Automatic charging device and control method thereof

Abstract

The invention discloses an automatic charging device and a control method thereof, and relates to the technical field of automobile charging piles. The charging module is arranged in the main box body, and the charging control module is connected with a power grid and used for outputting direct current; the mechanical arm is fixed in the main box body, and a charging gun is fixed on the mechanical arm; one end of the charging wire is connected with the charging control module, and the other end of the charging wire is connected with the charging gun; the charging wire is provided with an induction mark; the take-up assembly is fixed to the main box body and used for taking up the charging wire after the mechanical arm is reset; the positioning assembly comprises a positioning support and an induction piece fixed to the positioning support, a wire inlet is formed in the positioning support, and the other end of the charging wire penetrates through the wire inlet to be connected with the charging gun; and the controller is electrically connected with the mechanical arm, the take-up assembly and the induction assembly and used for controlling the take-up assembly to stop working when the induction piece recognizes the induction mark.

Description

Technical Field

[0001] The present application belongs to the technical field of automobile charging piles, and specifically relates to an automatic charging device and a control method thereof. Background Art

[0002] With the rapid development of new energy vehicles, car charging piles are becoming more and more popular. Charging piles are generally divided into manual charging piles and automatic charging piles according to the charging method. The charging gun wires of manual charging piles are all suspended on the outside of the charging piles. Some are dragged on the ground, constantly rubbing against the ground, and even being crushed by the car, which greatly shortens the life of the charging gun wire. The common automatic charging piles on the market use machines for in-place charging, and the existing charging gun wires in the field of automatic charging are mostly routed along the robot. When the robot is not working, the charging gun wire is also completely exposed outside the device. There is no special gun wire management, which increases the probability of damage to the charging gun wire. At the same time, the robot moves while dragging the charging gun wire during the charging process, and the weight of the gun wire is completely on the robot, which increases the load on the robot.

[0003] As vehicle charging speeds become faster and faster, the requirements for the safety and convenience of the charging process are also getting higher and higher. Liquid-cooled charging gun cables have become the mainstream choice for supercharging piles. At the same time, in order to free customers' hands and obtain a better charging experience, liquid-cooled gun cables are gradually applied to automatic charging devices. At the same time, in order to better protect the liquid-cooled gun cables, a set of automatic cable collection and delivery devices is required. Existing charging devices usually separate the charging module from the charging pile, and the overall structure is complex, resulting in a long charging harness and high cost. However, the automatic cable collection and delivery devices for charging gun cables currently on the market have a complex structure, a relatively long harness length, and a high investment cost. In addition, since the liquid-cooled gun cables have liquid cooling pipes inside, the safety and reliability of the cable collection and delivery mechanisms are also becoming increasingly higher. Summary of the invention

[0004] The present application provides an automatic charging device and a control method thereof, aiming to at least to some extent solve the technical problems in the prior art that the automatic wire receiving and sending device of the charging gun wire currently on the market has a complex structure, a long wire harness length, and a high investment cost.

[0005] In order to solve the above technical problems, this application adopts the following technical solutions:

[0006] A first aspect of an embodiment of the present application provides an automatic charging device, comprising: a main box; a charging module, arranged in the main box, the charging control module is connected to the power grid and is used to output direct current; a mechanical arm, fixed in the main box, and a charging gun is fixed on the mechanical arm; a charging cable, one end of which is connected to the charging control module, and the other end of the charging cable is connected to the charging gun; the charging cable is provided with an induction mark; a wire take-up assembly, fixed to the main box, and is used to recycle the charging cable after the mechanical arm is reset; a positioning assembly, comprising a positioning bracket and an induction member fixed to the positioning bracket, the positioning bracket is provided with an inlet, and the other end of the charging cable passes through the inlet and is connected to the charging gun; the induction member is electrically connected to the wire take-up assembly; a controller, electrically connected to the mechanical arm, the wire take-up assembly and the induction assembly, and is used to control the wire take-up assembly to stop working when the induction member recognizes the induction mark.

