Tail end driving device and vehicle charging robot

Abstract

The invention provides a tail end driving device and a vehicle charging robot. The tail end driving device comprises a self-adaptive mechanism and a driving mechanism. Wherein the self-adaptive mechanism is used for clamping the charging gun. The driving mechanism comprises a telescopic driving assembly and a rotary driving assembly. The telescopic driving assembly is in transmission connection with the self-adaptive mechanism so as to drive the self-adaptive mechanism to drive the charging gun to stretch out and draw back. And the rotary driving assembly is in transmission connection with the telescopic driving assembly so as to drive the telescopic driving assembly to drive the self-adaptive mechanism and the charging gun to rotate. According to the charging gun, the rotation function is achieved through the rotation driving mechanism, the telescopic function is achieved through the telescopic driving assembly, the structural layout is compact, meanwhile, the tail end structure redundancy and the machining cost are reduced, the overall weight and size are reduced, and the practicability of the tail end driving device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor vehicle charging, and in particular to a terminal drive device and a vehicle charging robot. Background Art

[0002] With the increasing popularity of new energy vehicles, the application of intelligent technology has become an important direction for the development of new energy vehicles. In this context, functions such as intelligent driving and automatic charging have gradually become standard configurations of new energy vehicles. However, most of the terminal devices of intelligent car charging robots in the prior art use the traditional joint plus connecting rod method to plug and unplug the charging gun. However, the joint plus connecting rod structure in the prior art makes the robot terminal appear bulky, which is not conducive to the compact layout of the space. Summary of the invention

[0003] Based on this, it is necessary to provide an end drive device and a car charger robot to address the problem that the joint plus connecting rod structure in the prior art makes the robot end appear bulky and is not conducive to the compact layout of the space.

[0004] The technical solution is as follows:

[0005] On the one hand, a terminal drive device is provided, which is applied to a car charging robot, comprising:

[0006] Adaptive mechanism for clamping the charging gun;

[0007] The driving mechanism includes a telescopic driving component and a rotating driving component. The telescopic driving component is connected to the adaptive mechanism in a transmission manner so as to drive the adaptive mechanism to extend and retract the charging gun. The rotating driving component is connected to the telescopic driving component in a transmission manner so as to drive the telescopic driving component to rotate the adaptive mechanism and the charging gun.

[0008] The technical solution is further described below:

[0009] In one embodiment, the adaptive mechanism includes a transmission member, an elastic member and a clamping member for clamping the charging gun. The transmission member is transmission-connected to the telescopic drive assembly and is spaced apart from the clamping member. One end of the elastic member is connected to the transmission member, and the other end is connected to the clamping member.

[0010] In one of the embodiments, the transmission member is configured as a clutch, which is disposed on the charging gun and moves in coordination with the charging gun in a direction approaching or moving away from the clamping member.

[0011] In one embodiment, the number of the elastic member is at least one, and the elastic members are arranged at intervals along the circumference of the clamping member.

[0012] In one embodiment, the clamping member includes a first clamp and a second clamp, and the first clamp and the second clamp are arranged opposite to each other and are detachably connected so as to cooperate to clamp the charging gun.

[0013] In one of the embodiments, the rotation drive assembly includes a base, a joint module and an end cover. The joint module is installed on the base and is transmission-connected to the end cover so as to drive the end cover to rotate.

[0014] In one embodiment, the telescopic drive assembly includes a mounting body, a stepper motor with a screw output end, and a nut threadedly connected to the screw output end, the mounting body is fixedly connected to the rotation drive assembly, the stepper motor is fixed on the mounting body, the nut is transmission-connected to the adaptive mechanism, and cooperates with the mounting body along the axial movement of the screw output end.

[0015] In one embodiment, the mounting body further comprises a connecting flange, a support seat and a sleeve, the connecting flange being fixedly connected to the rotary drive assembly, the support seat being fixed to a side of the connecting flange away from the rotary drive assembly, a mounting groove being provided on a side of the support seat close to the connecting flange, the stepping motor being fixed to the mounting groove, the bottom wall of the mounting groove being provided with a avoidance hole for the screw output end to pass through, the sleeve being sleeved on the outer side of the screw output end and fixed to a side of the support seat away from the connecting flange, the outer side wall of the sleeve being provided with a avoidance groove extending along the axial direction of the screw output end and communicating with the inner cavity of the sleeve, the telescopic drive assembly further comprises a transmission rod cooperating with the sleeve along the axial movement of the screw output end, one end of the transmission rod being transmission connected to the nut, and the other end passing through the avoidance groove and being transmission connected to the adaptive mechanism.

