A charging pile automatic insertion manipulator

Abstract

The present invention belongs to the field of mechanical technology, and in particular to an automatic insertion manipulator for charging piles. Aiming at the problem that the existing soft connection and hard connection technologies of the supporting parts cannot realize the matching process well, the following scheme is proposed, including a fixed top plate, the top of the fixed top plate is fixed with a fixed top box by bolts, a horizontal top seat slide groove is opened in the middle position of the top of the fixed top plate, and a horizontally arranged sliding top seat is slidably engaged between the inner walls on both sides of the top seat slide groove. In the present invention, when the fixed claw extends to the bottom of the fixed claw slot, the extension of the fourth pneumatic push rod causes the locking claw to engage with the inside of the locking claw slot, so that the adjacent connecting columns are locked in a fixed state, so that the pneumatic support body is in a vertically fixed rod-shaped posture after inflation, so that the charging mechanism at the bottom is changed from an uninflated soft-connected pneumatic support to a hard-connected pneumatic support body with a fixed support effect after inflation.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular to an automatic insertion manipulator for a charging pile. Background Art

[0002] The use of manipulator equipment can be seen everywhere in the existing technology. The handling of manipulators and the combined use of manipulators can provide great convenience for people's lives and industrial manufacturing. In the popular use of mechanical equipment, unmanned charging of new energy vehicles is also the direction of mechanical development. Through the support of mechanical technology, the technology of unmanned intelligent mechanical control charging is realized, among which the use of manipulators is indispensable.

[0003] The use of existing mechanical technical equipment in new energy charging has the following problems: since the charging piles carried by the manipulator are mostly column-type, the charging process is achieved through the self-offset adjustment of the mobile frame, but the method of directly fixing it on the ground will highlight the position of the charging pile and affect the parking of the vehicle. The overhead charging pile requires a soft connection to achieve the lifting effect, but the insertion of the charging gun position after the currently implemented soft connection technology requires a hard-connected fixed component to provide support force for inserting the charging gun. The technology on soft connection and hard connection cannot achieve a good matching process, and the existing technology is not easy to solve such problems. Therefore, there is an urgent need for a charging pile automatic insertion manipulator to solve the above problems. Summary of the invention

[0004] Based on the technical problem that the soft connection and hard connection technologies of the existing support parts cannot well realize the matching process, the present invention proposes an automatic insertion manipulator for charging piles.

[0005] The present invention proposes an automatic insertion manipulator for a charging pile, comprising a fixed top plate, a fixed top box being fixed to the top of the fixed top plate by bolts, a horizontal top seat slide groove being opened at the middle position of the top of the fixed top plate, a horizontally arranged sliding top seat being slidably clamped between the inner walls on both sides of the top seat slide groove, closed folding plates being fixed at both ends of the sliding top seat, and both sides of the closed folding plates being clamped with the top seat slide groove, positions of the two closed folding plates away from the sliding top seat being fixed to the two ends of the fixed top plate, a same group of pneumatic support mechanisms being arranged between the two end positions of the top of the sliding top seat and the two end positions of the top of the fixed top plate, the pneumatic support mechanisms extending through the sliding top seat to the bottom position, and a charging mechanism being fixed at the bottom position of the pneumatic support mechanisms.

[0006] Preferably, the pneumatic support mechanism includes a tube winding roller fixed by bearings at both end positions between the inner walls of both sides of the fixed top box, and winding positions are provided on both sides of the tube winding roller. The winding positions of the tube winding roller on both sides are wound with an outer sleeve hose, and the outer sleeve hose extends to the bottom position through the sliding top seat, and the inner sleeve of the outer sleeve hose is provided with a pneumatic support body, and the two end positions on both sides of the top of the sliding top seat are fixed with duct arc sleeves by bolts, and the outer sleeve hose is slidably clamped and fixed to the inner wall of the duct arc sleeve.

[0007] Preferably, both sides of the top of the fixed top plate are provided with pipe sleeve slide grooves, a vertically arranged pipe sleeve slide is slidably engaged between the inner walls on both sides of the pipe sleeve slide groove, a supporting pipe sleeve is fixed to the top of the pipe sleeve slide by bolts, and the top of the supporting pipe sleeve is slidably engaged with the outer sleeve hose.

