A charging gun automatic adjustment wire collection system and its intelligent charging pile

Abstract

The present invention discloses a charging gun automatic adjustment wire-taking system and its intelligent charging pile. An intelligent charging pile comprises: a box body, a mounting groove; a charging gun, a connecting wire connected to the bottom of the charging gun; a winding frame, arranged in the box body, for winding the connecting wire; a driving motor; a slide groove, arranged on one side of the box body; a connecting plate, slidingly connected in the slide groove; a five-axis driving mechanism, connected to the connecting plate, for driving the connecting plate to move in three-dimensional space; a clamping mechanism, arranged on the connecting plate, for clamping the charging gun and adjusting the charging gun to face upward, driving the charging gun to be hung on the hanging rack in an upward direction. An automatic adjustment wire-taking system for a charging gun is applied to the above-mentioned intelligent charging pile. The present invention has the following beneficial effects: This automatic adjustment wire-taking system for a charging gun and its intelligent charging pile can adjust the placement angle of the charging gun after automatically taking up the charging gun, and enable the charging gun to be correctly hung on the charging pile.

Description

Technical Field

[0001] The present invention relates to the field of electric vehicle charging equipment, and in particular to an automatic adjustment wire-winding system for a charging gun and an intelligent charging pile thereof. Background Art

[0002] With the popularity of electric vehicles, the demand for automation and intelligence of charging equipment is increasing. Traditional charging gun installation requires manual operation, which is inconvenient and has the risk of misinstallation.

[0003] In order to solve the above problems, a Chinese patent with publication number CN117863916A discloses an automatic recovery method for an electric vehicle charging gun, which mainly includes a weight sensor. The weight difference between an electric vehicle plugged in and an electric vehicle not plugged in is measured by the weight sensor to determine whether to unplug the charging gun. After unplugging, the electric controller drives the cable retracting device to automatically retract the cable and recover the charging gun.

[0004] The essence of the above-mentioned charging gun recycling method is to return the charging gun to the charging pile by retracting and releasing the cable. During the charging gun recycling process, since the charging gun is pulled out of the car and is in a free state, its placement angle is different, that is, the charging port of the charging gun may face upward or downward, so the orientation of the charging gun is uncertain at this time.

[0005] After the charging gun is recycled, it may not be properly hung in the charging pile. Secondly, when recycling the charging gun through the above method, the charging port will obviously be exposed to the outside world. If the charging port of the charging gun is in direct contact with the outside world for a long time, it is easy to cause the connection position of the charging port to be contaminated by dust, rain, etc., causing pollution or rust of the charging port. Summary of the invention

[0006] The purpose of the present invention is to provide a charging gun automatic adjustment wire collection system and an intelligent charging pile, which can adjust the placement angle of the charging gun after automatically collecting the charging gun, and enable the charging gun to be correctly hung on the charging pile.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions:

[0008] A smart charging pile comprises: a box body, a mounting groove is provided on one side of the box body, and a hanging rack is provided in the mounting groove; a charging gun, a connecting wire is connected to the bottom of the charging gun; a winding frame is provided in the box body and used to wind the connecting wire; a driving motor is provided on one side of the winding frame and used to drive the winding frame to wind the connecting wire; a slide groove is provided on one side of the box body; a connecting plate is slidably connected in the slide groove; a five-axis driving mechanism is connected to the connecting plate and used to drive the connecting plate to move in a three-dimensional space; a clamping mechanism is provided on the connecting plate and used to clamp the charging gun and adjust the charging gun to face upward, so as to drive the charging gun to be hung on the hanging rack in an upward direction.

[0009] The present invention is further configured as follows: the clamping mechanism includes: a rotating motor, fixedly connected to one side of the connecting plate; a driving cylinder, fixedly connected to one side of the rotating motor; a mounting plate, fixedly connected to one side of the driving cylinder; a driving rod, hinged to the output shaft of the driving cylinder; a connecting seat, arranged on both sides of the driving rod; a connecting rod, two of which are hinged to the connecting seat at the top and bottom; a clamping block, connected to the end of the connecting rod, and a clamping groove matching the gun body of the charging gun is arranged in the middle of the clamping block.

[0010] The present invention is further configured as follows: a positioning groove is provided on the clamping block, a rubber roller is provided in the positioning groove, one end of the rubber roller is connected to a stepping motor, and the other end is connected to a bearing between the clamping block.

