A three-axis addressing and charging robot

Abstract

The present invention discloses a three-axis addressing charging robot, which belongs to the technical field of charging robots. The robot includes: a base; a sliding base plate, which is slidably arranged on the base; a lifting support, the bottom of the lifting support is fixed to the sliding base plate; a movable support, which is fixed to the top of the lifting support; and a charging mechanism, which includes a charging gun and a pressing rod respectively arranged on the movable support; wherein a driving mechanism and a switching mechanism are provided on the movable support, and the switching mechanism is used to control the driving mechanism to drive the pressing rod or the charging mechanism to move toward the vehicle charging port.

Description

Technical Field

[0001] The present invention relates to the technical field of charging robots, and more particularly, to a three-axis addressing charging robot. Background Art

[0002] With the rapid development of the electric vehicle industry, the convenience of charging electric vehicles has also become a major concern. Electric vehicles are typically charged using charging stations or charging robots. In existing technologies, to facilitate the alignment of charging robots with the vehicle's charging port, charging robots are typically three-axis robots that can move horizontally and vertically to insert the robot's charging gun into the vehicle's charging port. However, vehicle charging ports are often equipped with covers that require manual opening, which is inconvenient. Summary of the Invention

[0003] An object of the present invention is to provide a new technical solution for a three-axis addressing charging robot.

[0004] According to a first aspect of the present invention, there is provided a three-axis addressing and charging robot, the robot comprising:

[0005] base;

[0006] A sliding bottom plate, the sliding bottom plate is slidably arranged on the base;

[0007] A lifting support, the bottom of which is fixed on the sliding bottom plate;

[0008] a movable support, the movable support being fixed to the top of the lifting support; and

[0009] A charging mechanism, comprising a charging gun and a pressing rod respectively provided on a movable support;

[0010] Wherein, a driving mechanism and a switching mechanism are provided on the movable support, and the switching mechanism is used to control the driving mechanism to drive the pressing rod or the charging mechanism to move toward the vehicle charging port.

[0011] Optionally, the driving mechanism includes:

[0012] Two pulleys, the two pulleys are rotatably connected to the two ends of the movable support respectively, and the two pulleys are connected by a synchronous belt;

[0013] a first motor, wherein an output shaft of the first motor is coaxially and fixedly connected to one of the pulleys;

[0014] A connecting bracket is slidably arranged on a movable support, the connecting bracket is fixedly connected to the synchronous belt, and the connecting bracket is used to drive the pressing rod or the charging mechanism to move toward the vehicle charging port.

[0015] Optionally, the switching mechanism includes:

[0016] a limiting plate, the limiting plate being slidably disposed in a first sliding groove provided on the charging gun;

[0017] an adjusting assembly, the adjusting assembly being used to drive the limiting plate to be inserted into the limiting groove provided in the connecting bracket; and

[0018] A limiting component is used to control the position of the charging gun when the pressing rod moves.

[0019] Optionally, the adjustment component includes:

[0020] a second motor, the second motor being installed in the charging gun, and the output shaft of the second motor being coaxially fixed with the first gear;

[0021] A first rack is fixed on the limiting plate, and the first rack is engaged with the first gear.

[0022] Optionally, the limiting component includes:

[0023] A driving rod, the driving rod being rotatably disposed in the charging gun, and a second gear being coaxially fixed to one end of the driving rod;

[0024] a second rack, the second rack being slidably disposed in the charging gun, the second rack being meshed with the top of the second gear, and a first pin block being fixed on the second rack to engage with the side wall of the movable support; and

[0025] a third rack, the third rack being slidably disposed in the charging gun, the third rack being meshed with the bottom of the second gear, and the third rack being fixed with a second pin block plugging with the side wall of the movable support;

[0026] The switching mechanism further includes a connecting assembly, which is used to drive the driving rod to rotate when the limiting plate is inserted into the limiting groove.

