CN210133030U - Automatic charging equipment of vehicle and mobile charging trolley - Google Patents
Automatic charging equipment of vehicle and mobile charging trolley Download PDFInfo
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- CN210133030U CN210133030U CN201920710773.7U CN201920710773U CN210133030U CN 210133030 U CN210133030 U CN 210133030U CN 201920710773 U CN201920710773 U CN 201920710773U CN 210133030 U CN210133030 U CN 210133030U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Abstract
The utility model provides an automatic battery charging outfit of vehicle and removal dolly that charges, this automatic battery charging outfit of vehicle includes: the mechanical arm is provided with a fixed end and a movable end, and the movable end is provided with a charging joint; the monocular vision recognition equipment is arranged on the mechanical arm; a controller comprising an arithmetic unit and a motion control unit, wherein: the arithmetic unit can calculate the target position of the movable end, and the motion control unit is used for controlling the mechanical arm to move so that the movable end moves from the current position to the target position. After the user stops the vehicle to the parking stall, the utility model provides an automatic battery charging outfit of vehicle can fix a position the interface that charges of vehicle to control the arm motion so that the joint that charges inserts the interface that charges, automatically for the vehicle charges, for the mode of manual operation rifle that charges among the prior art, can save user's time cost and human cost.
Description
Technical Field
The utility model relates to a technical field that charges especially relates to an automatic battery charging outfit of vehicle and removal dolly that charges.
Background
With the progress of new energy technology, the application of electric vehicles is increasingly popularized, but the charging of the electric vehicles is not very convenient at present. The current mode of charging to electric automobile is for charging through the electric pile that fills in the parking stall, but fills electric pile's position and be fixed, and the user needs to pull out the electric pile that fills with the rifle that charges after parkking manually, inserts electric automobile's the interface that charges and charges, and the operation is wasted time and energy.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to reduce the manual operation who charges for the vehicle.
The utility model provides an automatic battery charging outfit of vehicle, include: the mechanical arm is provided with a fixed end and a movable end, and the movable end is provided with a charging joint; the monocular vision recognition equipment is arranged on the mechanical arm; a controller comprising an arithmetic unit and a motion control unit, wherein: the arithmetic unit can control the mechanical arm to move so that the monocular vision recognition device moves from a first position to a second position to obtain a first image and a second image of the vehicle, the arithmetic unit can calculate the target position of the movable end according to the first image and the second image, and the charging connector can be inserted into a charging interface of the vehicle when the movable end moves to the target position; the motion control unit is used for controlling the mechanical arm to move so that the movable end moves from the current position to the target position.
Optionally, the motion control unit controls the movable end to move from an initial position to a first intermediate position, and then from the first intermediate position to the target position, wherein when the movable end is located at the first intermediate position, the charging connector and the charging interface are located at the same height, and an included angle between the charging connector and a horizontal plane is equal to an included angle between the charging interface and the horizontal plane.
Optionally, before controlling the movable end to move to the target position, the motion control unit controls the movable end to move from the first intermediate position to a second intermediate position, when the movable end is located at the second intermediate position, the charging connector is directly opposite to the charging interface, and a distance between the second intermediate position and the target position is 1-3 times of a length of the charging connector; and defining the average moving speed of the movable end moving from the initial position to the second middle position as v1, and defining the average moving speed of the movable end moving from the second middle position to the target position as v2, wherein v2 is not more than 0.3 x v 1.
Optionally, the charging connector is provided with at least one force sensor, the force sensor is used for collecting resistance data on the charging connector, and the force sensor is connected with the controller.
Optionally, a current detection device is arranged on the mechanical arm, the current detection device is used for detecting current on the joint of the mechanical arm, and the current detection device is connected with the controller.
Optionally, the monocular visual recognition device is disposed at a front end of the active end.
Optionally, the mechanical arm has a plurality of links connected in sequence, and the cross-sectional dimension of each link decreases in sequence from the fixed end to the movable end of the mechanical arm.
Optionally, the robotic arm is a 6 degree of freedom robotic arm.
The utility model also can provide a mobile charging trolley, the mobile charging trolley comprises a mobile trolley and any one of the above automatic charging equipment for vehicles, wherein, the arm the stiff end is arranged on the mobile trolley.