[0011] The present invention is further configured such that the slide groove is in an "L" shape.

[0012] The present invention is further configured as follows: the charging gun includes a charging head and a gun body integrally arranged with the charging head, the gun body is cylindrical, and the cross-sectional area of ​​each position of the gun body is the same.

[0013] A charging gun automatic adjustment and winding system is applied to the above-mentioned smart charging pile. It includes: a sensing module for real-time monitoring of the status of the charging gun; a control module for calculating adjustment parameters according to the feedback information of the sensing module, and controlling each execution component to perform adjustment and hanging actions. It includes the following steps: a) real-time monitoring of the status of the charging gun through the sensing module; b) when it is detected that the charging gun is pulled out from the vehicle, the driving motor drives the winding rack to reel in the connecting wire; c) the control module calculates the current position and direction of the charging gun according to the feedback information of the sensing module; d) controls the five-axis drive mechanism to drive the connecting plate to move near the charging gun; e) controls the clamping mechanism to clamp the charging gun; f) according to the calculated angle difference, controls the rotating motor and the stepping motor to adjust the charging gun to face upward; g) controls the five-axis drive mechanism to move the charging gun to the vicinity of the rack; h) controls the clamping mechanism to release the charging gun so that it is hung on the rack.

[0014] The present invention is further configured as follows: the sensing module includes: a position sensor, arranged at the junction of the charging gun and the connecting line, for real-time monitoring of the spatial position of the charging gun; an angle sensor, arranged on the back side of the charging head of the charging gun, for detecting the direction of the charging gun.

[0015] The present invention is further configured such that: the control module comprises: a central controller for receiving data from the sensing module, calculating the difference between the current position and orientation of the charging gun and the target position and orientation, and generating a corresponding control signal;

[0016] The present invention is further configured as follows: an algorithm module is used for real-time feedback and dynamic adjustment of control parameters, including angle difference calculation, step number calculation of the stepping motor and path planning of the five-axis driving mechanism.

[0017] The present invention is further configured as follows: the angle difference calculation formula in the algorithm module is:

[0018] in, is the current placement angle of the charging gun, This is the correct placement angle when the charging port of the charging gun is facing upwards.

[0019] The present invention is further configured as follows: the step number calculation formula of the stepping motor in the algorithm module is:

[0020] in, Indicates the angle difference, that is, the difference between the current actual angle of the charging gun and the target angle. Indicates the number of steps required for a stepper motor to make one revolution. The fixed parameters of a stepper motor determine the resolution of the motor, that is, the rotation angle corresponding to each step; Indicates the gear ratio. If the stepper motor is connected to the rubber roller through a gear set, the gear ratio is used to amplify or reduce the rotation of the motor output; The value is the number of output gear teeth / the number of input gear teeth, which is used to adjust the rotation angle of the stepper motor output to the load.

[0021] In summary, the present invention has the following beneficial effects: the charging gun automatic adjustment wire-taking system and its intelligent charging pile can adjust the placement angle of the charging gun after automatically taking up the charging gun, and enable the charging gun to be correctly hung on the charging pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of a smart charging pile;

[0023] Figure 2 This is a schematic diagram of the structure of the smart charging pile after removing part of the box;

[0024] Figure 3 It is a schematic diagram of the structure of the charging gun;

[0025] Figure 4 It is a side view structural diagram of a smart charging pile;

[0026] Figure 5 for Figure 4 A magnified view of area A;

[0027] Figure 6 It is a structural schematic diagram of a clamping block and its connection structure;

[0028] Figure 7 This is a state diagram between the charging gun and the clamping block when automatic wire retraction is completed;

[0029] Figure 8A schematic diagram of the process of automatically adjusting the wire take-up system for the charging gun;

[0030] Fig. 9 This is a schematic diagram of the sensor installation location.