[0027] Optionally, the connection component includes:

[0028] a slider, the slider being slidably disposed in the first sliding groove;

[0029] A first spring, one end of the first spring is fixedly connected to the groove wall of the first sliding groove, and the other end of the first spring is fixedly connected to the slider.

[0030] a tooth block, the tooth block being fixedly connected to the bottom of the slider and sliding along the groove wall of the second chute opened at the bottom of the first chute; and

[0031] A third gear is fixed to an end of the driving rod away from the second gear, and the third gear is engaged with the gear block.

[0032] Optionally, the pressing rod includes:

[0033] A rod body, the rod body being arranged on the movable support and having a first oblique groove and a second oblique groove;

[0034] a first elastic block, the first elastic block being slidably disposed in the first oblique groove, the first elastic block being configured to contact a cover plate of a vehicle charging port;

[0035] a first limiting block slidably disposed in the first oblique groove;

[0036] a second spring, the second spring being installed between the first elastic block and the first limiting block;

[0037] a second elastic block, the second elastic block being slidably disposed in the second oblique groove, the second elastic block also being used to contact the cover plate of the vehicle charging port;

[0038] a second limiting block, the second limiting block being slidably disposed in the second oblique groove;

[0039] a third spring, the third spring being installed between the second elastic block and the second limiting block;

[0040] Wherein, two control components for controlling the sliding of the first limiting block or the second limiting block are provided on the rod body.

[0041] Optionally, when the second spring is closer to the charging gun than the third spring, the elastic coefficient of the second spring is smaller than the elastic coefficient of the third spring.

[0042] Optionally, the first limiting block and the second limiting block are respectively provided with a stepped groove;

[0043] The control components include:

[0044] a screw, the screw being threadedly connected to the rod body;

[0045] A movable block is fixed on the screw rod and slides relatively in the stepped groove.

[0046] Optionally, a mounting groove is provided on the rod body, and a shift rod is coaxially fixed to one end of the screw rod away from the movable block, and the shift rod is placed in the mounting groove.

[0047] According to one embodiment of the present disclosure, through the cooperation between the sliding base plate, the lifting support and the movable support, the charging gun can be facing the charging port of the vehicle, and then the switching mechanism is activated so that the driving mechanism can drive the pressing rod to move toward the charging port of the vehicle, so that the pressing rod can touch the cover plate, and then the cover plate is opened. Then the switching mechanism is activated again so that the driving mechanism can drive the charging gun and after the pressing rod is reset, the driving mechanism drives the charging gun to charge the charging port of the vehicle, thereby reducing the need to manually open the cover plate, which is more convenient.

[0048] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0050] Figure 1 This is a schematic diagram of the overall structure of a three-axis addressing charging robot in an embodiment of the present application.

[0051] Figure 2 It is a schematic diagram of the internal structure of the mobile support in the embodiment of the present application.

[0052] Figure 3 It is a schematic diagram of the adjustment component and the connection component in the embodiment of the present application.

[0053] Figure 4 It is a schematic diagram of the limit assembly in the embodiment of the present application.

[0054] Figure 5 It is a schematic diagram of the internal structure of the pressing rod in an embodiment of the present application.

[0055] Reference numerals:

[0056] Base 100; sliding base 200; lifting support 300; movable support 400;

[0057] Charging mechanism 500; charging gun 510; first slide groove 511; second slide groove 512; pressing rod 520; rod body 521; first oblique groove 5211; mounting groove 5212; first spring block 522; first limit block 523; stepped groove 5231; second spring 524; second spring block 525; control assembly 530; screw rod 531; movable block 532; lever 533;

[0058] Driving mechanism 600; pulley 610; synchronous belt 620; first motor 630; connecting bracket 640; limiting groove 641;

[0059] Switching mechanism 700; limiting plate 710; adjusting assembly 720; second motor 721; first gear 722; first rack 723; limiting assembly 730; driving rod 731; second gear 732; second rack 733; first pin block 734; third rack 735; second pin block 736; connecting assembly 740; slider 741; first spring 742; gear block 743; third gear 744. DETAILED DESCRIPTION

[0060] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0061] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly refer to one or more of the features. Throughout the description of this application, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0062] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0063] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0064] The following first describes in detail the three-axis addressing and charging robot according to the embodiment of the present application with reference to the accompanying drawings.