[0007] In some embodiments, the wire take-up assembly includes: a mounting base fixed to the main box; a drive motor installed on the mounting base; a roller unit connected to the power output end of the drive motor, and the charging cable passes through the roller unit.

[0008] In some embodiments, the roller unit includes: a mounting plate connected to the mounting seat; a driving wheel rotatably mounted on the mounting plate, and a power output end of the drive motor is connected to the driving wheel; a driven wheel rotatably mounted on the mounting plate, and the charging cable passes between the driving wheel and the driven wheel, and the driving motor drives the driving wheel to rotate, thereby driving the charging cable to move.

[0009] In some embodiments, the mounting plate is provided with a plurality of mounting holes, and the pressure of the driving wheel and the driven wheel on the charging cable can be adjusted by fixing the driven wheel in different mounting holes; the charging cable is a liquid-cooled harness.

[0010] In some embodiments, the length of the charging cable is set so that when the robotic arm is reset, the lowest point of the charging cable is spaced from the bottom plate of the main box.

[0011] In some embodiments, the automatic charging device also includes a protective component, which is used to prevent damage to the charging cable. The protective component includes: a first protective unit, which is rotatably disposed in the cable inlet and in contact with the charging cable; and / or a second protective unit, which is disposed in the main box and in contact with a section of the charging cable close to the charging control module.

[0012] In some embodiments, the first protection unit includes a plurality of universal balls, and the plurality of universal balls are arranged in a ring shape along the inner wall of the cable inlet.

[0013] In some embodiments, the second protection unit includes a plurality of anti-friction balls, and the plurality of anti-friction balls are arranged on a line segment where the lowest point of the charging line is located.

[0014] In some embodiments, the main box body includes an outer shell and an inner frame, the inner frame is arranged in the outer shell, the charging control module is fixed to the outside of the inner frame, and the robotic arm, positioning bracket and drive assembly are all arranged in the inner frame.

[0015] A second aspect of an embodiment of the present application provides a control method for an automatic charging device, comprising the following steps:

[0016] After the controller responds to the charging demand instruction, the controller controls the mechanical arm to extend and move to the charging port position of the vehicle for charging;

[0017] After the controller responds to the charging completion signal, the controller controls the mechanical arm to reset, and controls the wire retracting assembly to retract the charging wire;

[0018] When the controller determines that the induction mark of the charging line is at the initial position through the signal detected by the sensor, the wire-reeling component is controlled to stop reeling in the wire.

[0019] In some embodiments, after the controller responds to the charging demand instruction and before the controller controls the mechanical arm to extend, the controller determines whether the sensing mark of the charging cable is in the initial position through the signal detected by the sensing member;

[0020] If the sensing mark is not in the initial position, a maintenance prompt signal is sent through the controller;

[0021] If the sensing mark is at the initial position, the controller controls the mechanical arm to extend and move to the charging port of the vehicle for charging. From the above technical solution, it can be seen that the present application has at least the following advantages and positive effects:

[0022] An automatic charging device in the present application arranges the charging module inside the main box and shares a main box with other components for protection, thereby maximizing the reduction of the length of the charging cable, reducing the cost of the charging cable, further reducing the power demand for the liquid cooling unit in the charging module, and reducing the energy loss during the charging process, thereby improving energy utilization. By setting the synergistic effect of the wire collection component and the positioning component, it is ensured that the charging cable can return to the specified position after charging is completed, and the length of the charging cable can be effectively controlled, and the contact between the charging cable and other components can be minimized to fully protect the charging cable. The manufacturing cost and maintenance cost are lower. An origin positioning device is set to effectively ensure that the wiring harness is retracted to the set position each time, and there will be no problem of excessive exposure of the wiring harness due to slipping after a long period of use.