[0031] Figure numerals: 1. Box body; 2. Mounting groove; 3. Hanger; 4. Charging gun; 5. Charging head; 6. Gun body; 7. Connecting wire; 8. Winding frame; 9. Driving motor; 10. Slide groove; 11. Connecting plate; 12. Rotating motor; 13. Driving cylinder; 14. Mounting plate; 15. Output shaft; 16. Driving rod; 17. Connecting seat; 18. Connecting rod; 19. Clamping block; 20. Clamping groove; 21. Positioning groove; 22. Rubber roller; 23. Stepping motor; 24. Clamping position; 25. Angle sensor installation position; 26. Position sensor installation position. DETAILED DESCRIPTION

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "page", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0034] In the description of the present invention, "multiple" means two or more than two, unless otherwise clearly defined. In the present invention, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0036] like Figure 1 , Figure 2As shown, a smart charging pile includes a box body 1. A mounting groove 2 is provided on one side of the box body 1. A bracket 3 is provided in the mounting groove 2. Correspondingly, a corresponding charging gun 4 can be placed on the bracket 3. The charging gun 4 is placed on the bracket 3 and connected to the corresponding standardized interface of the charging gun 4, so that the charging gun 4 can be accurately docked.

[0037] like Figure 3 As shown, the structure of the charging gun 4 includes a charging head 5 and a gun body 6 integrally provided with the charging head 5. A charging port is provided at one end of the charging head 5. The gun body 6 is cylindrical, and the cross-sectional area of ​​each position of the gun body 6 is the same.

[0038] like Figure 4 , Figure 5 As shown, in order to solve the technical purpose of automatically winding the charging gun 4. The present application connects a connecting wire 7 to the bottom of the charging gun 4. Corresponding to the end of the connecting wire 7, a winding rack 8 is provided in the box 1. The connecting wire 7 is wound on the winding rack 8. A corresponding driving motor 9 can be provided on one side of the winding rack 8. The driving motor 9 is used to drive the winding rack 8 to wind up the connecting wire 7, so as to automatically wind up the charging gun 4. When the charging gun 4 is detached from the electric vehicle, the driving motor 9 automatically winds up the connecting wire 7 of the charging gun 4.

[0039] In order to solve the technical purpose of moving the charging gun 4 to hang on the hanger 3 after the charging gun 4 automatically retracts, the present application is provided with an "L"-shaped slide groove 10 on one side of the box body 1. A connecting plate 11 is slidably connected in the slide groove 10. The connecting plate 11 is connected to a five-axis driving mechanism (not shown in the figure, which is the prior art) in the box body 1, and the five-axis driving mechanism can drive the connecting plate 11 to move in three-dimensional space.

[0040] like Figure 5 , Figure 6 As shown, a rotating motor 12 is fixedly connected to one side of the connecting plate 11. A driving cylinder 13 is fixedly connected to one side of the rotating motor 12. A mounting plate 14 is fixedly connected to one side of the driving cylinder 13. Among them, the driving cylinder 13 is connected to an output shaft 15. The output shaft 15 passes through the mounting plate 14 and is hinged to a driving rod 16. Connecting seats 17 are provided on both sides of the driving rod 16. Two connecting rods 18 are hinged to the upper and lower parts of the connecting seat 17. The connecting rods 18 are hinged to each other. A clamping block 19 is connected to the end of the connecting rod 18. A clamping groove 20 matching the gun body 6 of the charging gun 4 is provided in the middle of the clamping block 19.

[0041] like Figure 7As shown, after the connection line 7 is wound up, the charging gun 4 reaches the position of the box 1 and is placed horizontally. At this time, the five-axis drive mechanism drives the clamping block 19 to move to the position of the gun body 6 of the charging gun 4. After that, the driving cylinder 13 drives the driving rod 16 to move to the right, thereby driving the connecting seat 17 to move, and drives the connecting rod 18 to swing. The swing of the connecting rod 18 causes the upper and lower clamping blocks 19 to move toward each other, thereby clamping the gun body 6 between the clamping blocks 19. Among them, the specific two positions where the gun body 6 is clamped by the clamping block 19 are set as the clamping position 24. After clamping, the charging gun 4 is driven to move to one side of the bracket 3 by the five-axis drive mechanism. The rotating motor 12 drives the charging gun 4 to rotate 60° and move it to the bracket 3, so that the charging gun 4 is correctly placed on the bracket 3, completing the automatic hanging of the charging gun 4.

[0042] Since the connecting wire 7 is automatically retracted, so that the bottom of the charging gun 4 reaches the position of the box 1 and abuts against the box 1, at this time, the charging port of the charging gun 4 is in an uncertain state, which may be set to face upward, or to face downward, or in other states. Due to the setting of the corresponding bracket 3 and the standardized interface of this application, the charging port of the charging gun 4 must be facing upward to correctly hang and place the charging gun 4.

