Anti-roll mobile charging pile robot and charging method

Abstract

The present invention belongs to the technical field of mobile charging pile robots and relates to an anti-roll mobile charging pile robot and a charging method, comprising a driving mechanism, a fuselage, a mechanical arm assembly, and a charging gun; the mechanical arm assembly is equipped with a joint pushing mechanism and a joint clamping mechanism; the joint clamping mechanism comprises a fixing rod, a connecting gear, a joint moving block, a first fastening block and a second fastening block; the joint pushing mechanism comprises a pushing motor, a coupling, a ball screw connected to the pushing motor through a coupling, a pushing slider installed on the ball screw, the pushing slider and the fourth mechanical arm form a sliding pair, and the ball screw forms a rotating pair; the pushing slider is fixedly connected to the joint moving block, and a clamping mechanism is designed, which can drive the connector of the power output module to be fastened to the charging gun when charging the vehicle to be charged, and disconnect in time after charging is completed, thereby improving the service life of the charging gun.

Description

Technical Field

[0001] The present invention relates to an anti-rollover mobile charging pile robot and a charging method, belonging to the technical field of electric vehicle charging. Background Art

[0002] As an essential means of transportation, automobiles play a vital role in national economic and social development. In recent years, my country's auto sales have maintained steady growth, making it the world's largest auto producer. However, with the widespread adoption of automobiles, the consumption of large quantities of gasoline and diesel has led to exhaust pollution, and the resource and environmental impacts of fuel-powered vehicles have become increasingly serious. To address the pressures of energy security and environmental protection, new energy vehicles have emerged and are experiencing rapid development.

[0003] The global development of new energy vehicles (NEVs) began with hybrids and gradually evolved into pure electric vehicles. New energy vehicles (NEVs) offer a range of green transportation advantages over traditional vehicles, including energy conservation, clean and environmentally friendly operation, affordability, and low travel costs. In China, NEVs, as a strategic industry, have received significant policy support and experienced rapid growth. With the continuous improvement of policies, China's NEV industry continues to grow. The NEV Industry Development Plan sets a target for NEV sales to reach 20% of total vehicle sales by 2025. Against this backdrop, some regions have accelerated the promotion of NEVs. However, the relatively slow development of charging stations, a crucial supporting infrastructure for NEVs, has been a significant constraint to their promotion. While my country's NEV charging infrastructure development has been rapidly expanding since 2015, with the number of new facilities increasing steadily, the significant gap in charging stations remains despite the rapid growth of NEVs, contributing to the difficulty of charging. However, in some communities and shopping malls, charging piles cannot be moved quickly due to their fixed installation, and cannot be flexibly distributed to various usage points, resulting in low utilization and unbalanced distribution of charging piles. At the same time, during use, the charging time is often too long, and the charging gun is forgotten to be unplugged after the battery is fully charged, which also reduces the service life of the charging gun. Summary of the Invention

[0004] The present invention provides an anti-rollover mobile charging pile robot and a charging method, which overcome the shortcomings of the prior art.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] A roll-proof mobile charging pile robot comprises a driving mechanism, a fuselage mounted on the driving mechanism and driven by the driving mechanism, a robotic arm assembly mounted on the upper portion of the fuselage, and a charging gun fixedly mounted on the robotic arm assembly and used to connect to an electric vehicle to be charged; the charging gun is used for pluggable connection to the electric vehicle to be charged, the charging gun is fixed to a fourth robotic arm via a charging gun fixing bracket and is connected to the charging plug of the power output module.

[0007] The robotic arm assembly is equipped with a joint pushing mechanism and a joint clamping mechanism; the robotic arm assembly includes a fourth robotic arm;

[0008] The connector clamping mechanism includes a fixing rod fixedly connected to the robot arm assembly, a connecting gear mounted on the fixing rod, a connector moving block engaged with the connecting gear and having a charging plug mounted thereon, and a first fastening block and a second fastening block engaged with the connecting gear and used to clamp the charging plug and the charging gun;

[0009] The joint pushing mechanism includes a pushing motor, a coupling, a ball screw connected to the pushing motor through the coupling, and a pushing slider mounted on the ball screw, wherein the pushing slider forms a sliding pair with the fourth mechanical arm and a rotating pair with the ball screw;

[0010] The pushing sliding block is fixedly connected with a joint moving block.