[0023] A control method for an automatic charging device in the present application drives a mechanical arm, a wire-retracting assembly, and a sensing assembly to work together through a controller to ensure that the charging cable can return to a specified position after charging is completed, effectively control the length of the charging cable, minimize the contact between the charging cable and other components, fully protect the charging cable, and have lower manufacturing and maintenance costs. An origin positioning device is also provided to effectively ensure that the wiring harness is retracted to a set position each time, and there will be no problem of excessive exposure of the wiring harness due to slipping after a long period of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a structural schematic diagram of an automatic charging device in the implementation of this application;

[0026] Figure 2 This is a simplified structural diagram of a roller unit of an automatic charging device in an embodiment of the present application;

[0027] Figure 3 It is a logic block diagram of a control method applied to an automatic charging device in an embodiment of the present application.

[0028] The reference numerals in the accompanying drawings are explained as follows: 100, charging module; 200, charging cable; 210, induction mark; 310, positioning bracket; 311, cable inlet; 320, induction component; 410, mounting seat; 420, driving motor; 430, roller unit; 431, mounting plate; 4311, mounting hole; 432, driving wheel; 433, driven wheel; 510, universal ball; 520, anti-friction ball; 600, main box body; 610, outer shell; 620, inner frame; 700, robotic arm; 800, charging gun. DETAILED DESCRIPTION

[0029] In order to make the technical personnel in the technical field to which the present application belongs to understand the present application more clearly, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0030] Figure 1 It is a structural schematic diagram of an automatic charging device in the implementation of this application, such as Figure 1 As shown, the device includes: a main box 600; a charging module 100, which is arranged in the main box 600, and the charging control module is connected to the power grid for outputting direct current; a mechanical arm 700, which is fixed in the main box 600, and a charging gun 800 is fixed on the mechanical arm 700; a charging line 200, one end of which is connected to the charging control module, and the other end of the charging line 200 is connected to the charging gun 800; the charging line 200 is provided with an induction mark 210; a wire collection assembly, which is fixed to the main box 600, and is used to collect the wires in the mechanical arm. After 700 is reset, the charging cable 200 is recovered; the positioning component includes a positioning bracket 310 and a sensing component 320 fixed to the positioning bracket 310, and the positioning bracket 310 is provided with a wire inlet 311, and the other end of the charging cable 200 passes through the wire inlet 311 and is connected to the charging gun 800; the sensing component 320 is electrically connected to the wire take-up component; the controller is electrically connected to the robotic arm 700, the wire take-up component and the sensing component, and is used to control the wire take-up component to stop working when the sensing component 320 recognizes the sensing mark 210. By arranging the charging module 100 inside the main box 600 and protecting the charging module 100 and other components by sharing a main box 600, the length of the charging cable 200 can be minimized, the cost of the charging cable 200 can be reduced, the power demand for the liquid cooling module in the charging module 100 can be further reduced, and the energy loss during the charging process can be reduced, thereby improving energy utilization. By setting up the synergistic effect of the wire retraction component and the positioning component, it is ensured that the charging cable 200 can return to the specified position after charging is completed, the length of the charging cable 200 can be effectively controlled, the contact between the charging cable 200 and other components can be minimized, the charging cable 200 can be fully protected, and the manufacturing cost and maintenance cost are lower. In addition, an origin positioning device is set to effectively ensure that the wiring harness is retracted to the set position each time, and there will be no problem of excessive exposure of the wiring harness due to slipping after a long period of use.

[0031] In some embodiments, the charging cable 200 is a liquid-cooled harness, which includes a conductor and an integrally formed harness base, and the harness base forms a liquid-cooled channel during the molding process. These liquid-cooled channels are filled with coolant, and the coolant circulates in the liquid-cooled channels through the action of a pump to take away the heat generated by the conductor during the conduction process. During the circulation process, the coolant transfers the heat to the heat dissipation device for heat dissipation, and then the coolant returns to the harness through the pump for circulation again, thereby achieving continuous heat dissipation and temperature control; it can quickly reduce the temperature of the conductor and avoid the impact of high temperature on the conductor and the entire system. In addition, the liquid-cooled harness is also suitable for heat dissipation problems during high-power operation and fast charging, which increases the current that the conductor can carry, thereby enhancing the reliability and service life of the system. Since the shorter the length of the liquid-cooled harness, the lower the heat dissipation power requirement, the present application reduces the power requirement for the liquid cooling unit in the charging module 100 by reducing the length of the charging cable 200, wherein the shorter the length of the liquid-cooled harness, the lower the heat dissipation power requirement, and reduces the energy loss during charging, thereby improving energy utilization.