After the user stops the vehicle to the parking stall, the utility model provides an automatic battery charging outfit of vehicle and/or removal dolly that charges can fix a position the interface that charges of vehicle to control the arm motion so that the joint that charges inserts the interface that charges, charge for the vehicle automatically, for the mode of manual operation rifle that charges among the prior art, can save user's time cost and human cost.
Drawings
Fig. 1 is a schematic view (top view) of a working state of an automatic charging apparatus for a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a controller according to an embodiment of the present invention.
Detailed Description
The following description is provided for illustrative embodiments of the present invention, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to only those embodiments. On the contrary, the intention of implementing the novel features described in connection with the embodiments is to cover other alternatives or modifications which may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Furthermore, some of the specific details are omitted from the description so as not to obscure or obscure the present invention.
Referring to fig. 1 and 2, the present embodiment provides a vehicle automatic charging apparatus 1 for charging a vehicle M (e.g., an electric vehicle, a hybrid vehicle, etc.). The charging device 1 includes a mechanical arm 11, and one end of the mechanical arm 11 is a fixed end 111 and the other end is a movable end 112. Specifically, the robot arm 11 includes a plurality of links 113, wherein the robot arm 11 and the base are connected by a joint 114 between two adjacent links 113. By controlling the displacement (linear displacement or angular displacement) of each joint 114, the position of the movable end 112 of the robot arm 11 relative to the fixed end 111 thereof can be controlled.
The utility model discloses do not do the restriction to the form of "base", the base can be fixed, also can be portable. For example, in an embodiment of the present invention, a mobile charging cart is provided, including a mobile cart 2 and a charging device 1, where the mobile cart 2 is used to carry the charging device 1, so as to carry the charging device 1 from one parking space to another parking space, thereby enlarging the working range of the charging device 1. That is, in this embodiment, the "base" is a mobile cart (i.e., mobile cart 2). Specifically, the fixed end 111 of the robot arm 2 is disposed on the moving cart 2, and further, the fixed end 111 is connected to the moving cart 2 through a joint 114. In this embodiment, after the mobile cart 2 carries the charging device 1 to a designated parking space, the mobile cart 2 stops moving, and the rest of the work is completed by controlling the movement of the mechanical arm 11; in other embodiments, the charging action can be accomplished by the cooperation of the mobile cart 1 and the mechanical arm 11.
Alternatively, from the fixed end 111 to the movable end 112 of the robot arm 11, the cross-sectional size of each link 113 decreases in turn, i.e., the closer to the root (i.e., the fixed end 111), the larger the cross-sectional size; the links closer to the distal end (i.e., the active end 112) have smaller cross-sectional dimensions. Compared with the tail end of the mechanical arm 11, the root part of the mechanical arm is generally required to bear larger load, and the root connecting rod 113 is set to have a larger cross section area, so that the bearing capacity of the mechanical arm is ensured; providing the end link 113 with a smaller cross-sectional area facilitates reducing the load acting on the robot arm 11 (including the joints 114).
In this embodiment, the number of the connecting rods 113 and the number of the joints 114 are both 6 or more than 6 (not shown), that is, the robot arm 11 of this embodiment is a 6-degree-of-freedom robot arm 11, but the present invention is not limited thereto, and in other embodiments, the number of the joints or the connecting rods may be less than 6.
Further, a charging connector 12 is arranged on the movable end 112 of the mechanical arm 11. In this embodiment, the charging connector 12 is disposed at the front end of the movable end 112, and the extending direction of the charging connector 12 and the connecting rod of the movable end 112 is the same. However, the present invention is not limited thereto, and in one embodiment, the charging connector 12 may be disposed at a side of the movable end 112; in another embodiment, the charging connector 12 is disposed at the front end of the movable end 112, but the extending direction of the charging connector 12 is at an angle with the extending direction of the link of the movable end 112, for example, the extending direction of the charging connector 12 is perpendicular to the movable end 112.
The charging device 1 further comprises a monocular vision recognition device, the monocular vision recognition device is arranged on the mechanical arm 11, and the monocular vision recognition device can be driven to generate displacement through the movement of the joint 114 of the mechanical arm 11. In other words, the monocular vision recognition device is provided at a place of the robot arm 11 other than the fixed end 111.
In the present embodiment, the monocular vision recognition device is provided at the front end of the movable end 112, and by this arrangement, the monocular vision recognition device has a good angle of view even when the movable end 112 is close to the target position P2. However, the present invention is not limited to this, and in other embodiments, the monocular vision recognition device may be disposed at other positions of the robot arm.