[0011] In one embodiment, the joint pushing mechanism is provided with two, including a pushing motor 1, a ball screw 1, a coupling 1 and a pushing slider 1. Pushing motor 1 and pushing motor 2 are fixedly installed inside the fourth robotic arm. Ball screw 1 is fixed inside the fourth robotic arm, and the other end is connected to pushing motor 1 through coupling 1. Ball screw 2 is fixed inside the fourth robotic arm, and the other end is connected to pushing motor 2 through coupling 2. Pushing slider 1 and pushing slider 2 are installed on the screw, forming a sliding pair with the fourth robotic arm, and forming a rotating pair with the screw. A moving groove cooperating with pushing slider 1 and pushing slider 2 is provided on the outside of the fourth robotic arm.

[0012] The anti-roll mechanism is mounted on both sides of the fuselage and includes an auxiliary wheel, an auxiliary wheel fork connected to the auxiliary wheel via a bearing, a shock-absorbing block mounted on the upper portion of the auxiliary wheel fork, an auxiliary wheel frame rod connected to the shock-absorbing block, an upper connecting rod connected to the auxiliary wheel frame rod via a columnar slider joint, a lower connecting rod connected to the auxiliary wheel frame rod and the fuselage, and a spring welded within a slot defined in the upper end of the upper connecting rod. The upper end of the upper connecting rod is provided with a slot, forming a sliding pair with the columnar slider joint. The other end of the upper connecting rod is hingedly connected to the connecting slider. The lower end of the connecting slider is a T-shaped block, which is slidably connected to a fixed bracket on the side of the fuselage. The fixed bracket is provided with a slot, forming a sliding pair with the T-shaped block. The spring is welded within the slot defined in the upper end of the upper connecting rod. The upper portion of the auxiliary wheel fork is connected to the shock-absorbing block via a fastening bolt and nut, and the upper portion of the shock-absorbing block is connected to the lower end of the auxiliary wheel frame rod via a fastening bolt and nut.

[0013] The robotic arm assembly is mounted on the fuselage through a rotating base. The robotic arm assembly includes a first robotic arm, a second robotic arm, a third robotic arm and a fourth robotic arm. One end of the first robotic arm is connected to the rotating base through a first servo motor. The second robotic arm is hinged to the other end of the first robotic arm. A second servo motor is provided at the hinge between the second robotic arm and the first robotic arm. The third robotic arm is connected to the other end of the second robotic arm. A third servo motor is provided at the connection between the third robotic arm and the second robotic arm. The fourth robotic arm is hinged to the other end of the third robotic arm. A fourth servo motor is provided at the hinge between the fourth robotic arm and the third robotic arm.

[0014] The charging gun, the connector pushing mechanism and the connector clamping mechanism are installed on the fourth robotic arm.

[0015] The fuselage houses a battery pack, a sensor module, a fire extinguisher, a control assembly for controlling the fire extinguisher, a fire extinguishing pipe, and a nozzle connected to the fire extinguisher via the pipe. The nozzle is positioned downward. The sensor module, which includes a temperature sensor and a smoke sensor, is mounted on the inner side wall of the fuselage.

[0016] The device also includes a charging and power supply module, which includes an energy output module and an energy input module. The energy output module has one end connected to the battery pack via a cable, and the other end is a charging plug fixed to the connector moving block for external power output. The energy input module has one end connected to the battery pack via a cable, and the other end is a power supply plug connected to the external power grid to convert and store electricity in the battery pack. The power supply plug is fixed to the second push slider.