[0008] Preferably, a distribution box is fixed to the middle position of the top of the sliding top seat by bolts, a cable roller is fixed between the inner walls at both ends of the distribution box by bearings, and a charging cable is wound around the cable roller, and the charging cable extends to the bottom position of the sliding top seat and is fixed to the charging mechanism, and pipe outlet drive rollers are fixed to both sides of the top of both ends of the distribution box, and the pipe outlet drive rollers are in contact with the circumferential outer wall of the outer sleeve hose.

[0009] Preferably, the charging mechanism includes a horizontally arranged charging elevator box, a second pneumatic push rod is embedded and fixed on the top and bottom of the inner wall of one side of the charging elevator box, the output end of the second pneumatic push rod is fixed to the same charging handle box by bolts, a cable slot is provided between the top and one side of the charging elevator box, and a cable driving wheel is fixed at the top and bottom of the cable slot through a spring seat, the charging cable is fixed to the cable slot, and the cable driving wheel is squeezed and contacted with the outer wall of the charging cable through the spring seat.

[0010] Preferably, the pneumatic support body includes a fixed column seat and a connecting column, two adjacent connecting columns are fixed by ball joints, and the bottom ball joint of the bottom connecting column is provided with a fixed column seat, the bottom of the fixed column seat is fixed to the top of the charging elevator box by bolts, a column ball head is welded and fixed at the bottom position of the connecting column, and column ball grooves are provided at the top of the fixed column seat and the connecting column, and the column ball heads and column ball grooves of the two adjacent connecting columns at the top and bottom are fitted and sleeved, and three fixed column matching grooves distributed in a circumferential array are provided at the top circumferential positions of the fixed column seat and the connecting column, and the fixed column matching grooves include a fixed claw buffer groove in the top area and a fixed claw clamping groove in the bottom area, and the cross-section of the fixed claw buffer groove is a right-angled trapezoid.

[0011] Preferably, three fixing claw grooves distributed in a circumferential array are opened at the bottom circumferential position of the connecting column, and a vertically arranged fixing claw is slidably engaged with the bottom inner wall of the fixing claw groove, and the fixing claw matches the size of the fixing claw slot. A first pneumatic push rod is fixed on both sides of the top of the fixing claw groove, and the bottom output end of the first pneumatic push rod is fixed to the top of the fixing claw.

[0012] Preferably, locking claw receiving grooves are provided at the bottom of both sides of the fixed claw, a locking claw is hingedly fixed at the middle position of the locking claw receiving groove, locking claw slots are provided at the bottom of both sides of the fixed claw slot, the locking claw slots match the size of the locking claws, a fourth pneumatic push rod is hingedly connected to the top of the locking claw receiving groove, and the bottom output end of the fourth pneumatic push rod is hingedly fixed to the locking claw, an air guide tube passes through the interior of the connecting column, and the air guide tube is sealed and sleeved and fixed to the air inlet ends of the first pneumatic push rod and the fourth pneumatic push rod.

[0013] Preferably, third pneumatic push rods are hinged at both ends of the top and bottom inner walls of the charging handle box, roller seats are hinged and fixed at the bottoms of the four third pneumatic push rods, clamping belt drive rollers are fixed between the two sides of the roller seats through bearings, charging handle clamping belts are respectively sleeved between the two clamping belt drive rollers located at the top and bottom, the same charging handle is clamped and fixed between the outer walls of the charging handle clamping belts located at the top and bottom, the charging handle wiring terminal is electrically connected to the charging cable, and the charging end of the charging handle is provided with a camera vision sensor.

[0014] The beneficial effects of the present invention are:

[0015] The automatic insertion manipulator of the charging pile inflates the air duct through an air pump. The air duct inflates the first pneumatic push rod, so that the fixed claw at the bottom extends, and gradually extends to the inside of the fixed claw slot of matching size through the fixed claw buffer groove, so that the adjacent connecting column is fixed. When the fixed claw extends to the bottom of the fixed claw slot, the extension of the fourth pneumatic push rod causes the locking claw to engage with the inside of the locking claw slot, so that the adjacent connecting columns are locked in a fixed state, so that the pneumatic support body is in a vertically fixed rod-shaped posture after inflation, and the charging mechanism at the bottom is changed from a non-inflated soft-connected pneumatic support to a hard-connected pneumatic support body with a fixed support effect after inflation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of an automatic charging pile insertion manipulator proposed by the present invention;