[0032] In some embodiments, the wire taking-up assembly includes: a mounting base 410 fixed to the main box body 600; a drive motor 420 installed on the mounting base 410; a roller unit 430 connected to the power output end of the drive motor 420, and the charging cable 200 passes through the roller unit 430. Specifically, the mounting base 410 is fixed to the side wall of the inner frame 620.

[0033] See also Figure 2 , Figure 2 4 is a simplified structural diagram of a roller unit 430 of an automatic charging device in an embodiment of the present application.

[0034] In some embodiments, the roller unit 430 includes: a mounting plate 431, connected to the mounting seat 410; a driving wheel 432, rotatably mounted on the mounting plate 431, the power output end of the driving motor 420 is connected to the driving wheel 432; a driven wheel 433, rotatably mounted on the mounting plate 431, the charging line 200 passes through the driving wheel 432 and the driven wheel 433, and the driving motor 420 drives the driving wheel 432 to rotate and drive the charging line 200 to move. Specifically, the mounting plate 431 is provided with a plurality of mounting holes 4311, and the driven wheel 433 is fixed to different mounting holes 4311 to adjust the pressure of the driving wheel 432 and the driven wheel 433 on the charging line 200; the wheel edges of the driving wheel 432 and the driven wheel 433 are both made of nylon, which provides sufficient friction while ensuring that no damage is caused to the wiring harness. The driving motor 420 is a servo motor, which can provide stable and high-precision power output.

[0035] In other embodiments, the roller unit 430 includes a mounting plate 431 connected to the mounting seat 410; a driving wheel 432 rotatably mounted on the mounting plate 431, and a power output end of the driving motor 420 is connected to the driving wheel 432; a driving cylinder fixed to the mounting plate 431, and a driven wheel 433 is installed at the power output end of the driving cylinder, and the distance between the driving wheel 432 and the driven wheel 433 is adjusted by telescoping the driving cylinder.

[0036] In some embodiments, the length of the charging cable 200 is set so that when the robotic arm 700 is reset, there is a gap between the lowest point of the charging cable 200 and the bottom plate of the main box 600, thereby avoiding friction between the charging cable 200 and the bottom of the main box 600, and the gap is 10 cm to 20 cm.

[0037] In some embodiments, the automatic charging device also includes a protective component, which is used to prevent damage to the charging cable 200. The protective component includes: a first protective unit, which is rotatably disposed in the cable inlet 311 and in contact with the charging cable 200; and / or a second protective unit, which is disposed in the main box 600 and in contact with a section of the charging cable 200 close to the charging control module.

[0038] In some embodiments, the first protection unit includes a plurality of universal balls 510, which are arranged in a ring along the inner wall of the cable inlet 311. When the charging cable 200 passes through the charging port, it directly contacts the universal balls 510 when sliding in any direction. The universal balls 510 rotate almost without friction, which can ensure that the wiring harness is not subject to friction resistance and friction damage to the wiring harness during the process of entering and exiting.

[0039] In some embodiments, the second protection unit includes a plurality of anti-friction balls 520, and the plurality of anti-friction balls 520 are arranged on the line segment where the lowest point of the charging cable 200 is located. The anti-friction balls 520 are attached to the charging cable 200. Although the charging cable 200 is at a safe distance from the ground when it is retracted, the charging cable 200 may still sag and touch the ground after long-term use and rest. Increasing the anti-friction ball can avoid the charging cable 200 from sag and touch the ground.