[0017] The robot head is mounted on the upper portion of the body. It includes a camera, a camera mounting bracket for securing the camera, a laser radar for position identification and positioning, and a display that displays the status of the mobile charging pile robot. The camera mounting bracket is mounted in the middle of the head housing, and the camera is attached to the camera mounting bracket using mounting bolts and nuts. The laser radar is mounted on the upper portion of the head housing for position identification and positioning. The display is mounted on the head housing and displays the status of the mobile charging pile robot, including charging time, charging status of the charged vehicle, and remaining battery power.

[0018] The driving mechanism comprises a driving chassis and a driving wheel installed at the bottom of the driving chassis, and the fuselage is installed on the driving chassis.

[0019] A charging method for an anti-rollover mobile charging pile robot comprises the following steps:

[0020] Step 1: The mobile charging pile robot moves to the location of the vehicle to be charged by driving the chassis according to the charging demand instruction;

[0021] Step 2: The robotic arm assembly moves to dock the charging gun with the charging port of the vehicle to be charged;

[0022] Step 3: The connector pushing mechanism pushes the charging plug to push it out. The connector moving block of the connector clamping mechanism operates under the drive of the connector pushing mechanism. The operation of the connector moving block simultaneously drives the first fastening block and the second fastening block to operate. When the charging plug is connected to the charging gun, the connector pushing mechanism stops, and the connector clamping mechanism fastens the charging plug to the charging gun.

[0023] Step 4: After the battery reaches the target value, the connector push mechanism will drive the charging plug to move, while the connector clamping mechanism releases the connection between the charging plug and the charging gun. When the charging plug returns to its original position, the connector push mechanism stops.

[0024] Step 5: The robot arm of the mobile charging pile moves to disconnect the charging gun from the charging port of the vehicle to be charged, and charging ends;

[0025] Step 6: When the battery pack carried by the mobile charging pile robot is low on power or the power is low, it can move to the vicinity of the power grid, move the mechanical arm assembly to connect the power plug to the power grid interface, and drive the power connector to connect to the power grid through the connector pushing mechanism to charge the battery pack.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention designs a mobile charging pile robot, which can move to the side of a vehicle that needs to be charged under control commands, and charge the vehicle to be charged through the battery pack it carries. Compared with traditional charging piles, it is no longer restricted by the site, can improve charging efficiency, is easy to use, and can be flexibly deployed.

[0028] This invention features a robotic arm for a mobile charging station, enabling automatic charging and powering its own battery pack. When a vehicle requires charging, it can be charged using the charging gun and power output module mounted on the arm. When the battery pack is low or the battery is low, the power input module mounted on the arm connects to the grid to power the battery pack. This solves the problem of excessive power load in traditional charging stations, reduces electricity costs, and improves charging convenience.

[0029] The present invention designs an anti-roll mechanism, which prevents the mobile charging pile robot from rolling, reduces the weight of the mobile charging pile robot, saves space, and can automatically adjust the support range to provide lateral support force, adapt to uneven roads, and improve the driving stability of the mobile charging pile robot.

[0030] The present invention adopts a pluggable charging gun and designs a connector clamping mechanism. When charging the vehicle to be charged, the connector of the power output module can be driven to be tightly connected with the charging gun, and the connection can be disconnected in time after charging is completed, thereby increasing the service life of the charging gun. At the same time, when the charging gun fails, the charging gun can be replaced separately, thereby improving the utilization efficiency of the mobile charging pile robot.

[0031] The present invention designs an automatic fire extinguishing device inside the mobile charging pile robot. The battery pack is monitored by the arranged and installed temperature sensors and smoke sensors, and a reminder is issued when the temperature is too high. When an open flame occurs, the fire is extinguished by controlling the fire extinguisher switch and nozzle, thereby improving the safety of the mobile charging pile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a schematic diagram of the joint clamping mechanism of the present invention;

[0035] Figure 3Schematic diagram of the joint pushing mechanism of the present invention (1);

[0036] Figure 4 Schematic diagram of the joint pushing mechanism of the present invention (2);

[0037] Figure 5 Schematic diagram of the anti-roll mechanism of the present invention;

[0038] Figure 6 It is a schematic diagram of the automatic fire extinguishing device of the present invention.