[0016] In one embodiment, the end of the sleeve away from the support seat is set as a blind end, and the telescopic drive assembly also includes a bearing, which is sleeved on the tail of the screw output end and installed on the inner wall of the blind end.

[0017] On the other hand, a car charger robot is provided, comprising a mechanical arm and the end drive device, wherein the end drive device is installed at the end of the mechanical arm.

[0018] When the end drive device and the car charger robot in the above embodiment are used, the rotary drive assembly is installed at the end of the mechanical arm, and the adaptive mechanism is clamped to the charging gun. When it is necessary to plug the charging head of the charging gun into the charging port of the motor vehicle for charging, the mechanical arm drives the end drive device to move near the charging port, and the rotary drive assembly drives the telescopic drive assembly to rotate, and the telescopic drive assembly drives the adaptive mechanism and the charging gun to rotate synchronously to adjust the position of the charging head. When the relative position between the charging head and the charging port is adjusted, the telescopic drive assembly drives the adaptive mechanism to extend, and the adaptive mechanism drives the charging gun to move in the direction close to the charging port, so that the charging head and the charging port are plugged in and matched to realize charging of the electromechanical vehicle. Similarly, when the motor vehicle is charged, the telescopic drive assembly drives the adaptive mechanism to retract, and the adaptive mechanism drives the charging gun to move in the direction away from the charging port to release the plug-in match and electrical connection between the charging head and the charging port. Compared with the terminal device using the joint plus connecting rod method in the prior art, the terminal drive device in this application has at least the following advantages: 1. The charging gun realizes the rotation function through the rotating drive mechanism and the telescopic function through the telescopic drive assembly. The structural layout is compact, and the terminal structure redundancy and processing costs are reduced. The overall weight and volume are reduced, which improves the practicality of the terminal drive device. 2. The charging gun is driven by the rotating drive assembly and the telescopic drive assembly. It is not only highly flexible, but also more convenient and reliable to plug and unplug the charging gun. It can also meet the needs of different vehicle models and charging scenarios, improving the adaptability of the terminal drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] FIG. 1 is a schematic structural diagram of an end drive device according to an embodiment.

[0022] FIG. 2 is a schematic structural diagram of the adaptive driving mechanism in FIG. 1 .

[0023] FIG. 3 is a schematic structural diagram of the adaptive mechanism of FIG. 2 from another perspective.

[0024] FIG. 4 is a schematic structural diagram of the adaptive mechanism of FIG. 2 from another viewing angle.

[0025] FIG. 5 is a schematic structural diagram of the driving mechanism in FIG. 1 .

[0026] FIG. 6 is a cross-sectional view of the driving mechanism of FIG. 5 along the AA direction.

[0027] Description of reference numerals:

[0028] 10. End drive device; 100. Adaptive mechanism; 111. Transmission member; 112. Elastic member; 113. Clamping member; 1131. First clamp; 1132. Second clamp; 200. Driving mechanism; 210. Telescopic driving assembly; 211. Mounting body; 2111. Connecting flange; 2112. Support seat; 2113. Sleeve; 2114. Mounting groove; 2115. Avoidance hole; 2116. Avoidance groove; 212. Stepping motor; 2121. Screw output end; 213. Nut; 214. Transmission rod; 215. Bearing; 220. Rotary driving assembly; 221. Base; 222. Joint module; 223. End cover; 20. Charging gun. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] As shown in FIG. 1 , in one embodiment, an end drive device 10 is provided, which is applied to a car charging robot. The end drive device 10 includes an adaptive mechanism 100 and a driving mechanism 200. Among them, the adaptive mechanism 100 is used to clamp the charging gun 20. The driving mechanism 200 includes a telescopic driving assembly 210 and a rotating driving assembly 220. The telescopic driving assembly 210 is connected to the adaptive mechanism 100 in a transmission manner so as to be able to drive the adaptive mechanism 100 to drive the charging gun 20 to extend and retract. The rotating driving assembly 220 is connected to the telescopic driving assembly 210 in a transmission manner so as to be able to drive the telescopic driving assembly 210 to drive the adaptive mechanism 100 and the charging gun 20 to rotate.