[0017] Figure 2 This is a schematic diagram of the internal structure of a fixed top box of an automatic insertion manipulator for a charging pile proposed by the present invention;

[0018] Figure 3 This is a schematic diagram of the connecting column structure of an automatic insertion type manipulator for a charging pile proposed by the present invention;

[0019] Figure 4 This is a schematic diagram of the bending state of the connecting column of the automatic insertion type manipulator of a charging pile proposed by the present invention;

[0020] Figure 5 This is a schematic diagram of the internal cross-sectional structure of a connecting column of an automatic insertion type manipulator for a charging pile proposed by the present invention;

[0021] Figure 6 This is a schematic diagram of the internal structure of a charging mechanism of an automatic insertion type manipulator for a charging pile proposed by the present invention;

[0022] Figure 7 This is a schematic cross-sectional view of the internal structure of a locking claw of an automatic insertion manipulator for a charging pile proposed by the present invention.

[0023] In the figure: 1. Charging handle box; 2. Charging lift box; 3. Fixed top plate; 4. Outer hose; 5. Charging cable; 6. Fixed top box; 7. Slide slot of pipe sleeve; 8. Pipe winding roller; 9. Support pipe sleeve; 10. Pipe sleeve slide; 11. Pipe outlet drive roller; 12. Distribution box; 13. Closing folding plate; 14. Sliding top seat; 15. Catheter arc sleeve; 16. Fixed claw; 17. Fixed column seat; 18. Connecting column; 19. Column ball head ; 20. Air guide tube; 21. Locking claw; 22. First pneumatic push rod; 23. Fixed claw slot; 24. Fixed claw buffer slot; 25. Locking claw slot; 26. Column ball slot; 27. Fixed column matching slot; 28. Cable drive wheel; 29. ​​Second pneumatic push rod; 30. Third pneumatic push rod; 31. Charging handle clamping belt; 32. Clamping belt drive roller; 33. Charging handle; 34. Locking claw storage slot; 35. Fourth pneumatic push rod. DETAILED DESCRIPTION

[0024] Reference Figure 1-Figure 7 A charging pile automatic insertion manipulator comprises a fixed top plate 3, a fixed top box 6 is fixed to the top of the fixed top plate 3 by bolts, a horizontal top seat slide groove is opened in the middle position of the top of the fixed top plate 3, and a horizontally arranged sliding top seat 14 is slidably clamped between the inner walls on both sides of the top seat slide groove, and closed folding plates 13 are fixed at both ends of the sliding top seat 14, and the two sides of the closed folding plates 13 are clamped with the top seat slide groove, and the positions of the two closed folding plates 13 away from the sliding top seat 14 are fixed to the two ends of the fixed top plate 3, and the same group of pneumatic support mechanisms are arranged between the two end positions of the top of the sliding top seat 14 and the two end positions of the top of the fixed top plate 3, the pneumatic support mechanism passes through the sliding top seat 14 and extends to the bottom position, and a charging mechanism is fixed at the bottom position of the pneumatic support mechanism.

[0025] Furthermore, the pneumatic support mechanism includes a tube winding roller 8 fixed by bearings at both ends between the inner walls of both sides of the fixed top box 6, and winding positions are set at both sides of the tube winding roller 8. The outer sleeve hose 4 is wound around the winding positions of the tube winding roller 8 at both sides, and the outer sleeve hose 4 extends to the bottom position through the sliding top seat 14. The inner sleeve of the outer sleeve hose 4 is provided with a pneumatic support body, and the two end positions on both sides of the top of the sliding top seat 14 are fixed with a conduit arc sleeve 15 by bolts, and the outer sleeve hose 4 is fixed to the inner wall of the conduit arc sleeve 15 by sliding clamping;

[0026] Furthermore, both sides of the top of the fixed top plate 3 are provided with pipe sleeve slide slots 7, and a vertically arranged pipe sleeve slide 10 is slidably engaged between the inner walls of both sides of the pipe sleeve slide slot 7, and a supporting pipe sleeve 9 is fixed to the top of the pipe sleeve slide 10 by bolts, and the top of the supporting pipe sleeve 9 is slidably engaged with the outer sleeve hose 4;

