Electric vehicle automatic charging robot end effector

Abstract

The present invention discloses an end effector of an electric vehicle automatic charging robot, including a charging gun unlocking assembly, which releases the locking force of the charging gun in the inserted state; a charging gun clamping assembly, which clamps the charging gun that releases the locking force; a charging gun pushing assembly, which pushes the charging gun clamped by the charging gun clamping assembly into the charging gun insertion position or pulls it out from the charging gun insertion position; and a static frame and a dynamic frame; the charging gun unlocking assembly and the charging gun clamping assembly are respectively arranged on the dynamic frame; the charging gun pushing assembly is arranged between the dynamic frame and the static frame, and the charging gun pushing assembly drives the dynamic frame relative to the static frame to form an extension or retraction action, so that the charging gun pushing assembly realizes a pushing and pulling action on the charging gun clamped by the charging gun clamping assembly. The present invention can automatically realize the unlocking, clamping, pushing and pulling actions of the charging gun, replace the manual method, cooperate with the charging robot, realize automatic charging of electric vehicles, and reduce the human operation process.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle charging, and in particular to an end effector of an automatic charging robot for an electric vehicle. Background Art

[0002] With the development of science and technology and the strengthening of environmental protection awareness, electric vehicles have developed rapidly. The popularization of artificial intelligence and the standardization of charging guns, charging sockets, and charging piles have made it possible to use robots in the field of automatic charging of electric vehicles.

[0003] At present, the charging of electric vehicles is mainly done by the staff of the charging station or the owners themselves. The former needs to be equipped with a certain amount of labor, which increases the operating cost of the charging station. The use of robots for automatic charging is a future development trend. In order not to change the structure of the existing charging gun and charging pile, it is necessary to design an end effector for automatic robot charging. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide an electric vehicle automatic charging robot end effector that cooperates with a charging robot to realize an automatic charging process.

[0005] The technical solution for implementing the present invention is as follows

[0006] Electric vehicle automatic charging robot end effector, including

[0007] The charging gun unlocking component releases the locking force of the charging gun in the inserted state;

[0008] A charging gun clamping assembly, clamping the charging gun to release the locking force;

[0009] A charging gun push-pull assembly pushes the charging gun held by the charging gun clamping assembly into the charging gun insertion position or pulls it out from the charging gun insertion position;

[0010] As well as static frames and dynamic frames;

[0011] The charging gun unlocking assembly and the charging gun clamping assembly are respectively arranged on the moving frame;

[0012] The charging gun pushing and pulling assembly is arranged between the moving frame and the static frame. The charging gun pushing and pulling assembly drives the moving frame to extend or retract relative to the static frame, so that the charging gun pushing and pulling assembly can push and pull the charging gun clamped by the charging gun clamping assembly.

[0013] Further, the charging gun clamping assembly includes a clamping mechanism;

[0014] The clamping mechanism includes two clamping members arranged in the moving frame, and a clamping space for the charging gun handle to be clamped is formed between the two clamping members. Adjustment mechanisms for adjusting the angles of the clamping members to change the clamping space are respectively arranged between the two clamping members and the moving frame.

[0015] Furthermore, the charging gun clamping assembly further comprises a clamping mechanism for applying a clamping force to the clamping member from the outside of the clamping member to the inside;

[0016] The abutting mechanism comprises a abutting support, abutting arm, abutting head, a driving arm, a driver, and a driving member;

[0017] The abutting support is fixedly assembled on the moving frame, and the middle part of the abutting arm is movably assembled on the abutting support;

[0018] One end of the driving arm is movably connected to the driving member, the other end of the driving arm is fixedly connected to one end of the clamping arm, the clamping head is fixedly installed on the other end of the clamping arm, and the clamping head is located outside the clamping member;

[0019] The driver is assembled on the abutting support, and the driver drives the driving member to reciprocate, and drives the abutting arm through the driving arm to swing along the middle part of the abutting arm, so that the abutting head and the clamping member are matched.