[0043] like Figure 5 , Figure 6 As shown, based on the above problems, in order to solve the technical purpose of adjusting the direction of the charging gun 4. The present application provides a positioning groove 21 on the clamping block 19. A rubber roller 22 is provided in the positioning groove 21. The surface of the rubber roller 22 has a high friction coefficient. A stepper motor 23 is connected to one end of the rubber roller 22. The other end of the rubber roller 22 is connected to the clamping block 19 by a bearing.

[0044] Through the above arrangement, when the clamping block 19 clamps the charging gun 4, the rotation of the stepper motor 23 drives the rubber roller 22 to rotate, so that the friction between the rubber roller 22 and the gun body 6 of the charging gun 4 causes the charging gun 4 to rotate in steps. The charging gun 4 rotates until the charging port is set upward, the stepper motor 23 stops, and the charging gun 4 is driven to be correctly hung through the five-axis drive mechanism.

[0045] like Figure 8 , Fig. 9 As shown, in order to adapt to the movement process of the charging gun 4, the present application also provides a charging gun automatic adjustment and wire collection system, including a sensing module and a control module. The sensing module monitors the state of the charging gun 4 in real time, and the control module calculates the adjustment parameters according to the sensor feedback information, and enables each motor and cylinder to perform adjustment and hanging actions.

[0046] The sensing module includes a position sensor. The position sensor is arranged at the junction of the charging gun 4 and the connecting line 7, which is defined as the angle sensor installation position 25. The angle sensor is used to monitor the spatial position of the charging gun 4 in real time, and can use laser ranging or ultrasonic ranging to provide high-precision position information.

[0047] The sensing module also includes an angle sensor. The angle sensor is disposed on the back side of the charging head 5 of the charging gun 4, and the position is set as the position sensor installation position 26. The angle sensor is used to detect the direction of the charging gun 4, and can use a gyroscope or a magnetometer to provide more accurate angle data.

[0048] The control module includes a central controller. The central controller is arranged on the box 1 and is used to receive data from the sensing module, calculate the difference between the current position and orientation of the charging gun 4 and the target position and orientation, and generate a corresponding control signal.

[0049] The control module also includes a corresponding algorithm module, which can dynamically adjust control parameters in real time, including angle difference calculation, step number calculation of the stepping motor 23, and path planning of the five-axis drive mechanism.

[0050] The flowchart of the overall execution process is as follows Figure 8 As shown. Among them, S1 represents the process in which the operator pulls out the charging gun 4 and connects it to the electric vehicle to power the electric vehicle; J1 represents the process of determining whether the charging gun 4 is detached from the electric vehicle; R1 represents the process in which the charging gun 4 is not detached from the electric vehicle and the charging gun 4 keeps charging the electric vehicle; S2 represents the process in which the driving motor 9 drives the winding frame 8 to rotate to realize automatic winding; J2 represents the process in which the automatic winding is completed; R2 represents the process in which the automatic winding is not completed and the winding continues until the charging gun 4 abuts against the horizontal box 1; S3 represents When the automatic wire winding is completed, the clamping block 19 moves to the upper and lower sides of the gun body 6 and clamps the gun body 6; S4 represents the execution process of automatically adjusting the angle of the charging gun 4 to the charging port facing upward; S5 represents the execution process of the clamping block 19 clamping the charging gun 4 to one side of the bracket 3 and rotating 60°, so that the bracket 3 and the charging gun 4 are set correspondingly; S6 represents the execution process of the clamping block 19 moving to the position of the box 1, so that the charging gun 4 enters the bracket 3 to complete the hanging; S7 represents the execution process of the clamping block 19 returning to reset and re-performing the cycle working process of S1-S7.

[0051] The following is a detailed description of the above execution process:

[0052] After starting the system, the sensing module starts working, the position sensor measures the state of the charging gun 4, determines whether the charging gun 4 is connected to the electric vehicle for charging, and sends the data to the central controller. When the charging gun 4 is separated from the electric vehicle, the central controller receives the separation state of the charging gun 4 and transmits a signal to the drive motor 9. The drive motor 9 drives the winding frame 8 to rotate, thereby gradually winding the connecting line 7 on the winding frame 8.