[0065] like Figures 1 to 5 As shown, according to the three-axis addressing charging robot of the embodiment of the present application, the robot includes: a base 100; a sliding base plate 200, the sliding base plate 200 is slidably set on the base 100; a lifting support 300, the bottom of the lifting support 300 is fixed on the sliding base plate 200; a mobile support 400, the mobile support 400 is fixed to the top of the lifting support 300; and a charging mechanism 500, the charging mechanism 500 includes a charging gun 510 and a pressing rod 520 respectively arranged on the mobile support 400; wherein, a driving mechanism 600 and a switching mechanism 700 are provided on the mobile support 400, and the switching mechanism 700 is used to control the driving mechanism 600 to drive the pressing rod 520 or the charging mechanism 500 to move toward the vehicle charging port.

[0066] The sliding base 200 can slide on the base 100, allowing the charging gun 510 above to move along the length of the sliding base 200. The bottom of the lifting support 300 can be fixedly mounted on the sliding base 200, so that the top of the lifting support 300 is fixed to the movable support 400. This allows the lifting support 300 to move the charging gun 510 up or down as it rises or falls, thereby adjusting the height of the charging gun 510 from the ground. The sliding of the sliding base 200 on the base 100 and the lifting support 300 driving the movable support 400 up or down are both existing technologies and will not be further elaborated.

[0067] Specifically, the movable support 400 can be fixedly mounted on the top of the lifting support 300, and the movable support 400 can drive the charging gun 510 and the pressing rod 520 to move simultaneously along the length direction of the movable support 400 through the driving mechanism 600. Alternatively, the movable support 400 can drive the pressing rod 520 to move to the cover of the charging port of the vehicle through the driving mechanism 600. After the pressing rod 520 presses the cover, the cover pops open. When the portion of the charging gun 510 extending from the movable support 400 is longer than the pressing rod 520, the charging gun 510 can be plugged into the charging port of the vehicle to charge the vehicle. This reduces the need to manually open the cover, making charging more convenient.

[0068] In one embodiment, Figure 2As shown, the driving mechanism 600 includes: two pulleys 610, which are respectively rotatably connected to the two ends of the movable support 400, and the two pulleys 610 are connected by a synchronous belt 620; a first motor 630, and the output shaft of the first motor 630 is coaxially fixedly connected to one of the pulleys 610; a connecting bracket 640, the connecting bracket 640 is slidably set on the movable support 400, and the connecting bracket 640 is fixedly connected to the synchronous belt 620, and the connecting bracket 640 is used to drive the pressing rod 520 or the charging mechanism 500 to move toward the vehicle charging port.

[0069] Specifically, the connecting bracket 640 is slidably connected to the top of the movable support 400, and the connecting bracket 640 is fixed to the synchronous belt 620 on one side by bonding, so that when the output shaft of the first motor 630 rotates, the connecting bracket 640 can drive the pressing rod 520 or the charging mechanism 500 to move toward the charging port of the vehicle, so that the charging mechanism 500 can be charged when the cover of the charging port of the vehicle is opened.

[0070] In one embodiment, Figure 2 and Figure 3 As shown, the switching mechanism 700 includes: a limit plate 710, which is slidably set in the first sliding groove 511 opened on the charging gun 510; an adjustment component 720, which is used to drive the limit plate 710 to be inserted into the limit groove 641 opened on the connecting bracket 640; and a limit component 730, which is used to control the position of the charging gun 510 when the pressing rod 520 moves.