In this embodiment, the charging apparatus 1 further includes a controller 14, and the controller 14 includes at least an arithmetic unit 141 and a motion control unit 142.
The arithmetic unit 141 may control the movement of the robot arm 11 so that the monocular vision recognition device moves from the first position to the second position, and when the monocular vision recognition device is located at the first position, a first image of the vehicle M may be obtained, that is, the first image is a two-dimensional image of the vehicle M taken from the first position; when the monocular vision recognition device is located at the second position, a second image of the vehicle M may be obtained, that is, the second image is a two-dimensional image of the vehicle M taken from the second position. Further, the operation unit 141 may calculate the target position P2 of the movable end 112 according to the first image and the second image, and specifically, the operation unit 141 may calculate three-dimensional position information of the vehicle M according to two-dimensional images of the vehicle M captured from two different positions (i.e., the first position and the second position), so as to determine the position information of the charging interface of the vehicle M, and then finally calculate the target position P2 of the movable end 112 by combining the position information of the charging interface and the assembly position relationship of the charging connector and the movable end 112. In this embodiment, the position recognition device of the vehicle M is a monocular vision recognition device, which can simplify the mechanical structure of the charging device 1 and reduce the cost.
The arithmetic unit 141 provided in this embodiment can be formed by interconnecting conventional arithmetic circuits. For example, the arithmetic unit 141 includes a driving circuit for driving the robot arm 11 so that the robot arm 11 moves the monocular vision recognition device to the first position and the second position; the operation unit 141 further includes an image reading circuit, which is connected to the monocular visual recognition device and can read the first image and the second image; the operation unit 141 further includes an image operation circuit for calculating three-dimensional position information of the vehicle M from the first image and the second image. Further, the circuits are connected to each other to transmit data information.
It should be noted that the definition of the target position P2 in this embodiment is as follows: when the movable end 112 moves to the target position P2, the charging connector 12 can be inserted into the charging interface of the vehicle M, and the charging device 1 can normally charge the vehicle M. In addition, the present invention does not limit the specific positions of the "first position" and the "second position", as long as both are different positions, and the three-dimensional position information of the vehicle M can be calculated from the first image and the second image. Additionally, the first location may be a current location of the monocular visual recognition device.
Further, the motion control unit 142 is configured to control the motion of the mechanical arm 11 so that the movable end 112 moves from the current position to the target position P2, so that the chargeable connector 12 is inserted into the charging interface of the vehicle M to charge the vehicle M. For example, the motion control unit 142 inversely solves the displacement amount (linear displacement or angular displacement) required for each joint 114 according to the coordinates of the target position P2 and the structural parameters of the robot arm 11, and then controls each joint 114 to perform corresponding displacement so as to move the movable end 112 to the target position P2. The motion control unit 142 may be a chip of the prior art, and is also available in the market as well, for example: m3 and M4 series MCUs of ST corporation (jew semiconductors), chip products of NXP corporation, and the like.
In summary, after the user stops the vehicle M at the parking space, the automatic charging device 1 for the vehicle M provided in this embodiment may locate the charging interface of the vehicle M, and control the mechanical arm 11 to move so that the charging connector 12 is inserted into the charging interface to automatically charge the vehicle M.
Further, the motion control unit 141 controls the movable end 112 to move from the initial position P1 to the first intermediate position P3, and then from the first intermediate position P3 to the target position P2, wherein the first intermediate position P3 is defined by the following description: when the movable end 112 is located at the first intermediate position, P3, the charging connector 12 and the charging interface are located at the same height, and the included angle between the charging connector 12 and the horizontal plane is equal to the included angle between the charging interface and the horizontal plane. In other words, in the present embodiment, the motion control unit 141 controls the movable end 112 to be first positioned in the height direction and then to be completely translated to the ground.
The above description is described below in connection with a common coordinate system in the field of robots (including robotic arms). In the field of robots, the pose information of a rigid body in a three-dimensional space is represented by six coordinates, which are x, y, z, roll, pitch, and yaw, where x, y, and z represent displacements in three directions (two directions are perpendicular), and roll, pitch, and yaw represent rotation angles around the three directions (x corresponds to roll, y corresponds to pitch, and z corresponds to yaw), where z is a height direction.