[0039] In the figure: 1-body, 2-rotating base, 3-first robotic arm, 4-second robotic arm, 5-third robotic arm, 6-fourth robotic arm, 7-connector clamping mechanism, 8-charging power supply module, 9-charging gun, 10-laser radar, 11-display screen, 12-camera, 13-driving mechanism, 14-anti-roll mechanism, 15-first fastening block, 16-connector moving block, 17-charging plug, 18-second fastening block, 19-fixing rod, 20 -Connecting gear, 21-power plug, 22-driving motor, 23-coupling, 24-ball screw, 25-driving slider, 26-charging gun fixing bracket, 27-auxiliary wheel, 28-auxiliary wheel fork, 29-shock absorber, 30-auxiliary wheel frame rod, 31-column slider joint, 32-spring, 33-upper connecting rod, 34-connecting slider, 35-lower connecting rod, 36-fire extinguisher, 37-sprinkler, 38-fire extinguishing pipe, 39-battery pack. DETAILED DESCRIPTION

[0040] The following is a further description of specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is intended to facilitate understanding of the present invention and does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0041] like Figure 1-6As shown, the present invention designs an anti-roll mobile charging pile robot and a charging method, including a driving mechanism 13, a fuselage 1 installed on the driving mechanism 13 and driven by the driving mechanism 13, a robotic arm assembly installed on the upper part of the fuselage 1, a charging gun 9 fixedly installed on the robotic arm assembly and used to connect to the electric vehicle to be charged; the robotic arm assembly includes a fourth robotic arm; the charging gun 9 is used for pluggable connection to the electric vehicle to be charged, and the charging gun 9 is fixed on the fourth robotic arm 6 through a charging gun fixing bracket 26 and is connected to the charging plug 17 of the power output module. The robotic arm assembly is mounted on the fuselage 1 via a rotating base 2, and the robotic arm assembly includes a first robotic arm 3, a second robotic arm 4, a third robotic arm 5, and a fourth robotic arm 6. One end of the first robotic arm 3 is connected to the rotating base 2 via a first servo motor, the second robotic arm 4 is hinged to the other end of the first robotic arm 3, a second servo motor is provided at the hinge between the second robotic arm 4 and the first robotic arm 3, the third robotic arm 5 is connected to the other end of the second robotic arm 4, a third servo motor is provided at the connection between the third robotic arm 5 and the second robotic arm 4, the fourth robotic arm 6 is hinged to the other end of the third robotic arm 5, and a fourth servo motor is provided at the hinge between the fourth robotic arm 6 and the third robotic arm 5. It also includes a charging and power supply module 8, which includes an electric energy output module and an electric energy input module. One end of the electric energy output module is connected to the battery pack 39 through a cable, and the other end is a charging plug 17 for outputting electric energy to the outside and fixed on the connector moving block 16. One end of the electric energy input module is connected to the battery pack 39 through a cable, and the other end is a power supply plug 21 connected to the external power grid to convert and store electric energy into the battery pack 39. The power supply plug 21 is fixed on the push slider 25. The driving mechanism 13 includes a driving chassis, a driving wheel installed at the bottom of the driving chassis, and the fuselage 1 is installed on the driving chassis. A pluggable charging gun 9 is used, and a connector clamping mechanism is designed. When charging the vehicle to be charged, the connector of the electric energy output module can be driven to be tightly connected to the charging gun, and the connection can be disconnected in time after charging is completed, thereby increasing the service life of the charging gun 9. At the same time, when the charging gun 9 fails, the charging gun 9 can be replaced separately, thereby improving the use efficiency of the mobile charging pile robot.