[0020] Further, the adjustment mechanism is located between the outer side of the clamping member and the moving frame, and the adjustment mechanism includes two ball studs arranged at intervals;

[0021] A clamping block is fixed on the outside of the clamping piece for the ball head of the ball stud to be installed and form a limit. The other end of the ball stud is connected to the moving frame. There is a locking nut on the ball stud. The locking position between the ball stud and the moving frame is adjusted by the locking nut to adjust the angle of the clamping piece.

[0022] Furthermore, the charging gun unlocking assembly includes an unlocking support, an unlocking driver, and an unlocking push block;

[0023] The unlocking support is assembled on the moving frame, the unlocking driver is assembled on the unlocking support, the unlocking push block is slidably assembled on the unlocking support, the front end of the unlocking push block is an unlocking contact, and the unlocking driver drives the unlocking push block to slide on the unlocking support to drive the unlocking contact to trigger the unlocking button on the charging gun, thereby realizing the locking force to release the charging gun from the inserted state.

[0024] Furthermore, slide grooves are respectively provided on both sides of the rear end of the unlocking push block, and an insert block extending into the slide groove is fixedly installed on the unlocking support. The insert block cooperates with the slide groove to form a sliding assembly between the unlocking push block and the unlocking support.

[0025] Furthermore, the charging gun push-pull assembly includes a push-pull driver, a connecting plate, a floating plate, a guide shaft, and a guide sleeve;

[0026] The push-pull driver is fixedly assembled in the static frame, the guide sleeve is fixedly assembled on the static frame, one end of the guide shaft is fixedly assembled on the floating plate, the other end of the guide shaft extends into the guide sleeve to form a guide fit, the connecting plate is fixedly connected to the moving frame, the floating plate is fixedly connected to the connecting plate, and the push-pull driver drives the floating plate to drive the connecting plate and the moving frame to form an extension or retraction action under the guidance of the guide shaft.

[0027] Furthermore, the end effector also includes a charging port cover opening assembly assembled on the static frame, and the charging port cover opening assembly includes a fixing frame, an inner cover rod, and an outer cover rod;

[0028] The middle part of the fixing frame is fixedly assembled on the static frame, and the two ends of the fixing frame extend to the two sides of the static frame. The two ends of the fixing frame are respectively fixedly installed with outer cover rods, and the inner cover rod is fixedly installed in the middle part of the fixing frame. Flexible sleeves are respectively installed at the front ends of the outer cover rod and the inner cover rod.

[0029] Furthermore, an outer cover for covering the static frame and the dynamic frame is installed on the static frame.

[0030] Furthermore, the clamping space formed by the two clamping members gradually decreases from the front end to the rear end.

[0031] By adopting the above technical solution, the static frame is fixedly connected to the electric vehicle charging robot, and the electric vehicle charging robot drives the static frame and the entire end effector to realize the action in the automatic charging process; an external force is applied to the unlocking key of the charging gun through the charging gun unlocking assembly to release the locking force when the charging gun is in the inserted state, and the charging gun can be switched from the inserted state to the ready-to-be-pulled state at this time; that is, when the charging robot moves the charging gun from the charging pile to the electric vehicle charging port and from the electric vehicle charging port to the charging pile through the end effector, when the charging gun is not inserted, the charging gun is unlocked by the charging gun unlocking assembly. The electric gun clamping assembly clamps the charging gun; when the charging gun is clamped and aligned with the charging gun socket of the charging pile or the charging port of the electric vehicle, the charging gun push-pull assembly applies a thrust to the moving frame, and the moving frame moves outward and drives the charging gun to extend, so that the charging gun is inserted into the charging gun socket of the charging pile or the charging port of the electric vehicle; when the unlocked charging gun needs to be pulled out, the charging gun clamping assembly clamps the charging gun, and the charging gun push-pull assembly applies a pulling force to the moving frame, and the moving frame retracts inward, so that the charging gun can be pulled out from the charging gun socket of the charging pile or the charging port of the electric vehicle. The present invention can automatically realize the unlocking, clamping, pushing and pulling actions of the charging gun, replace the manual method, cooperate with the charging robot, realize automatic charging of electric vehicles, and reduce the human operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0033] Figure 2 for Figure 1 A schematic diagram of a rear-view stereoscopic structure;