[0053] When the position sensor on the charging gun 4 senses that the charging gun 4 has reached the box 1 and abuts against the box 1, the connecting wire 7 outside the charging gun 4 is completely reeled up, and only the charging gun 4 is suspended on the box 1. The central controller receives the position state of the charging gun 4 and transmits a signal to the five-axis drive mechanism. The five-axis drive mechanism drives the clamping block 19 to move to the upper and lower sides of the gun body 6 of the charging gun 4, and drives the connecting rod 18 to move by driving the cylinder 13, so that the clamping block 19 clamps the gun body 6, and further makes the rubber roller 22 abut against the gun body 6.

[0054] Based on the sensor data, the central controller uses the built-in algorithm module to calculate the angle difference between the current orientation and the target orientation, as well as the displacement difference between the current position of the charging gun 4 and the target hanging position. The angle difference calculation formula is:

[0055]

[0056] The step number calculation formula of the stepper motor 23 is:

[0057]

[0058] The above, is the current placement angle of the charging gun 4, It is the correct placement angle when the charging port of the charging gun 4 is facing upwards, which is generally used as the initial angle and can be set to 0°.

[0059] It represents the angle difference, that is, the difference between the current actual angle of the charging gun 4 and the target angle.

[0060] Indicates the number of steps required for one revolution of the stepper motor 23. The fixed parameters of the stepper motor 23 determine the resolution of the motor, that is, the rotation angle corresponding to each step.

[0061] Indicates the gear ratio. If the stepper motor 23 is connected to the rubber roller 22 via a gear set, the gear ratio is used to amplify or reduce the rotation output by the motor.

[0062] The value is the number of teeth of the output gear / the number of teeth of the input gear, which is used to adjust the rotation angle outputted by the stepper motor 23 to the load.

[0063] The central controller transmits the corresponding step number signal to the stepper motor 23. The stepper motor 23 rotates to drive the rubber roller 22 to rotate a corresponding angle, adjusts the gun body 6, and finally makes the charging port of the charging gun 4 face upward.

[0064] After the angle adjustment is completed, the central controller transmits a signal to the five-axis driving mechanism, thereby driving the charging gun 4 clamped by the clamping block 19 to move upward to the end of the slide slot 10.

[0065] The signal transmission of the central controller causes the rotating motor 12 to work, driving the entire body to rotate 60 degrees, so that the charging port of the charging gun 4 faces the bracket 3 in the installation slot 2 and the standardized interface position.

[0066] The central control signal transmission causes the five-axis drive mechanism to work, driving the clamping block 19 to move toward the box 1 until the charging port of the charging gun 4 is inserted into the corresponding standardized interface, completing the hanging process of the charging gun 4.

[0067] Afterwards, the central controller transmits a signal to the driving cylinder 13, causing the clamping block 19 to release the gun body 6. Afterwards, the five-axis driving mechanism drives the clamping block 19 to move along the slide slot 10 to the bottom, and moves toward a position away from the box body 1, and the rotating motor 12 reverses 60° to drive the clamping block 19 to reset, and finally the five-axis driving mechanism drives the clamping block 19, the rotating motor 12, etc. back to the right end of the "L"-shaped slide slot 10.

[0068] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A smart charging pile, It is characterized in that include: A box body (1), wherein a mounting groove (2) is provided on one side of the box body (1), and a hanging bracket (3) is provided in the mounting groove (2); A charging gun (4), wherein a connecting wire (7) is connected to the bottom of the charging gun (4); A winding frame (8), arranged in the box (1) and used for winding the connecting wire (7); A driving motor (9), arranged on one side of the winding frame (8), and used for driving the winding frame (8) to wind up the connecting wire (7); A slide groove (10) is arranged on one side of the box body (1); A connecting plate (11) slidably connected in the sliding groove (10); A five-axis driving mechanism, connected to the connecting plate (11), and used for driving the connecting plate (11) to move in a three-dimensional space; A clamping mechanism, arranged on the connecting plate (11), used for clamping the charging gun (4) and adjusting the charging gun (4) to face upward, thereby driving the charging gun (4) to be hung on the hanging rack (3) in an upward direction; The clamping mechanism comprises: A rotating motor (12) is fixedly connected to one side of the connecting plate (11); A driving cylinder (13) fixedly connected to one side of the rotating motor (12); A mounting plate (14) fixedly connected to one side of the driving cylinder (13); A driving rod (16) is hingedly connected to the output shaft (15) of the driving cylinder (13); A connecting seat (17) is arranged on both sides of the driving rod (16); Connecting rods (18), two each at the top and the bottom, are hinged on the connecting seat (17); A clamping block (19) connected to the end of the connecting rod (18), wherein a clamping groove (20) matching the gun body (6) of the charging gun (4) is provided in the middle of the clamping block (19); The clamping block (19) is provided with a positioning groove (21), a rubber roller (22) is provided in the positioning groove (21), one end of the rubber roller (22) is connected to a stepping motor (23), and the other end is connected to the clamping block (19) via a bearing; The charging gun (4) comprises a charging head (5) and a gun body (6) integrally arranged with the charging head (5); the gun body (6) is cylindrical, and the cross-sectional area of ​​each position of the gun body (6) is the same; When the clamping block (19) clamps the charging gun (4), the rotation of the stepping motor (23) drives the rubber roller (22) to rotate, thereby causing the charging gun (4) to rotate step by step through the friction between the rubber roller (22) and the gun body (6) of the charging gun (4). The charging gun (4) rotates until the charging port is set upward, the stepping motor (23) stops, and the charging gun (4) is driven by the five-axis driving mechanism to be correctly hung.