[0042] The mechanical arm assembly is equipped with a joint pushing mechanism and a joint clamping mechanism 7;

[0043] The connector clamping mechanism 7 includes a fixing rod 19 fixedly connected to the robot arm assembly, a connecting gear 20 mounted on the fixing rod 19, a connector moving block 16 that cooperates with the connecting gear 20 and on which the charging plug 17 is mounted, and a first fastening block 15 and a second fastening block 18 that cooperate with the connecting gear 20 and are used to clamp the charging plug 17 and the charging gun 9;

[0044] The joint pushing mechanism includes a pushing motor 22, a coupling 23, a ball screw 24 connected to the pushing motor 22 via the coupling 23, and a pushing slider 25 mounted on the ball screw 24. The pushing slider 25 forms a sliding pair with the fourth robot arm 6 and a rotating pair with the ball screw 24.

[0045] The pushing slider 25 is fixedly connected to the joint moving block 16 .

[0046] In one embodiment, the joint pushing mechanism is provided with two, including a pushing motor 1, a ball screw 1, a coupling 1 and a pushing slider 1. Pushing motor 1 and pushing motor 2 are fixedly installed inside the fourth robotic arm. Ball screw 1 is fixed inside the fourth robotic arm, and the other end is connected to pushing motor 1 through coupling 1. Ball screw 2 is fixed inside the fourth robotic arm, and the other end is connected to pushing motor 2 through coupling 2. Pushing slider 1 and pushing slider 2 are installed on the ball screw, forming a sliding pair with the fourth robotic arm 6, and forming a rotating pair with the ball screw. A moving groove that cooperates with pushing slider 1 and pushing slider 2 is provided on the outside of the fourth robotic arm 6.

[0047] The anti-roll mechanism 14 is mounted on both sides of the fuselage 1. It includes auxiliary wheels 27, auxiliary wheel forks 28 connected to the auxiliary wheels 27 via bearings, shock absorbers 29 mounted on the upper portions of the auxiliary wheel forks 28, auxiliary wheel support rods 30 connected to the shock absorbers 29, upper connecting rods 33 connected to the auxiliary wheel support rods 30 via columnar slider joints 31, lower connecting rods 35 connected to the auxiliary wheel support rods 30 and the fuselage 1, and springs 32. The upper end of the upper connecting rod 33 has a slot, forming a sliding pair with the columnar slider joint 31. The other end of the upper connecting rod 33 is hingedly connected to a connecting slider 34. The lower end of the connecting slider 34 is a T-shaped block, which slides onto a fixed bracket on the side of the fuselage 1. The fixed bracket has a slot, forming a sliding pair with the T-shaped block. The spring 32 is welded to the slot at the upper end of the upper connecting rod 33. The upper portion of the auxiliary wheel fork 28 is connected to the shock absorber 29 via bolts and nuts, and the upper portion of the shock absorber 29 is connected to the lower end of the auxiliary wheel support rod 30 via bolts and nuts. The anti-roll mechanism 14 prevents the mobile charging pile robot from tipping over, reducing its weight and saving space. It also automatically adjusts its support range to provide lateral support, adapting to uneven roads and improving the robot's driving stability.

[0048] The charging gun 9 , the connector pushing mechanism and the connector clamping mechanism 7 are installed on the fourth robotic arm 6 .

[0049] The body 1 is equipped with a battery pack 39, a sensor module, a fire extinguisher 36, a control component for controlling the switch of the fire extinguisher 36, a fire extinguishing pipe 38, and a nozzle 37 connected to the fire extinguisher 36 via the fire extinguishing pipe 38. The nozzle 37 is arranged downward. The sensor module includes a temperature sensor and a smoke sensor, which are installed on the side wall of the inner wall of the body 1. An automatic fire extinguishing device is designed inside. The temperature and smoke sensors are arranged to monitor the battery pack, issue a warning when the temperature is too high, and extinguish the fire by controlling the fire extinguisher switch and nozzle in the event of an open flame, thereby improving the safety of the mobile charging pile robot.