[0034] Figure 3 It is a schematic diagram of the split structure of the present invention;

[0035] Figure 4 for Figure 2 Schematic diagram of the internal structure behind the hidden cover;

[0036] Figure 5 This is a schematic diagram of the structure of the charging gun unlocking component;

[0037] Figure 6 This is a schematic diagram of the structure in which the charging gun clamping assembly is assembled in the moving frame;

[0038] Figure 7 for Figure 6 Schematic diagram of the structure after hiding the moving frame;

[0039] Figure 8 It is a schematic diagram of the structure of the tightening mechanism;

[0040] Fig. 9 for Figure 8 A schematic diagram of the structure after a clamping support and a clamping arm are hidden in the middle;

[0041] Fig.10 It is a structural schematic diagram of a tightening support in the tightening mechanism;

[0042] Fig.11 This is a schematic diagram of the structure of the charging gun push-pull assembly;

[0043] Fig.12 It is a schematic diagram of the structure of the charging gun;

[0044] In the accompanying drawings, 1 is a charging gun unlocking assembly, 2 is a charging gun clamping assembly, 3 is a charging gun pushing assembly, 4 is a static frame, 5 is a dynamic frame, 6 is a fixed connection position, 7 is a top plate, 8 is a bottom plate, 9 is a reinforcing plate, 10 is a supporting plate, 11 is a clamping member, 12 is a protruding portion, 13 is an arc groove, 14 is a supporting plate, 15 is a bracket, 16 is a ball head bolt, 17 is a fixing block, 18 is a clamping block, 19 is a locking nut, 20 is a tightening support, 21 is a tightening arm, and 22 is a tightening head , 23 is a driving arm, 24 is a driver, 25 is a driving member, 26 is a pin shaft, 27 is a sliding part, 28 is a slide groove, 29 is an unlocking support, 30 is an unlocking driver, 31 is an unlocking push block, 32 is an unlocking contact, 33 is a slide groove, 34 is an insert block, 35 is a push-pull driver, 36 is a connecting plate, 37 is a floating plate, 38 is a guide shaft, 39 is a guide sleeve, 40 is a charging port cover opening assembly, 41 is a fixing frame, 42 is an inner cover rod, 43 is an outer cover rod, and 44 is an outer cover. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] like Figure 1 As shown in FIG. 12 , the end effector of the automatic charging robot for electric vehicles includes a charging gun unlocking assembly 1, which is used to trigger an unlocking key on the charging gun handle when the charging gun is inserted into the charging socket of the charging pile or the charging port of the electric vehicle to release the locking force when the charging gun is inserted, so as to facilitate the subsequent smooth removal of the charging gun.

[0047] The charging gun clamping assembly 2 is used to clamp the charging gun to release the locking force, and to clamp and tighten the handle of the charging gun for subsequent pushing and pulling of the charging gun, and during the operation of the charging gun. When the charging gun clamping assembly clamps the charging gun, the muzzle of the charging gun faces outward. The action of the charging gun clamping assembly clamping the charging gun can be before or after releasing the locking force; if the charging gun is easy to fall off after the locking force is released, the action of clamping the charging gun should be earlier than the action of releasing the locking force.

[0048] The charging gun pushing and pulling component 3 pushes the charging gun clamped by the charging gun clamping component into the charging gun insertion position or pulls it out from the charging gun insertion position; the insertion positions here include the charging gun socket of the charging pile and the charging port of the electric vehicle. When the charging gun is not in use, it is in the charging gun socket of the charging pile. When in use, the end effector cooperates with the automatic charging robot to unlock, clamp, pull out and transport the charging gun in the charging gun socket of the charging pile, and then push it into the charging port of the electric vehicle through the charging gun pushing and pulling component 3.