[0027] Furthermore, a distribution box 12 is fixed to the middle position of the top of the sliding top seat 14 by bolts, a cable roller is fixed between the inner walls at both ends of the distribution box 12 by bearings, and the cable roller is wound with a charging cable 5, and the charging cable 5 extends to the bottom position of the sliding top seat 14 and is fixed to the charging mechanism, and the two sides of the top of both ends of the distribution box 12 are fixed with a tube drive roller 11, and the tube drive roller 11 is in contact with the circumferential outer wall of the outer sleeve hose 4;

[0028] Furthermore, the charging mechanism includes a horizontally arranged charging elevator box 2, a second pneumatic push rod 29 is embedded and fixed at the top and bottom of the inner wall of one side of the charging elevator box 2, and the output end of the second pneumatic push rod 29 is fixed to the same charging handle box 1 by bolts, a through cable slot is opened between the top and one side of the charging elevator box 2, and a cable driving wheel 28 is fixed at the top and bottom of the cable slot through a spring seat, the charging cable 5 is fixedly arranged in a sleeve with the cable slot, and the cable driving wheel 28 is squeezed and contacted with the outer wall of the charging cable 5 through the spring seat;

[0029] Furthermore, the pneumatic support body includes a fixed column seat 17 and a connecting column 18. Two adjacent connecting columns 18 are fixed by ball joints, and the bottom ball joint of the bottom connecting column 18 is connected with the fixed column seat 17. The bottom of the fixed column seat 17 is fixed to the top of the charging elevator box 2 by bolts. A column ball head 19 is welded and fixed at the bottom position of the connecting column 18. The top of the fixed column seat 17 and the connecting column 18 are provided with a column ball groove 26. The column ball heads 19 and the column ball grooves 26 of the two adjacent connecting columns 18 at the top and bottom are fitted and sleeved. The top circumferential positions of the fixed column seat 17 and the connecting column 18 are provided with three fixed column matching grooves 27 distributed in a circumferential array. The fixed column matching grooves 27 include a fixed claw buffer groove 24 in the top area and a fixed claw clamping groove 23 in the bottom area. The cross section of the fixed claw buffer groove 24 is a right-angle trapezoid.

[0030] Furthermore, three fixed claw grooves distributed in a circumferential array are opened at the bottom circumference of the connecting column 18, and a vertically arranged fixed claw 16 is slidably engaged with the bottom inner wall of the fixed claw groove. The fixed claw 16 matches the size of the fixed claw groove 23, and the first pneumatic push rod 22 is fixed on both sides of the top of the fixed claw groove, and the bottom output end of the first pneumatic push rod 22 is fixed to the top of the fixed claw 16;

[0031] Furthermore, locking claw receiving grooves 34 are provided at the bottom of both sides of the fixed claw 16, and a locking claw 21 is hingedly fixed at the middle position of the locking claw receiving groove 34. Locking claw clamping grooves 25 are provided at the bottom of both sides of the fixed claw clamping groove 23, and the size of the locking claw clamping groove 25 matches that of the locking claw 21. A fourth pneumatic push rod 35 is hingedly connected to the top of the locking claw receiving groove 34, and the bottom output end of the fourth pneumatic push rod 35 is hingedly fixed to the locking claw 21. An air guide tube 20 runs through the interior of the connecting column 18, and the air guide tube 20 is sealed and sleeved and fixed to the air inlet ends of the first pneumatic push rod 22 and the fourth pneumatic push rod 35.

[0032] Furthermore, third pneumatic push rods 30 are hinged at both ends of the top and bottom inner walls of the charging handle box 1, and roller seats are hinged and fixed at the bottoms of the four third pneumatic push rods 30. Clamping belt drive rollers 32 are fixed between the two sides of the roller seats through bearings, and charging handle clamping belts 31 are respectively sleeved between the two clamping belt drive rollers 32 located at the top and bottom. The same charging handle 33 is clamped and fixed between the outer walls of the charging handle clamping belts 31 located at the top and bottom, and the wiring terminal of the charging handle 33 is electrically connected to the charging cable 5. The charging end of the charging handle 33 is provided with a camera vision sensor.