[0050] A robot head is mounted on the upper end of the fuselage 1, and the robot head includes a camera 12, a camera 12 fixing bracket for fixing the camera 12, a laser radar 10 capable of position identification and positioning, and a display screen 11 capable of displaying the status of the mobile charging pile robot. The camera 12 fixing bracket is mounted in the middle of the head shell, and the camera 12 is mounted on the camera 12 fixing bracket via fixing bolts and nuts. The laser radar 10 is mounted on the upper part of the head shell and can perform position identification and positioning. The display screen 11 is mounted on the head shell and can display the status of the mobile charging pile robot, including charging time, charging status of the charged vehicle, and remaining battery power.

[0051] A charging method for an anti-rollover mobile charging pile robot comprises the following steps:

[0052] Step 1: The mobile charging pile robot moves to the location of the vehicle to be charged by driving the chassis according to the charging demand instruction;

[0053] Step 2: The robotic arm assembly moves to dock the charging gun 9 with the charging port of the vehicle to be charged;

[0054] Step 3: The connector pushing mechanism pushes the charging plug 17 to push it out. The connector moving block 16 of the connector clamping mechanism 7 is driven by the connector pushing mechanism to work. The operation of the connector moving block 16 simultaneously drives the first fastening block 15 and the second fastening block 18 to work. When the charging plug 17 is connected to the charging gun 9, the connector pushing mechanism stops, and the connector clamping mechanism fastens the charging plug 17 to the charging gun 9.

[0055] Step 4: After the battery reaches the target value, the connector pushing mechanism will drive the charging plug 17 to move, and at the same time, the connector clamping mechanism will release the connection between the charging plug 17 and the charging gun 9. When the charging plug 17 returns to its original position, the connector pushing mechanism will stop.

[0056] Step 5: The mobile charging pile robot's mechanical arm moves to disconnect the charging gun 9 from the charging port of the vehicle to be charged, and charging ends;

[0057] Step 6: When the battery pack 39 carried by the mobile charging pile robot is low on power or the power is low, it can be moved to the vicinity of the power grid, and the power plug 21 can be connected to the power grid interface through the movement of the mechanical arm assembly, and the power supply connector can be driven to connect to the power grid through another connector pushing mechanism to charge the battery pack 39.

[0058] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It is apparent to those skilled in the art that various changes, modifications, substitutions, and variations to these embodiments may be made without departing from the principles and spirit of the present invention, and these changes and modifications still fall within the scope of protection of the present invention.

Claims

1. An anti-roll mobile charging pile robot, characterized by: It includes a driving mechanism, a fuselage mounted on the driving mechanism and driven by the driving mechanism, a mechanical arm assembly mounted on the upper part of the fuselage, and a charging gun fixedly mounted on the mechanical arm assembly and used to connect to the electric vehicle to be charged; The robotic arm assembly is equipped with a joint pushing mechanism and a joint clamping mechanism; the robotic arm assembly includes a fourth robotic arm; The connector clamping mechanism includes a fixing rod fixedly connected to the robot arm assembly, a connecting gear mounted on the fixing rod, a connector moving block engaged with the connecting gear and having a charging plug mounted thereon, and a first fastening block and a second fastening block engaged with the connecting gear and used to clamp the charging plug and the charging gun; The joint pushing mechanism includes a pushing motor, a coupling, a ball screw connected to the pushing motor through the coupling, and a pushing slider mounted on the ball screw, wherein the pushing slider forms a sliding pair with the fourth mechanical arm and a rotating pair with the ball screw; The pushing sliding block is fixedly connected with a joint moving block.

2. The anti-rollover mobile charging pile robot according to claim 1, characterized in that: Anti-roll mechanisms are installed on both sides of the fuselage, and the anti-roll mechanisms include auxiliary wheels, auxiliary wheel forks connected to the auxiliary wheels through bearings, shock-absorbing blocks installed on the upper part of the auxiliary wheel forks, auxiliary wheel frame rods connected to the shock-absorbing blocks, upper connecting rods connected to the auxiliary wheel frame rods through column-type slider joints, lower connecting rods connected to the auxiliary wheel frame rods and the fuselage respectively, and springs welded in slide grooves opened at the upper ends of the upper connecting rods, the upper ends of the upper connecting rods are provided with slide grooves and column-type slider joints to form sliding pairs, the lower ends of the upper connecting rods are hinged to the connecting sliders, and the lower ends of the connecting sliders are T-shaped blocks, which are slidably connected to the fixed brackets on the side of the fuselage, and the fixed brackets are provided with slide grooves and T-shaped blocks to form sliding pairs.