[0049] And a static frame 4 and a dynamic frame 5; there is a fixed connection position 6 with the electric vehicle charging robot above the static frame 4. After the electric vehicle charging robot is connected to the static frame 4, it drives the static frame 4 and the entire end effector to realize the operation between the charging pile and the electric vehicle charging port. The static frame 4 includes a top plate 7 and a bottom plate 8. The top plate 7 is arranged in the horizontal direction, the fixed connection position 6 is on the top plate 7, and the bottom plate 8 is arranged in the vertical direction. The upper end of the bottom plate 8 is fixedly connected to the middle of the top plate 7, and a reinforcing plate 9 is fixedly connected between the top plate 7 and the bottom plate 8 to form a support to ensure the overall strength of the static frame.

[0050] The charging gun unlocking assembly 1 and the charging gun clamping assembly 2 are respectively arranged on the moving frame 5; the moving frame 5 includes two vertically arranged support plates 10, and an assembly space for installing the charging gun unlocking assembly 1 and the charging gun clamping assembly 2 is formed between the two vertical support plates. The charging gun unlocking assembly 1 is located above the charging gun clamping assembly 2 to optimize the structural layout in the assembly space and reduce the space occupied by the moving frame 5 and the entire end effector.

[0051] The charging gun pushing and pulling assembly 3 is arranged between the moving frame 5 and the stationary frame 4. The charging gun pushing and pulling assembly 3 drives the moving frame 5 to extend or retract relative to the stationary frame 4, so that the charging gun pushing and pulling assembly 3 can push and pull the charging gun clamped by the charging gun clamping assembly 2.

[0052] In practice, the charging gun clamping assembly 2 includes a clamping mechanism, which includes two vertically arranged clamping members 11 disposed in the moving frame 5. A clamping space for the charging gun handle to be inserted is formed between the two clamping members 11. The clamping member 11 is in the shape of a plastic plate to avoid clamping wear on the charging gun handle. The inner surface of the clamping member 11 is a clamping surface for clamping the charging gun handle, and a protrusion can be added to this surface to enhance the clamping force. The clamping space formed by the two clamping members 11 gradually decreases from the front end to the rear end, that is, it gradually decreases from the entrance of the clamping space inward, so that the charging gun handle can be smoothly guided into the clamping space, and a trend of pushing the charging gun handle into the clamping space more and more tightly can be formed.

[0053] There is an arc groove 13 above the two clamping parts 11 for clamping the convex part 12 on the side of the charging gun, and a support plate 14 is fixedly connected below the moving frame 5. The middle part of the support plate has a bracket 15. When the charging gun is clamped into the clamping space, the upper two sides of the charging gun handle are clamped in the arc groove 13, and the lower part is clamped in the bracket 15, so that the charging gun is clamped in the clamping space more firmly. The shape and structure of the clamping part can be adaptively adjusted according to the different types of charging gun handle structures to meet the clamping requirements.

[0054] In order to adapt to the clamping of electric gun handles of different sizes, the size of the clamping space formed between the two clamping members 11 can be adaptively adjusted, that is, an adjustment mechanism for adjusting the angle of the clamping members to change the size of the clamping space is respectively provided between the two clamping members 11 and the moving frame 5. The adjustment mechanism is located between the outer side of the clamping member 11 and the support plate 10 of the moving frame 5. The adjustment mechanism includes two ball studs 16 arranged at intervals, that is, two ball studs 16 are arranged in the horizontal direction on the outer side of each clamping member 11.

[0055] A clamping block is fixed on the outer side of the clamping member 11 for inserting the ball head of the ball stud 16 and forming a limit. The clamping block is composed of a fixing block 17 and a clamping block 18. The fixing block 17 and the clamping block 18 are fixed to the outer side of the clamping member by screws. A limit space is formed between the fixing block 17 and the clamping block 18 for inserting the ball head of the ball stud. The ball head of the ball stud can rotate freely in the limit space. The other end of the ball stud is threadedly connected to the support plate 10 of the moving frame 5. A locking nut 19 is provided on the ball stud 16. The locking position between the ball stud and the moving frame is adjusted by the locking nut 19 to adjust the angle of the clamping member, thereby being able to change the size of the clamping space formed between the two clamping members.