[0033] When the present invention is used: first, the entire device needs to be fixed at the top of the pre-installed position, such as the top position of the garage. After it is fixed and stabilized, when charging is not required, the charging pile is in an idle state. At this time, the air pump inflates the air duct 20, so that the fixed claws 16 and the locking claws 21 inside the pneumatic support body are both in a retracted state, and the adjacent connecting columns 18 are only connected and fixed to the fixed column seat 17 at the bottom in a ball joint manner, so that the pneumatic support body is in a soft connection state. By rolling up the tube roller 8, the outer sleeve hose 4 and the internal pneumatic support body can be rolled up, so that the charging mechanism is located at the top position; when the vehicle arrives and needs to be charged, after the vehicle is parked, the tube roller 8 releases the outer sleeve hose 4 and the pneumatic support body, and positions them through the camera visual sensor on the charging handle 33. When released to be level with the charging position, the tube roller 8 is locked, and the air duct 20 is inflated by the air pump. During the process of the air duct 20 inflating the first pneumatic push rod 22, the fixed claw 16 at the bottom is extended, and gradually extends to the matching position through the fixed claw buffer groove 24. The inside of the fixed claw slot 23 of the matching size makes the adjacent connecting column 18 fixed. When the fixed claw 16 extends to the bottom of the fixed claw slot 23, the extension of the fourth pneumatic push rod 35 makes the locking claw 21 engage with the inside of the locking claw slot 25, so that the adjacent connecting columns 18 are locked in a fixed state, so that the pneumatic support body is inflated to a vertically fixed rod-shaped posture, so that the charging mechanism at the bottom is changed from an uninflated soft-connected pneumatic support to an inflated hard-connected pneumatic support body with a fixed support effect, After the lift box 2 is fixed, the second pneumatic push rod 29 pushes the charging handle box 1 to the position of the car's charging port, and then the charging handle 33 is pushed to the charging port position through the transportation of the charging handle clamping belt 31. Through the adjustment of the four third pneumatic push rods 30, the clamping and transportation angle of the charging handle 33 can be changed, and the charging socket of the car can be inserted at different angles for charging. After charging is completed, the air pump stops inflating so that the pneumatic support is in a soft connection state, and the charging mechanism can be retracted to achieve the state of storage to the top.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A charging pile automatic insertion manipulator, comprising a fixed top plate (3), the top of which is fixed with a fixed top box (6) by bolts, characterized in that: A horizontal top seat slide groove is provided in the middle of the top of the fixed top plate (3); a horizontally arranged sliding top seat (14) is slidably engaged between the inner walls on both sides of the top seat slide groove; closed folding plates (13) are fixed to both ends of the sliding top seat (14); and both sides of the closed folding plates (13) are engaged with the top seat slide groove; positions of the two closed folding plates (13) away from the sliding top seat (14) are fixed to the two ends of the fixed top plate (3); a same set of pneumatic support mechanisms are provided between the two end positions of the top of the sliding top seat (14) and the two end positions of the top of the fixed top plate (3); the pneumatic support mechanisms extend through the sliding top seat (14) to the bottom position; a charging mechanism is fixed to the bottom position of the pneumatic support mechanisms; and an air pump is fixed to the top inner wall of the fixed top box (6); The pneumatic support mechanism comprises a tube winding roller (8) fixed by bearings at both ends between the inner walls of both sides of the fixed top box (6), and reeling positions are provided at both sides of the tube winding roller (8), and an outer sleeve hose (4) is wound around the reeling positions at both sides of the tube winding roller (8), and the outer sleeve hose (4) passes through the sliding top seat (14) and extends to the bottom position, and a pneumatic support body is provided inside the outer sleeve hose (4), and the two ends of both sides of the top of the sliding top seat (14) are fixed by bolts with a conduit arc sleeve (15), and the outer sleeve hose (4) is fixed to the inner wall of the conduit arc sleeve (15) by sliding engagement; The pneumatic support body comprises a fixed column seat (17) and a connecting column (18), two adjacent connecting columns (18) are fixed by ball joints, and the bottom ball of the bottom connecting column (18) is connected to the fixed column seat (17), the bottom of the fixed column seat (17) is fixed to the top of the charging elevator box (2) by bolts, the bottom of the connecting column (18) is welded and fixed with a column ball head (19), and the tops of the fixed column seat (17) and the connecting column (18) are both provided with The column ball groove (26) is fitted and sleeved with the column ball heads (19) of two adjacent connecting columns (18) at the top and bottom. The top circumferential positions of the fixed column seat (17) and the connecting column (18) are each provided with three fixed column matching grooves (27) distributed in a circumferential array. The fixed column matching groove (27) includes a fixed claw buffer groove (24) in the top region and a fixed claw clamping groove (23) in the bottom region. The cross section of the fixed claw buffer groove (24) is a right-angled trapezoid.