[0040] In some embodiments, the main box 600 includes an outer shell 610 and an inner frame 620, the inner frame 620 is disposed in the outer shell 610, the charging control module is fixed to the outside of the inner frame 620, and the mechanical arm 700, the positioning bracket 310 and the driving assembly are all disposed in the inner frame 620. The charging module 100 is separated from the mechanical arm 700 by the inner frame to avoid safety accidents; specifically, the mechanical arm 700 is hoisted on the upper wall of the inner frame, which can maximize the use of space, reduce contact and collision with the wiring harness, and protect the wiring harness.

[0041] In some embodiments, the sensing element 320 is a laser sensor or a sensing camera.

[0042] See also Figure 3 , Figure 3 It is a logic block diagram of a control method applied to an automatic charging device in an embodiment of the present application.

[0043] A second aspect of an embodiment of the present application provides a control method for an automatic charging device, comprising the following steps:

[0044] After the car moves to the charging position, the charging control system issues a charging demand instruction;

[0045] After the controller responds to the charging demand instruction, the controller determines whether the sensing mark 210 is in the initial position through the signal detected by the sensing element 320; if the sensing mark 210 is not in the initial position, the controller sends a maintenance prompt signal;

[0046] If the sensing mark 210 is at the initial position, the controller controls the robotic arm 700 to extend and move to the charging port of the vehicle for charging;

[0047] Specifically, when the robot arm 700 drives the charging cable 200 to move, the driving motor 420 keeps idling, and the roller unit 430 rotates in the opposite direction following the line speed to ensure that the driving motor 420 is not affected when pulling the cable.

[0048] After the controller responds to the charging completion signal, the controller controls the mechanical arm 700 to reset, and controls the wire retracting assembly to retract the charging wire 200;

[0049] Specifically, the wire taking-up assembly may take up the wire at the same time as resetting, or may take up the wire after resetting.

[0050] When the controller determines that the sensing mark 210 is in the initial position through the signal detected by the sensor, it controls the wire-reeling assembly to stop reeling in the wire; if the sensing element 320 has not detected the sensing mark 210 30 seconds after the start of reeling in, the controller reports a wire harness recovery failure and prompts maintenance personnel to handle it.

[0051] The controller drives the robotic arm 700, the wire-retracting assembly and the sensing assembly to work together to ensure that the charging cable 200 can return to the specified position after charging is completed, effectively control the length of the charging cable 200, minimize the contact between the charging cable 200 and other components, fully protect the charging cable 200, and have lower manufacturing and maintenance costs. An origin positioning device is also provided to effectively ensure that the wiring harness is retracted to the set position each time, and there will be no problem of excessive exposure of the wiring harness due to slipping after a long period of use.

[0052] It can be seen from the above technical solution that this application has at least the following advantages and positive effects:

[0053] An automatic charging device in the present application arranges the charging module inside the main box and shares a main box with other components for protection, thereby maximizing the reduction in the length of the charging cable, reducing the cost of the charging cable, further reducing the power demand for the liquid cooling module in the charging module, and reducing the energy loss during the charging process, thereby improving energy utilization. By setting a wire-retracting component and a positioning component to work together, it is ensured that the charging cable can return to the specified position after charging is completed, and the length of the charging cable can be effectively controlled, minimizing the contact between the charging cable and other components, fully protecting the charging cable, and having lower manufacturing and maintenance costs. An origin positioning device is provided to effectively ensure that the wiring harness is retracted to the set position each time, and there will be no problem of excessive exposure of the wiring harness due to slipping after a long period of use.

[0054] A control method for an automatic charging device in the present application drives a mechanical arm, a wire-retracting assembly, and a sensing assembly to work together through a controller to ensure that the charging cable can return to a specified position after charging is completed, effectively control the length of the charging cable, minimize the contact between the charging cable and other components, fully protect the charging cable, and have lower manufacturing and maintenance costs. An origin positioning device is also provided to effectively ensure that the wiring harness is retracted to a set position each time, and there will be no problem of excessive exposure of the wiring harness due to slipping after a long period of use.

[0055] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0056] 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" and "counterclockwise" 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 referred device or element 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.