[0056] In order to further clamp the charging gun handle in the clamping space, the charging gun clamping assembly 2 also includes a clamping mechanism that applies a clamping force to the clamping member 11 from the outside of the clamping member 11 inward; the clamping mechanism includes a clamping support 20, two clamping arms 21, two clamping heads 22, two driving arms 23, a driver 24, and a driving member 25; the two clamping arms 21, the two clamping heads 22, and the two driving arms 23 form a one-to-one correspondence. The clamping mechanism shown in the drawings of the present application applies an inward clamping force to the two clamping members 11 from the outside of the two clamping members 11 at the same time to ensure the synchronization of clamping the charging gun handle.

[0057] In practice, the abutting support 20 is fixedly assembled under the moving frame 5, and the middle part of the abutting arm 21 is rotatably assembled on the abutting support 20 through the pin 26, that is, the abutting arm 21 can swing around the rotating shaft under the action of external force; one end of the driving arm 23 is movably connected to the driving member 25 through the pin, and the other end of the driving arm 23 is fixedly connected to one end of the abutting arm 21, and the abutting head 22 is fixedly installed on the other end of the abutting arm 21 through a screw, and the abutting head 22 is on the outside of the clamping member. A notch is provided below the support plate 10 to allow the abutting arm to swing.

[0058] The driver 24 is a driving motor, and the driving member 25 and the driving motor are matched with each other by a threaded transmission method, that is, when the motor rotates, the driving member 25 can realize reciprocating motion; the driver 24 is assembled on the clamping support 20, the driver 24 is on the outer side of the clamping support 20, and the driving member 25 is on the inner side of the clamping support 20, and the driving end of the driver 24 extends into the inner side of the clamping support 20 and cooperates with the driving member 25 for transmission. The driver 24 drives the driving member 25 to reciprocate, and drives the clamping arm 21 through the driving arm 23, so that the clamping arm 21 swings along the middle part of the clamping arm 21, so that the clamping head 22 contacts the outer side surface of the clamping member 11 to apply a clamping force or disengage to cancel the clamping force.

[0059] A sliding portion 27 extends from the driving member 25, which is pressed against a slide groove 28 opened on the support 20 for the sliding portion 27 to extend into. Driven by the driver 24, the driving member 25 reciprocates through the sliding guide of the sliding portion 27 and the slide groove 28 to ensure the driving stability.

[0060] The entire clamping mechanism drives the two clamping arms 21 to swing simultaneously through a driver 24, so that the two clamping heads 22 apply clamping force from the outer sides of the two clamping members 11 simultaneously and one by one, ensuring the synchronization of the clamping of the charging gun handle by the clamping member 11, avoiding displacement of the charging gun handle during the clamping process, affecting the subsequent insertion accuracy, and also reducing the space occupied by the entire clamping mechanism.

[0061] The charging gun unlocking assembly 1 is located at the top of the moving frame 5. The charging gun unlocking assembly 1 includes an unlocking support 29, an unlocking driver 30, and an unlocking push block 31. The unlocking support 29 is assembled at the top of the moving frame 5. The unlocking driver 30 is an unlocking motor. The unlocking driver 30 is assembled on the unlocking support 29. The unlocking push block 31 is slidably assembled on the unlocking support 29. The front end of the unlocking push block 31 is an unlocking contact 32. The unlocking driver 30 drives the unlocking push block 31 to slide on the unlocking support 29 to drive the unlocking contact 32 to trigger the unlocking key on the charging gun to achieve the locking force of releasing the charging gun from the inserted state. Specifically, a slide groove 33 is respectively provided on both sides of the tail end of the unlocking push block 31. An insert block 34 extending into the slide groove 33 is fixedly installed on the unlocking support 29. The insert block 34 cooperates with the slide groove 33 to form a sliding assembly between the unlocking push block and the unlocking support. The unlocking motor in the charging gun unlocking assembly applies force to the unlocking block, and the unlocking block pushes the lock and unlocking key of the charging gun to achieve the purpose of unlocking. The force applied by the motor is more uniform, preventing the thrust from changing too sharply and causing damage to the locking key of the charging gun.