[0031] When the end drive device 10 in the above embodiment is used, the rotary drive assembly 220 is correspondingly installed at the end of the mechanical arm, and the adaptive mechanism 100 is correspondingly clamped to the charging gun 20. When it is necessary to plug the charging head of the charging gun 20 into the charging port of the motor vehicle for charging, the mechanical arm drives the end drive device 10 to move near the charging port, and the rotary drive assembly 220 drives the telescopic drive assembly 210 to rotate, and the telescopic drive assembly 210 drives the adaptive mechanism 100 and the charging gun 20 to rotate synchronously to adjust the position of the charging head. When the relative position between the charging head and the charging port is adjusted, the telescopic drive assembly 210 drives the adaptive mechanism 100 to extend, and the adaptive mechanism 100 drives the charging gun 20 to move in the direction close to the charging port, so that the charging head and the charging port are plugged in and matched to realize charging of the electromechanical vehicle. Similarly, when the motor vehicle is charged, the telescopic drive assembly 210 drives the adaptive mechanism 100 to retract, and the adaptive mechanism 100 drives the charging gun 20 to move in the direction away from the charging port to release the plug-in match and electrical connection between the charging head and the charging port. Compared with the terminal device using the joint plus connecting rod method in the prior art, the terminal drive device 10 in the present application has at least the following advantages: 1. The charging gun 20 realizes the rotation function through the rotating drive mechanism 220 and the telescopic function through the telescopic drive assembly 210. The structural layout is compact, and the terminal structure redundancy and processing cost are reduced, and the overall weight and volume are reduced, which improves the practicality of the terminal drive device 10. 2. The charging gun 20 is driven by the rotating drive assembly 220 and the telescopic drive assembly 210. It is not only highly flexible, but also more convenient and reliable to plug and unplug the charging gun 20. It can also meet the needs of different vehicle models and charging scenarios, improving the adaptability of the terminal drive device 10.

[0032] The telescopic drive assembly 210 can be configured as any telescopic drive structure in the prior art that can realize linear telescopic drive. The rotary drive assembly 220 can be configured as any rotary drive structure in the prior art that can realize rotary drive.

[0033] As shown in Figures 2 and 3, the adaptive mechanism 100 further includes a transmission member 111, an elastic member 112, and a clamping member 113 for clamping the charging gun 20. The transmission member 111 is transmission-connected to the telescopic drive assembly 210, and is spaced apart from the clamping member 113. One end of the elastic member 112 is connected to the transmission member 111, and the other end is connected to the clamping member 113. In this way, during the process of plugging the charging head into the charging port, the telescopic drive assembly 210 drives the transmission member 111 to move in the direction close to the charging port, and the transmission member 111 squeezes the elastic member 112 to cause the elastic member 112 to elastically deform. The deformed elastic member 112 will apply a thrust to the clamping member 113, thereby causing the clamping member 113 to have a movement tendency to move close to the charging port. In this way, even if the charging head of the charging gun 20 is not completely aligned with the charging port, the driving force of the telescopic drive assembly 210 can be used to enable the charging gun 20 to insert the charging head into the charging port without being damaged, thereby improving the adaptability and practicality of the terminal drive device 10.

[0034] Specifically in this embodiment, the charging gun 20 includes a gun body and a charging head disposed at one end of the gun body. The clamping member 113 is used to clamp the gun body, and the transmission member 111 is spaced apart and located on a side of the clamping member 113 away from the charging head. One end of the elastic member 112 can be connected to the transmission member 111 by snapping, hooking or other means, and the other end can also be connected to the clamping member 113 by snapping, hooking or other means.