[0071] Specifically, the top of the charging gun 510 is provided with a first slot 511 for the limiting plate 710 to slide. When the adjustment assembly 720 is activated, the limiting plate 710 can move from the first slot 511 and insert into the limiting slot 641. When the limiting plate 710 is inserted into the limiting slot 641, the connecting bracket 640 is required to move the charging gun 510 and the pressing rod 520 simultaneously. Simultaneously, the limiting assembly 730 releases the restraint on the charging gun 510, allowing the charging gun 510 to move with the connecting bracket 640, thereby enabling the charging gun 510 to connect to the vehicle's charging port. When the limiting plate 710 is returned to the first slot 511, the connecting bracket 640 is required to move the pressing rod 520 independently. Simultaneously, the limiting assembly 730 adjusts the charging gun 510, securing it relative to the movable support 400, allowing the pressing rod 520 to open the cover of the vehicle's charging port.

[0072] In one embodiment, Figure 3As shown, the adjustment component 720 includes: a second motor 721, the second motor 721 is installed in the charging gun 510, and the output shaft of the second motor 721 is coaxially fixed with a first gear 722; a first rack 723, the first rack 723 is fixed on the limiting plate 710, and the first rack 723 is engaged with the first gear 722.

[0073] Specifically, the second motor 721 is fixedly installed in the charging gun 510 and is arranged close to the connecting bracket 640. When the second motor 721 is started, the output shaft of the second motor 721 rotates to drive the first gear 722 to rotate. The rotation of the first gear 722 drives the first rack 723 to slide in the first slide groove 511, so that the limit plate 710 can be inserted into the limit groove 641 to achieve relative fixation of the connecting bracket 640 and the charging gun 510, thereby driving the charging gun 510 to be inserted into the charging port of the vehicle.

[0074] In one embodiment, Figure 3 and Figure 4 As shown, the limiting assembly 730 includes: a driving rod 731, which is rotatably arranged in the charging gun 510, and a second gear 732 is coaxially fixed to one end of the driving rod 731; a second rack 733, which is slidably arranged in the charging gun 510, and the second rack 733 is engaged with the top of the second gear 732, and a first pin block 734 is fixed on the second rack 733 to be plugged into the side wall of the movable support 400; and a third rack 735, which is slidably arranged in the charging gun 510, and the third rack 735 is engaged with the bottom of the second gear 732, and a second pin block 736 is fixed on the third rack 735 to be plugged into the side wall of the movable support 400; wherein, the switching mechanism 700 also includes a connecting assembly 740, which is used to drive the driving rod 731 to rotate when the limiting plate 710 is plugged into the limiting groove 641.

[0075] Specifically, a third sliding groove is provided inside the charging gun 510 for the sliding of the second rack 733, so that the second rack 733 can slide inside the charging gun 510. A fourth sliding groove is also provided inside the charging gun 510 for the sliding of the third rack 735, so that the third rack 735 can also slide inside the charging gun 510. The limiting plate 710 can be inserted into the limiting groove 641, and under the action of the connecting assembly 740, the driving rod 731 can be rotated to rotate the second gear 732. The rotation of the second gear 732 can drive the second rack 733 and the third rack 735 to move into the charging gun 510, so that the above-mentioned connecting bracket 640 can drive the charging gun 510 and the pressing rod 520 to move toward the charging port of the vehicle at the same time, so that the charging gun 510 can charge the pressing rod 520.

[0076] In one embodiment, Figure 3 and Figure 4 As shown, the connecting assembly 740 includes: a slider 741, the slider 741 is slidably set in the first sliding groove 511, and the top of the slider 741 is provided with a second inclined surface that cooperates with the first inclined surface of the limiting plate 710; a first spring 742, one end of the first spring 742 is fixedly connected to the groove wall of the first sliding groove 511, and the other end of the first spring 742 is fixedly connected to the slider 741; a tooth block 743, the tooth block 743 is fixedly connected to the bottom of the slider 741, and the tooth block 743 slides along the groove wall of the second sliding groove 512 opened at the bottom of the first sliding groove 511; and a third gear 744, the third gear 744 is fixed to the end of the driving rod 731 away from the second gear 732, and the third gear 744 is meshed with the tooth block 743.