[0062] The charging gun push-pull assembly 3 includes a push-pull driver 35, a connecting plate 36, a floating plate 37, a guide shaft 38, and a guide sleeve 39; the push-pull driver 35 is a motor, and the push-pull driver 35 is fixedly assembled on one side of the bottom plate 8 of the static frame 4, and the guide sleeve 39 is fixedly assembled on the bottom plate 8 of the static frame 4, one end of the guide shaft 38 is fixedly assembled on the floating plate 37, and the other end of the guide shaft 38 extends into the guide sleeve 39 to form a guide fit, the connecting plate 36 is fixedly connected to the inner end of the moving frame 5 by screws, and the floating plate 37 is fixedly connected to the connecting plate 38 by screws, and the push-pull driver 35 drives the floating plate 37 to drive the connecting plate 36 and the moving frame 5 to form an extension or retraction action under the guidance of the guide shaft 38, thereby realizing the plugging and unplugging action of the charging gun.

[0063] The end effector also includes a charging port cover opening assembly 40 mounted on the static frame, and the charging port cover opening assembly 40 includes a fixing frame 41, an inner cover rod 42, and an outer cover rod 43; the middle part of the fixing frame 41 is fixedly mounted on the top plate 7 of the static frame 4, and the two ends of the fixing frame 41 extend to the two sides of the static frame, which are used to fix the outer cover rod 43 respectively, and the inner cover rod 42 is fixedly mounted in the middle part of the fixing frame, and flexible sleeves are respectively installed at the front end of the outer cover rod and the front end of the inner cover rod to prevent scratches on the car during the opening and closing process. The charging port cover opening assembly can realize the functions of opening the inner cover of the charging port and closing the inner cover and outer cover of the charging port; the inner cover rod is used to open and close the inner cover of the electric vehicle charging port, and the two lower outer cover rods are used to close the outer cover of the electric vehicle charging port.

[0064] An outer cover 44 is installed on the static frame 4, which covers the static frame 4 and the dynamic frame 5. The outer cover is made of metal sheet, which can protect the internal structure and also can reflect a certain value in terms of aesthetics.

[0065] Due to the placement angle of the charging gun and the parking angle of the electric vehicle, the end effector needs to have a flexible structure to prevent damage to the charging gun when grabbing the charging gun, and needs to be rigidly connected to the charging gun when moving and plugging the charging gun to achieve the purpose of clamping the charging gun. Due to the heavy weight of the charging gun, the existing robot automatic charging end effector is more likely to integrate the charging gun into the end effector, or the end effector using the grasping method cannot guarantee the clamping of the charging gun, and cannot realize the process of plugging and unplugging the gun, which has very large limitations in actual use.

[0066] The end effector of the present invention can realize the following action process: the electric vehicle charging port cover opening assembly opens the inner cover of the electric vehicle charging port, the charging gun clamping assembly of the end effector clamps the charging gun, the charging gun unlocking assembly opens the charging gun lock, pulls out the charging gun, inserts the charging gun into the electric vehicle charging port through the charging gun push-pull assembly, charging is completed, the charging gun clamping assembly of the end effector clamps the charging gun, the charging gun unlocking assembly opens the charging gun lock, pulls out the charging gun and puts the charging gun back into the charging pile, and the electric vehicle charging port cover opening assembly closes the inner cover and outer cover of the electric vehicle. During the whole process, the clamping force on the charging gun can be guaranteed by the charging gun clamping assembly, which solves the problem that the charging gun is integrated into the end effector and the gripping method end effector cannot guarantee the clamping of the charging gun.