2. The automatic charging pile insertion manipulator according to claim 1 is characterized in that: The top of the fixed top plate (3) is provided with a pipe sleeve slide groove (7) on both sides, a vertically arranged pipe sleeve slide (10) is slidably engaged between the inner walls on both sides of the pipe sleeve slide groove (7), a support pipe sleeve (9) is fixed to the top of the pipe sleeve slide (10) by bolts, and the top of the support pipe sleeve (9) is slidably engaged with the outer sleeve hose (4).

3. The automatic charging pile insertion manipulator according to claim 1 is characterized in that: A distribution box (12) is fixed to the middle position of the top of the sliding top seat (14) by bolts, a cable roller is fixed between the inner walls at both ends of the distribution box (12) by bearings, and a charging cable (5) is wound around the cable roller, and the charging cable (5) extends to the bottom position of the sliding top seat (14) and is fixed to the charging mechanism, and pipe outlet drive rollers (11) are fixed to both sides of the top of both ends of the distribution box (12), and the pipe outlet drive rollers (11) are in contact with the circumferential outer wall of the outer sleeve hose (4).

4. The automatic charging pile insertion manipulator according to claim 3 is characterized in that: The charging mechanism comprises a horizontally arranged charging lift box (2), a second pneumatic push rod (29) is embedded and fixed at the top and bottom of the inner wall of one side of the charging lift box (2), the output end of the second pneumatic push rod (29) is fixed to the same charging handle box (1) by bolts, a cable slot hole is provided between the top and one side of the charging lift box (2), and a cable driving wheel (28) is fixed at the top and bottom of the cable slot hole by spring seats, the charging cable (5) is fixedly mounted in a sleeve with the cable slot hole, and the cable driving wheel (28) is in extrusion contact with the outer wall of the charging cable (5) by the spring seat.

5. The automatic charging pile insertion manipulator according to claim 1 is characterized in that: The bottom circumferential position of the connecting column (18) is provided with three fixed claw grooves distributed in a circumferential array, and the bottom inner wall of the fixed claw groove is slidably engaged with a vertically arranged fixed claw (16), and the size of the fixed claw (16) matches that of the fixed claw groove (23). First pneumatic push rods (22) are fixed to both sides of the top of the fixed claw groove, and the bottom output end of the first pneumatic push rod (22) is fixed to the top of the fixed claw (16).

6. The automatic charging pile insertion manipulator according to claim 5, characterized in that: The bottom of both sides of the fixed claw (16) is provided with a locking claw receiving groove (34), and a locking claw (21) is hingedly fixed in the middle of the locking claw receiving groove (34). The bottom of both sides of the fixed claw clamping groove (23) is provided with a locking claw clamping groove (25), and the size of the locking claw clamping groove (25) matches that of the locking claw (21). A fourth pneumatic push rod (35) is hingedly connected to the top of the locking claw receiving groove (34), and the bottom output end of the fourth pneumatic push rod (35) is hingedly fixed to the locking claw (21). An air guide tube (20) runs through the interior of the connecting column (18), and the air guide tube (20) is sealed and sleeved and fixed to the air inlet ends of the first pneumatic push rod (22) and the fourth pneumatic push rod (35).

7. The automatic charging pile insertion manipulator according to claim 4, characterized in that: The third pneumatic push rods (30) are hingedly connected to both ends of the inner wall at the top and bottom of the charging handle box (1); the bottoms of the four third pneumatic push rods (30) are hingedly fixed with roller seats; a clamping belt drive roller (32) is fixed between the two sides of the roller seat via a bearing; a charging handle clamping belt (31) is respectively sleeved between the two clamping belt drive rollers (32) at the top and bottom; a same charging handle (33) is clamped and fixed between the outer walls of the charging handle clamping belts (31) at the top and bottom; the wiring terminal of the charging handle (33) is electrically connected to the charging cable (5); and a camera visual sensor is provided at the charging end of the charging handle (33).

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