The coordinate defining the initial position P1 of the movable end 112 is (x)1，y1，z1，roll1，pitch1，yaw1) The target position P2 of the active end 112 is defined as (x)2，y2，z2，roll2，pitch2，yaw2). In the present embodiment, the first intermediate position P3 has the coordinate of (x)1，y1，z2，roll2，pitch2，yaw1)。
The z, roll, pitch coordinates of the charging interface of the vehicle M are determined mainly by the structure of the vehicle M itself, while the x, y, yaw coordinates are determined mainly by the parking position of the vehicle M. In this embodiment, the movement of the robot arm 11 is controlled such that the movable end 112 moves to the three coordinates z, roll, and pitch of the target position P2 first, and then moves to the target position P2, that is, the movement of the movable end 112 from the initial position P1 to the target position P2 is not completed at one time, but is completed in stages. In the case that the vehicle M structure information (i.e., the vehicle type information) is known, this approach can save the positioning difficulty at the later stage (only three coordinates need to be positioned). The utility model discloses do not limit to the acquisition mode of motorcycle type information, for example, in some embodiments, motorcycle type information passes through user input; in other embodiments, the vehicle image may be obtained by the visual recognition device of the charging device 1, and then compared with the vehicle data in the vehicle information database to determine the vehicle type information.
In this embodiment, the x-axis direction is parallel to the width direction of the parking space (shown as W direction), and the y-axis direction is parallel to the length direction of the parking space (shown as L direction), but the present invention is not limited thereto, and in other embodiments, x may also be perpendicular to the width direction of the parking space, or form an acute angle with the width direction of the parking space.
Further, the motion control unit 142 controls the movable end 112 to move to the second intermediate position P4 before controlling the movable end 112 to move to the target position P2, when the movable end 112 is located at the second intermediate position P4, the charging connector 12 faces the charging interface, and the distance between the second intermediate position P4 and the target position P2 is 1-3 times the length of the charging connector 12. The average moving speed of the movable end 112 moving from the initial position P1 to the second intermediate position P4 is defined as v1, and the average moving speed of the movable end 112 moving from the second intermediate position P4 to the target position P2 is defined as v2, wherein v2 is less than or equal to 0.3 v 1. That is, in the present embodiment, when the charging connector 12 is close to the seated position, especially when the charging connector 12 is already partially inserted into the charging interface, the controller 14 controls the movable end 112 to have a low moving speed, so that the position can be adjusted or stopped in time when the position of the charging connector 12 deviates or the mechanical arm 11 encounters an obstacle. In the present embodiment, the second intermediate position P4 is located between the first intermediate position P3 and the target position P2.
For convenience of description, the "process of moving the movable end 112 from the second intermediate position P4 to the target position P2" is defined as a plugging process. The utility model discloses the butt joint connects the detection means who connects 12 positional deviations that charge in-process not to be injectd. For example:
in one embodiment, identification information (e.g., identification information specified in GB/T20324, or connection bolts distributed around the charging interface, etc.) is provided around the charging interface of the vehicle M, a real-time image of the identification information is obtained by the monocular image recognition device, and the arithmetic unit 141 can determine whether the position of the charging connector 12 is deviated by comparing the real-time image with a standard image.
In another embodiment, at least one force sensor is disposed on the charging connector 12, the force sensor is connected to the controller 14, the force sensor is configured to collect resistance data on the charging connector 12, the arithmetic unit 141 determines the resistance data, and when the resistance data is greater than a normal value, it is determined that a position deviation occurs in the charging connector 12. In addition, the force sensor may also be used for collision avoidance detection during processes other than the plugging process (e.g., during movement of the movable end 112 from the initial position P1 to the second intermediate position P4). Similar to the above process, when the arithmetic unit 141 determines that the resistance data measured by the force sensor is larger than the normal range, it may be determined that the charging connector 12 has hit an obstacle, and at this time, the motion control unit 142 controls the robot arm 11 to stop the motion, or controls the robot arm 11 to change the motion direction so as to avoid the obstacle.
In yet another embodiment, the mechanical arm 11 is provided with a current detection device, and the current detection device is used for detecting the value of the joint current (i.e. the driving current for driving the joint 114 to move). The current detection device is connected to the controller 14, and during the plugging process, the arithmetic unit 141 determines the current value detected by the detection device, and if the current value is larger than a normal value, it is determined that the position of the charging connector 12 has a deviation. In addition, the current detection device can be used for collision avoidance detection in processes other than the plugging process (e.g., during the process in which the movable end 112 moves from the initial position P1 to the second intermediate position P4). Similar to the above process, when the arithmetic unit 141 determines that the current value detected by the current detection device is larger than the normal range, it may be determined that the charging connector 12 or the robot 11 has hit an obstacle, and at this time, the motion control unit 142 controls the robot 11 to stop the motion or controls the robot 11 to change the motion direction so as to avoid the obstacle.