[0057] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] 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 spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. An automatic charging device, characterized in that: include: main box; A charging module is disposed in the main box, and the charging control module is connected to the power grid to output direct current; A mechanical arm is fixed in the main box, and a charging gun is fixed on the mechanical arm; A charging cable, one end of which is connected to the charging control module, and the other end of which is connected to the charging gun; the charging cable is provided with an induction mark; A wire collection assembly, fixed to the main box, used to recycle the charging wire after the mechanical arm is reset; A positioning assembly, comprising a positioning bracket and an induction member fixed to the positioning bracket, wherein the positioning bracket is provided with a wire inlet, and the other end of the charging wire passes through the wire inlet and is connected to the charging gun; the induction member is electrically connected to the wire take-up assembly; The controller is electrically connected to the mechanical arm, the wire-receiving assembly and the sensing assembly, and is used to control the wire-receiving assembly to stop working when the sensing element recognizes the sensing mark.

2. The automatic charging device according to claim 1, characterized in that: The wire take-up assembly comprises: A mounting base, fixed to the main box; A driving motor is mounted on the mounting seat; The roller unit is connected to the power output end of the driving motor, and the charging line passes through the roller unit.

3. The automatic charging device according to claim 2, characterized in that: The roller unit comprises: A mounting plate connected to the mounting seat; A driving wheel is rotatably mounted on the mounting plate, and a power output end of the driving motor is connected to the driving wheel; The driven wheel is rotatably mounted on the mounting plate, the charging line passes through between the driving wheel and the driven wheel, and the driving motor drives the driving wheel to rotate, thereby driving the charging line to move.

4. The automatic charging device according to claim 3, characterized in that: The mounting plate is provided with a plurality of mounting holes, and the pressure of the driving wheel and the driven wheel on the charging cable can be adjusted by fixing the driven wheel in different mounting holes; the charging cable is a liquid-cooled wiring harness.

5. The automatic charging device according to claim 1, characterized in that: The length of the charging cable is set so that when the robot arm is reset, the lowest point of the charging cable is spaced from the bottom plate of the main box.

6. The automatic charging device according to any one of claims 1 to 4, characterized in that: The automatic charging device further includes a protection component, which is used to prevent the charging line from being damaged. The protection component includes: A first protection unit is rotatably disposed in the cable inlet and in contact with the charging cable; And / or a second protection unit is arranged in the main box and contacts a section of the charging line close to the charging control module.

7. The automatic charging device according to claim 6, characterized in that: The first protection unit includes a plurality of universal balls, and the plurality of universal balls are arranged in a ring shape along the inner wall of the cable inlet.

8. The automatic charging device according to claim 6, characterized in that: The second protection unit includes a plurality of anti-friction balls, and the plurality of anti-friction balls are arranged on a line segment where the lowest point of the charging line is located.

9. The automatic charging device according to claim 1, characterized in that: The main box body includes an outer shell and an inner frame, the inner frame is arranged in the outer shell, the charging control module is fixed to the outer side of the inner frame, and the mechanical arm, the positioning bracket and the driving assembly are all arranged in the inner frame.

10. A control method for an automatic charging device, characterized in that: The following steps are involved: After the controller responds to the charging demand instruction, the controller controls the mechanical arm to extend and move to the charging port position of the vehicle for charging; After the controller responds to the charging completion signal, the controller controls the mechanical arm to reset, and controls the wire retracting assembly to retract the charging wire; When the controller determines that the induction mark of the charging line is at the initial position through the signal detected by the sensor, the wire-reeling component is controlled to stop reeling in the wire.

11. The control method of the automatic charging device according to claim 10, characterized in that: After the controller responds to the charging demand instruction and before the controller controls the mechanical arm to extend, the controller determines whether the induction mark of the charging cable is at the initial position through the signal detected by the induction member; If the sensing mark is not in the initial position, a maintenance prompt signal is sent through the controller; If the sensing mark is at the initial position, the controller controls the robotic arm to extend and move to the charging port of the vehicle for charging.

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