[0077] Specifically, the first spring 742 is a compression spring that applies a thrust to the slider 741 toward the limit plate 710, so that when the limit plate 710 moves into the limit groove 641, the tooth block 743 at the bottom of the slider 741 engages with the third gear 744, causing the third gear 744 to rotate, thereby realizing the rotation of the drive rod 731.

[0078] In one embodiment, Figure 2 and Figure 5 As shown, the pressing rod 520 includes: a rod body 521, the rod body 521 is set on the movable support 400, and a first oblique groove 5211 and a second oblique groove are opened on the rod body 521; a first spring block 522, the first spring block 522 is slidably set in the first oblique groove 5211, and the first spring block 522 is used to contact the cover of the vehicle charging port; a first limit block 523, the first limit block 523 is slidably set in the first oblique groove 5211; a second spring 524, the second spring 524 is installed at Between the first spring block 522 and the first limit block 523; the second spring block 525, the second spring block 525 is slidably set in the second oblique groove, and the second spring block 525 is also used to contact the cover of the vehicle charging port; the second limit block, the second limit block is slidably set in the second oblique groove; the third spring, the third spring is installed between the second spring block 525 and the second limit block; wherein, two control components 530 for controlling the sliding of the first limit block 523 or the second limit block are provided on the rod body 521.

[0079] Specifically, the two corners of the pressing rod 520 at one end facing the vehicle's charging port are respectively provided with a first oblique groove 5211 and a second oblique groove. By providing a control component 530, the tightness of the second spring 524 or the third spring can be effectively adjusted. On the one hand, the service life of the second spring 524 or the third spring can be increased, and on the other hand, it is convenient to adjust the second spring 524 or the third spring to a better shock absorption effect. The second spring 524 and the third spring are both compression springs that apply thrust to the first spring block 522 and the second spring block 525 to reduce the pressure exerted by the cover plate on the pressing rod 520 when the cover plate of the vehicle's charging port pops up.

[0080] In one embodiment, when the second spring 524 is closer to the charging gun 510 than the third spring, the elastic coefficient of the second spring 524 is smaller than the elastic coefficient of the third spring.

[0081] In other words, the pressing rod 520 is closer to the charging gun 510 and is subject to less thrust from the cover, so that when the cover can be opened clockwise or counterclockwise, it can be adapted to the thrusts of different directions and strengths received by the pressing rod 520, thereby effectively improving the service life of the pressing rod 520.

[0082] In one embodiment, Figure 5 As shown, the first limit block 523 and the second limit block are respectively provided with a stepped groove 5231; the control component 530 includes: a screw 531, which is threadedly connected to the rod body 521; a movable block 532, which is fixed on the screw 531 and slides relatively in the stepped groove 5231.

[0083] Specifically, the operator rotates the screw 531, and the rotation of the screw 531 causes the movable block 532 to rotate. At the same time, the screw 531 drives the first limit block 523 or the second limit block to slide in the first oblique groove 5211 or the second oblique groove, thereby adjusting the second spring 524 or the third spring to increase the service life of the second spring 524 or the third spring.

[0084] In one embodiment, Figure 5 As shown, a mounting groove 5212 is defined on the rod body 521 , and a shifting rod 533 is coaxially fixed to one end of the screw rod 531 away from the movable block 532 , and the shifting rod 533 is placed in the mounting groove 5212 .

[0085] In other words, by providing the shifting rod 533 , it is convenient for the operator to adjust the rotation of the screw rod 531 .