3. The anti-rollover mobile charging pile robot according to claim 1 or 2, characterized in that: The robotic arm assembly is mounted on the fuselage through a rotating base. The robotic arm assembly includes a first robotic arm, a second robotic arm, a third robotic arm and a fourth robotic arm. One end of the first robotic arm is connected to the rotating base through a first servo motor. The second robotic arm is hinged to the other end of the first robotic arm. A second servo motor is provided at the hinge between the second robotic arm and the first robotic arm. The third robotic arm is connected to the other end of the second robotic arm. A third servo motor is provided at the connection between the third robotic arm and the second robotic arm. The fourth robotic arm is hinged to the other end of the third robotic arm. A fourth servo motor is provided at the hinge between the fourth robotic arm and the third robotic arm.

4. The anti-rollover mobile charging pile robot according to claim 3, characterized in that: The charging gun, the connector pushing mechanism and the connector clamping mechanism are installed on the fourth robotic arm.

5. The anti-rollover mobile charging pile robot according to claim 1, characterized in that: The fuselage is equipped with a battery pack, a sensor module, a fire extinguisher, a control component for controlling the fire extinguisher switch, a fire extinguishing pipe, and a nozzle connected to the fire extinguisher through the fire extinguishing pipe.

6. The anti-rollover mobile charging pile robot according to claim 1, characterized in that: It also includes a charging and power supply module, which includes an electric energy output module and an electric energy input module. One end of the electric energy output module is connected to the battery pack through a cable, and the other end is a charging plug for outputting electric energy to the outside and fixed on the connector moving block. One end of the electric energy input module is connected to the battery pack through a cable, and the other end is a power supply plug connected to the external power grid to convert and store electric energy in the battery pack.

7. The anti-rollover mobile charging pile robot according to claim 1, characterized in that: A robot head is installed at the upper end of the fuselage, and the robot head includes a camera, a camera fixing bracket for fixing the camera, a laser radar for position identification and positioning, and a display screen that can display the status of the mobile charging pile robot.

8. The anti-rollover mobile charging pile robot according to claim 1, characterized in that: The driving mechanism comprises a driving chassis and a driving wheel installed at the bottom of the driving chassis, and the fuselage is installed on the driving chassis.

9. A charging method for an anti-rollover mobile charging pile robot according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: The mobile charging pile robot moves to the location of the vehicle to be charged by driving the chassis according to the charging demand instruction; Step 2: The robotic arm assembly moves to dock the charging gun with the charging port of the vehicle to be charged; Step 3: The connector pushing mechanism pushes the charging plug to push it out. The connector moving block of the connector clamping mechanism operates under the drive of the connector pushing mechanism. The operation of the connector moving block simultaneously drives the first fastening block and the second fastening block to operate. When the charging plug is connected to the charging gun, the connector pushing mechanism stops, and the connector clamping mechanism fastens the charging plug to the charging gun. Step 4: After the battery reaches the target value, the connector push mechanism will drive the charging plug to move, and the connector clamping mechanism will release the connection between the charging plug and the charging gun. When the charging plug returns to its original position, the connector push mechanism will stop. Step 5: The robot arm of the mobile charging pile moves to disconnect the charging gun from the charging port of the vehicle to be charged, and charging ends; Step 6: When the battery pack carried by the mobile charging pile robot is low on power or the power is low, it can move to the vicinity of the power grid, connect the power plug to the power grid interface through the movement of the mechanical arm assembly, and drive the power connector to connect to the power grid through another connector pushing mechanism to charge the battery pack.

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