To sum up, the above embodiments provided by the present invention are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. An automatic charging apparatus for a vehicle, comprising:
the mechanical arm is provided with a fixed end and a movable end, and the movable end is provided with a charging joint;
the monocular vision recognition equipment is arranged on the mechanical arm;
a controller comprising an arithmetic unit and a motion control unit, wherein:
the arithmetic unit can control the mechanical arm to move so that the monocular vision recognition device moves from a first position to a second position to obtain a first image and a second image of the vehicle, the arithmetic unit can calculate the target position of the movable end according to the first image and the second image, and the charging connector can be inserted into a charging interface of the vehicle when the movable end moves to the target position;
the motion control unit is used for controlling the mechanical arm to move so that the movable end moves from the current position to the target position.
2. The automatic vehicle charging device according to claim 1, wherein the motion control unit controls the movable end to move from an initial position to a first intermediate position and then from the first intermediate position to the target position, wherein when the movable end is located at the first intermediate position, the charging connector and the charging interface are located at the same height, and an included angle between the charging connector and a horizontal plane is equal to an included angle between the charging interface and the horizontal plane.
3. The vehicle automatic charging apparatus according to claim 2, wherein the motion control unit controls the movable end to move from the first intermediate position to a second intermediate position before controlling the movable end to move to the target position, when the movable end is located at the second intermediate position, the charging connector faces the charging interface, and the distance between the second intermediate position and the target position is 1-3 times the length of the charging connector;
and defining the average moving speed of the movable end moving from the initial position to the second middle position as v1, and defining the average moving speed of the movable end moving from the second middle position to the target position as v2, wherein v2 is not more than 0.3 x v 1.
4. The automatic vehicle charging device of claim 1, wherein the charging connector is provided with at least one force sensor, the force sensor is used for collecting resistance data on the charging connector, and the force sensor is connected with the controller.
5. The automatic vehicle charging apparatus according to claim 1, wherein a current detection device is provided on the robot arm, the current detection device being configured to detect a joint current of the robot arm, the current detection device being connected to the controller.
6. The vehicle automatic charging apparatus according to claim 1, wherein the monocular vision recognition device is provided at a front end of the active end.
7. The automatic vehicle charging apparatus according to claim 1, wherein the robot arm has a plurality of links connected in sequence, each of the links decreasing in cross-sectional size in sequence from the fixed end to the movable end of the robot arm.
8. The automatic vehicle charging apparatus according to claim 1 or 7, wherein the robot arm is a 6-degree-of-freedom robot arm.
9. A mobile charging trolley, which is characterized by comprising a mobile trolley and the automatic vehicle charging equipment as claimed in any one of claims 1 to 8, wherein the fixed end of the mechanical arm is arranged on the mobile trolley.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920710773.7U CN210133030U (en) | 2019-05-17 | 2019-05-17 | Automatic charging equipment of vehicle and mobile charging trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920710773.7U CN210133030U (en) | 2019-05-17 | 2019-05-17 | Automatic charging equipment of vehicle and mobile charging trolley |
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| CN210133030U true CN210133030U (en) | 2020-03-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113328492A (en) * | 2021-06-01 | 2021-08-31 | 青岛特来电新能源科技有限公司 | Charging control device |
| CN117565720A (en) * | 2024-01-17 | 2024-02-20 | 江阴市富仁高科股份有限公司 | Mobile charger |
-
2019
- 2019-05-17 CN CN201920710773.7U patent/CN210133030U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113328492A (en) * | 2021-06-01 | 2021-08-31 | 青岛特来电新能源科技有限公司 | Charging control device |
| CN113328492B (en) * | 2021-06-01 | 2023-08-08 | 青岛特来电新能源科技有限公司 | Charging control device |
| CN117565720A (en) * | 2024-01-17 | 2024-02-20 | 江阴市富仁高科股份有限公司 | Mobile charger |
| CN117565720B (en) * | 2024-01-17 | 2024-04-05 | 江阴市富仁高科股份有限公司 | Mobile charger |
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