the plugging cavity of the base 120, and the cable 160 connected to the gun head 150 sequentially passes through the internal cavity of the mounting member 130 and the plugging cavity of the base 120 and penetrates out of the wire outlet of the mounting adapter 170. By such arrangement, when the lance head 150 is displaced or inclined, the reaction force of the cable 160 is small, so that the problem that the lance head 150 cannot return to the central position due to the deformation and stress of the cable 160 can be avoided.

The vision positioner 220 is installed on the charging gun, specifically, the vision positioner 220 may be installed on the base 120 or the installation adapter 170, and optionally, in this embodiment, the vision positioner 220 is fixedly installed on the installation adapter 170. In order to improve the insertion accuracy when the lance tip 150 is reused, the flexible member 145 is compressed in a certain amount in all directions in the free state of the lance tip 150 as an installation pre-tightening force. The pre-tightening force can ensure that the gun head 150 can be positioned at the central position under any pose of the mechanical arm 210, and the position is the zero position calibrated by the visual positioning instrument 220.

This rifle charges and fills installation process and the theory of operation of electric pile as follows:

the front end, i.e., the second section 135, of the mounting member 130 is assembled with the lance tip 150, and the rear end, i.e., the first section 133, is inserted into the insertion cavity of the base 120, and the connecting portion 121 of the base 120 and the protruding portion 131 of the mounting member 130 are movably connected by the four connecting members 141, thereby preventing the mounting member 130 from being separated from the base 120 and facilitating the mounting member 130 to have a small offset and deflection in any circumferential direction. Three flexible members 145 are evenly spaced between the inner surface of base 120 and the outer surface of mounting member 130. when mounting member 130 is inserted into the cavity of base 120, flexible members 145 are slightly compressed in all directions by the pre-load of the mounting member. Under the condition that the gun head 150 is not subjected to external force, the installation pre-tightening force can enable the gun head 150 to be automatically in the centering position, namely the zero point position calibrated by the visual positioning instrument 220.

If the positioning accuracy of the visual positioning instrument 220 is not high, there is a positioning error between the lance tip 150 and the socket, that is, when the lance tip 150 is displaced in one direction from the socket, and the lance tip 150 is inserted into the socket, the chamfer 155 at the front end of the lance tip 150 receives a force fed back by the socket, and the force causes the mounting member 130 connected to the lance tip 150 to be displaced to one side, which can be understood as that the mounting member 130 is translated relative to the base 120, as shown in fig. 4 and 5, and when the displacement amount is 1 mm. Of the three flexible members 145, the flexible member 145 on the offset side is compressed in a cross section parallel to the offset direction. When the external force is removed, the flexible member 145 on the offset side will rebound under the action of the elastic restoring force, so as to force the mounting member 130 to return to the centered position, i.e., to drive the lance tip 150 to return to the centered position.

When the lance tip 150 is inclined at an angle to the socket, and the lance tip 150 is inserted into the lance holder, the chamfer 155 at the front end of the lance tip 150 receives a force fed back by the socket, and the force causes the mounting member 130 to be subjected to a torque, so as to incline, which can be understood as the mounting member 130 deflects relative to the base 120, as shown in fig. 6 and 7, when the deflection angle is 1 degree. Of the three flexible members 145, two flexible members 145 at opposite corners are compressed in a cross section parallel to the oblique direction. When the external force is removed, that is, after charging is completed, and the lance tip 150 is pulled out of the socket, the two flexible members 145 will rebound under the action of the elastic restoring force, so as to force the mounting member 130 to return to the centered position, that is, to drive the lance tip 150 to return to the centered position.

In addition, it should be noted that, in the flexible connection assembly 110, the base 120 and the mounting member 130 are both hollow, so that the cable 160 of the gun head 150 can be conveniently threaded to the rear side and threaded out through the outlet hole on the side of the mounting adapter 170. Due to the design, when the gun head 150 is displaced and inclined, the reaction force of the cable 160 is small, and the problem that the gun head 150 cannot return to the centering position due to the deformation stress of the cable 160 can be solved. The cable 160 of the lance tip 150 herein includes, but is not limited to, a charging power cable 160.

The embodiment of the utility model provides a rifle charges and fills electric pile has the beneficial effect of following several aspects:

by providing the flexible connecting assembly 110, the mounting member 130 and the base 120 are movably connected through the connecting member 141, which can prevent the mounting member 130 from being separated from the base 120 in the axial direction, and can also realize the small-amplitude translation and deflection of the mounting member 130 relative to the base 120 in any circumferential direction. The method can be used for compensating errors caused by low precision of the visual locator 220 so that the gun head 150 can be smoothly inserted into the corresponding socket. Moreover, after the gun head 150 is pulled out of the socket, that is, without external force, the mounting member 130 can be automatically centered under the elastic restoring force of the flexible member 145 (or under the action of mounting pretightening force), so that the gun head 150 is automatically centered, the position where the gun head 150 is automatically centered is calibrated to be the zero position of the visual locator 220, and when the gun head 150 is reused for charging, the gun head 150 can be smoothly inserted into the socket, the abrasion of equipment is reduced, and the service life of the equipment is prolonged.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The charging gun is characterized by comprising a gun head and a flexible connecting assembly, wherein the flexible connecting assembly comprises a base and a mounting piece, the mounting piece is movably mounted on the base, and the gun head is mounted on the mounting piece;

2. The charging gun of claim 1, wherein the base is keyed to the mounting member, and the flexible member is sandwiched between the base and the mounting member.

3. The charging gun of claim 2, wherein the base is hollow and includes an annular sidewall with a connection portion projecting radially inward; the mounting piece is inserted into an insertion cavity defined by the annular side wall and is movably connected with the connecting part.

4. A charging gun according to claim 3, characterised in that the mounting member is provided with a projection radially inwardly of an end remote from the lance tip, the projection and the connection being connected by a connector, and the connector allowing a predetermined range of deflection of the mounting member relative to the base.

5. The charging gun of claim 1, wherein the base defines an annular mounting slot, and the flexible member is mounted within the annular mounting slot.

6. The charging gun according to claim 1, wherein the number of the flexible members is plural, and plural flexible members are provided at intervals in an axial direction of the base.

7. The charging gun according to any one of claims 1 to 6, wherein the flexible member employs an annular spring.

8. The charging gun according to claim 1, wherein the gun head comprises a plug end and a mounting end which are connected with each other, the mounting end is mounted on the mounting member, and the plug end is used for being connected with a corresponding socket; the insertion end is provided with a chamfer.

9. The charging gun of claim 1, further comprising a mounting adapter to which the base is attached, the mounting adapter being configured to connect to a robotic arm; and a wire outlet hole is formed in the mounting adapter, so that the cable of the gun head can conveniently penetrate out.

10. A charging pile comprising a robotic arm, a visual positioning apparatus and a charging gun according to any one of claims 1 to 9, the robotic arm being connected to the charging gun, the visual positioning apparatus being mounted on the charging gun.