[0086] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0087] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A three-axis addressing charging robot, characterized in that: The robots include: base; A sliding bottom plate is slidably arranged on the base; A lifting support, the bottom of which is fixed on the sliding bottom plate; A movable support, which is fixed on the top of the lifting support; as well as The charging mechanism includes a charging gun and a pressing rod respectively arranged on the mobile support; Among them, the mobile support is provided with a driving mechanism and a switching mechanism. The driving mechanism includes: Two pulleys, the two pulleys are rotatably connected to the two ends of the movable support, and the two pulleys are connected by a synchronous belt; A connecting bracket is slidably disposed on the movable support, the connecting bracket is fixedly connected to the synchronous belt, and the connecting bracket is used to drive the pressing rod or the charging mechanism to move toward the vehicle charging port; The switching mechanism includes: A limit plate is slidably disposed in a first sliding groove provided on the charging gun; An adjustment component is used to drive the limit plate to be inserted into the limit slot provided on the connecting bracket; A limiting assembly, configured to control the position of the charging gun when the pressing rod moves; The limiter components include: A driving rod is rotatably disposed in the charging gun, and a second gear is coaxially fixed to one end of the driving rod; a second rack, the second rack being slidably disposed in the charging gun, the second rack being meshed with the top of the second gear, and a first pin block being fixed on the second rack and plugging into the side wall of the movable support; and A third rack is slidably disposed in the charging gun and meshes with the bottom of the second gear. A second pin block is fixed to the third rack and engages with the side wall of the movable support; The switching mechanism further includes a connecting assembly, which is used to drive the driving rod to rotate when the limiting plate is inserted into the limiting groove, so that the second rack and the third rack are moved into the charging gun.

2. The three-axis addressing and charging robot according to claim 1, characterized in that: The drive mechanism also includes: A first motor, wherein an output shaft of the first motor is coaxially fixedly connected to one of the pulleys.

3. The three-axis addressing and charging robot according to claim 1, characterized in that: The adjustment components include: A second motor is installed in the charging gun, and the output shaft of the second motor is coaxially fixed with the first gear; The first rack is fixed on the limiting plate and meshes with the first gear.

4. The three-axis addressing and charging robot according to claim 1, characterized in that: Connectivity components include: The slider is slidably arranged in the first sliding groove, and the top of the slider is provided with a second inclined surface that cooperates with the first inclined surface of the limiting plate; a first spring, one end of the first spring being fixedly connected to the groove wall of the first sliding groove, and the other end of the first spring being fixedly connected to the slider; A tooth block is fixedly connected to the bottom of the slider and slides along the groove wall of the second chute opened at the bottom of the first chute; and The third gear is fixed to an end of the driving rod away from the second gear, and the third gear is meshed with the gear block.

5. The three-axis addressing and charging robot according to claim 1, characterized in that: The push rod includes: The rod body is arranged on the movable support and is provided with a first oblique groove and a second oblique groove; a first elastic block, the first elastic block being slidably disposed in the first oblique groove, and the first elastic block being used to contact the cover plate of the vehicle charging port; a first limiting block, the first limiting block being slidably disposed in the first oblique groove; a second spring, the second spring being installed between the first elastic block and the first limiting block; A second elastic block, the second elastic block is slidably disposed in the second oblique groove, and the second elastic block is also used to contact the cover plate of the vehicle charging port; a second limiting block, the second limiting block being slidably disposed in the second oblique groove; a third spring, the third spring being installed between the second elastic block and the second limiting block; Wherein, two control components for controlling the sliding of the first limiting block or the second limiting block are provided on the rod body.

6. The three-axis addressing and charging robot according to claim 5, characterized in that: When the second spring is closer to the charging gun than the third spring, the elastic coefficient of the second spring is smaller than the elastic coefficient of the third spring.

7. The three-axis addressing and charging robot according to claim 5, characterized in that: The first limiting block and the second limiting block are respectively provided with a stepped groove; The control components include: A screw, wherein the screw is threadedly connected to the rod body; The movable block is fixed on the screw rod and slides relatively in the stepped groove.

8. The three-axis addressing and charging robot according to claim 7, characterized in that: A mounting groove is provided on the rod body, and a shifting rod is coaxially fixed to one end of the screw rod away from the movable block, and the shifting rod is placed in the mounting groove.

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