2. The smart charging pile according to claim 1, It is characterized in that The slide groove (10) is in an "L" shape.

3. A charging gun automatic adjustment wire collection system, It is characterized in that Applicable to the smart charging pile as claimed in any one of claims 1-2; include: A sensing module, used for monitoring the status of the charging gun (4) in real time; A control module, used to calculate adjustment parameters according to feedback information from the sensing module, and control each execution component to perform adjustment and hanging actions; The following steps are involved: a) monitoring the status of the charging gun (4) in real time through the sensing module; b) when it is detected that the charging gun (4) is pulled out from the vehicle, the driving motor (9) drives the winding frame (8) to wind up the connecting wire (7); c) the control module calculates the current position and orientation of the charging gun (4) according to the feedback information of the sensing module; d) controlling the five-axis driving mechanism to drive the connecting plate (11) to move to the vicinity of the charging gun (4); e) controlling the clamping mechanism to clamp the charging gun (4); f) according to the calculated angle difference, controlling the rotary motor (12) and the stepper motor (23) to adjust the charging gun (4) to face upward; g) controlling the five-axis driving mechanism to move the charging gun (4) to the vicinity of the bracket (3); h) Controlling the clamping mechanism to release the charging gun (4) so ​​that it is hung on the hanger (3).

4. The automatic adjustment and take-up system of the charging gun according to claim 3, It is characterized in that The sensing module comprises: A position sensor, arranged at the junction of the charging gun (4) and the connecting line (7), for real-time monitoring of the spatial position of the charging gun (4); An angle sensor is arranged on the back side of the charging head (5) of the charging gun (4) and is used to detect the orientation of the charging gun (4).

5. The automatic adjustment and take-up system of the charging gun according to claim 3, It is characterized in that The control module comprises: A central controller, used to receive data from the sensing module, calculate the difference between the current position and orientation of the charging gun (4) and the target position and orientation, and generate a corresponding control signal; The algorithm module is used for real-time feedback and dynamic adjustment of control parameters, including angle difference calculation, step number calculation of the stepping motor (23) and path planning of the five-axis driving mechanism.

6. The automatic adjustment and take-up system of the charging gun according to claim 5, It is characterized in that The angle difference calculation formula in the algorithm module is: ;in, is the current placement angle of the charging gun (4), This is the correct placement angle of the charging gun (4) when the charging port is facing upward.

7. The automatic adjustment and take-up system of the charging gun according to claim 5, It is characterized in that The step number calculation formula of the stepping motor (23) in the algorithm module is: ;in, represents the angle difference, i.e. the difference between the current actual angle of the charging gun (4) and the target angle; Indicates the number of steps required for the stepper motor (23) to make one revolution; the fixed parameters of the stepper motor (23) determine the resolution of the motor, that is, the rotation angle corresponding to each step; represents the gear ratio. If the stepper motor (23) is connected to the rubber roller (22) through a gear set, the gear ratio is used to amplify or reduce the rotation output by the motor; The value is the number of teeth of the output gear / the number of teeth of the input gear, which is used to adjust the rotation angle outputted from the stepper motor (23) to the load.

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