Claims

1. The electric vehicle automatic charging robot end effector is characterized by: include The charging gun unlocking component releases the locking force of the charging gun in the inserted state; A charging gun clamping assembly, clamping the charging gun to release the locking force; A charging gun push-pull assembly pushes the charging gun held by the charging gun clamping assembly into the charging gun insertion position or pulls it out from the charging gun insertion position; As well as static frames and dynamic frames; The charging gun unlocking assembly and the charging gun clamping assembly are respectively arranged on the moving frame; The charging gun push-pull assembly is arranged between the moving frame and the static frame. The charging gun push-pull assembly drives the moving frame to extend or retract relative to the static frame, so that the charging gun push-pull assembly can push and pull the charging gun clamped by the charging gun clamping assembly. The charging gun clamping assembly includes a clamping mechanism; The clamping mechanism includes two clamping members arranged in the moving frame, a clamping space for the charging gun handle to be clamped is formed between the two clamping members, and adjustment mechanisms for adjusting the angles of the clamping members to change the clamping space are respectively arranged between the two clamping members and the moving frame; The charging gun clamping assembly also includes a clamping mechanism that applies a clamping force from the outside of the clamping member to the inside of the clamping member; The abutting mechanism comprises a abutting support, abutting arm, abutting head, a driving arm, a driver, and a driving member; The abutting support is fixedly assembled on the moving frame, and the middle part of the abutting arm is movably assembled on the abutting support; One end of the driving arm is movably connected to the driving member, the other end of the driving arm is fixedly connected to one end of the clamping arm, the clamping head is fixedly installed on the other end of the clamping arm, and the clamping head is located outside the clamping member; The driver is assembled on the abutting support, and the driver drives the driving member to reciprocate, and drives the abutting arm through the driving arm to swing along the middle part of the abutting arm, so that the abutting head and the clamping member are matched; The adjustment mechanism is located between the outer side of the clamping member and the moving frame, and the adjustment mechanism includes two ball studs arranged at intervals; A clamping block is fixed on the outside of the clamping piece for the ball head of the ball stud to be installed and form a limit. The other end of the ball stud is connected to the moving frame. There is a locking nut on the ball stud. The locking position between the ball stud and the moving frame is adjusted by the locking nut to adjust the angle of the clamping piece.

2. The electric vehicle automatic charging robot end effector according to claim 1, characterized in that: The charging gun unlocking assembly includes an unlocking support, an unlocking driver, and an unlocking push block; The unlocking support is assembled on the moving frame, the unlocking driver is assembled on the unlocking support, the unlocking push block is slidably assembled on the unlocking support, the front end of the unlocking push block is an unlocking contact, and the unlocking driver drives the unlocking push block to slide on the unlocking support to drive the unlocking contact to trigger the unlocking button on the charging gun, thereby realizing the locking force to release the charging gun from the inserted state.

3. The electric vehicle automatic charging robot end effector as claimed in claim 2, characterized in that: Slide grooves are respectively arranged on both sides of the rear end of the unlocking push block, and an insert block extending into the slide groove is fixedly installed on the unlocking support. The insert block cooperates with the slide groove to form a sliding assembly between the unlocking push block and the unlocking support.

4. The electric vehicle automatic charging robot end effector according to claim 1, characterized in that: The charging gun push-pull assembly includes a push-pull driver, a connecting plate, a floating plate, a guide shaft, and a guide sleeve; The push-pull driver is fixedly assembled in the static frame, the guide sleeve is fixedly assembled on the static frame, one end of the guide shaft is fixedly assembled on the floating plate, the other end of the guide shaft extends into the guide sleeve to form a guide fit, the connecting plate is fixedly connected to the moving frame, the floating plate is fixedly connected to the connecting plate, and the push-pull driver drives the floating plate to drive the connecting plate and the moving frame to form an extension or retraction action under the guidance of the guide shaft.

5. The electric vehicle automatic charging robot end effector according to claim 1, characterized in that: The end effector also includes a charging port cover opening assembly mounted on the static frame, and the charging port cover opening assembly includes a fixing frame, an inner cover rod, and an outer cover rod; The middle part of the fixing frame is fixedly assembled on the static frame, and the two ends of the fixing frame extend to the two sides of the static frame. The two ends of the fixing frame are respectively fixedly installed with outer cover rods, and the inner cover rod is fixedly installed in the middle part of the fixing frame. Flexible sleeves are respectively installed at the front ends of the outer cover rod and the inner cover rod.

6. The electric vehicle automatic charging robot end effector according to claim 1, characterized in that: The static frame is provided with an outer cover which covers the static frame and the dynamic frame.

7. The electric vehicle automatic charging robot end effector according to claim 1, characterized in that: The clamping space formed by the two clamping members gradually decreases from the front end to the rear end.

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