[0035] The transmission member 111 may be configured as a transmission frame, a transmission sleeve or other transmission structures. The elastic member 112 may be configured as an elastic pad, a spring or other elastic structures. The number of the elastic members 112 may be flexibly adjusted according to actual use requirements. The clamping member 113 may be configured as a clamping claw, a clamping hoop or other clamping structures.

[0036] As shown in FIG2 and FIG3, the transmission member 111 is optionally configured as a clutch, which is disposed on the charging gun 20 and moves with the charging gun 20 in a direction close to or away from the clamping member 113. In this way, the clutch has both transmission and guiding functions, ensuring that the clutch can stably and reliably push or pull the charging gun 20 through the elastic member 112 and the clamping member 113, thereby improving the reliability of the terminal drive device 10.

[0037] As shown in FIG3 and FIG4 , optionally, the number of the elastic member 112 is at least one. The elastic members 112 are arranged at intervals along the circumference of the clamping member 113. In this way, by increasing the number of the elastic members 112, the force distribution on the clamping member 113 is made more uniform, ensuring that the clamping member 113 can stably and reliably drive the charging gun to be plugged in and out of the charging port, thereby improving the reliability of the terminal drive device 10.

[0038] As shown in FIG2 , optionally, the clamping member 113 includes a first clamp 1131 and a second clamp 1132. The first clamp 1131 and the second clamp 1132 are arranged opposite to each other and are detachably connected so as to be able to cooperate with clamping the charging gun 20. In this way, it is ensured that the first clamp 1131 and the second clamp 1132 can cooperate with clamping the charging gun 20, thereby improving the reliability of the end drive device 10.

[0039] The first clamp 1131 can be detachably connected to the second clamp 1132 by snap connection, screw connection or other methods. Specifically in this embodiment, both ends of the first clamp 1131 are detachably connected to the corresponding ends of the second clamp 1132 by bolts.

[0040] Specifically in this embodiment, the elastic member 112 is arranged along the telescopic direction of the telescopic drive assembly 210. The elastic member 112 is arranged as a spring, and the number of the springs is four. The four springs are respectively connected to the two ends of the first clamp 1131 and the two ends of the second clamp 1132.

[0041] As shown in Fig. 1, Fig. 5 and Fig. 6, in one embodiment, the rotation drive assembly 220 includes a base 221, a joint module 222 and an end cover 223. The joint module 222 is mounted on the base 221 and is transmission-connected with the end cover 223 to drive the end cover 223 to rotate.

[0042] Specifically in this embodiment, a mounting cavity is provided on one side of the base 221 close to the end cover 223, and the joint module 222 is installed in the mounting cavity. The end cover 223 is provided on the side of the base 221 where the mounting cavity is provided to shield the mounting cavity. In this way, the joint module 222 can be hidden in the mounting space formed by the base 221 and the end cover 223, ensuring that the joint module 222 can stably and reliably drive the end cover 223 to rotate, thereby improving the reliability of the end drive device 10.

[0043] The joint module 222 can be installed in the installation cavity by means of snap connection, plug connection, screw connection or other methods. The joint module 222 can be connected to the end cover 223 by means of snap connection, plug connection, screw connection or other methods.

[0044] As shown in FIG. 1 and FIG. 6 , in one embodiment, the telescopic drive assembly 210 includes a mounting body 211, a stepper motor 212 having a screw output end 2121, and a nut 213 threadedly connected to the screw output end 2121. The mounting body 211 is fixedly connected to the rotary drive assembly 220. The stepper motor 212 is fixed to the mounting body 211. The nut 213 is transmission-connected to the adaptive mechanism 100 and cooperates with the mounting body 211 along the axial movement of the screw output end 2121. In this way, the stepper motor 212 can accurately control the telescopic distance of the adaptive mechanism 100 and the charging gun 20 through the screw nut structure, thereby improving the practicality of the end drive device 10.

[0045] It should be noted that the stepper motor 212 in the present application is a stepper screw motor. Specifically in this embodiment, the rotation axis of the stepper motor 212 driven by the rotation drive assembly 220 and the rotation axis of the screw output end 2121 are the same straight line.

[0046] As shown in FIG6 , further, the mounting body 211 further includes a connecting flange 2111, a supporting seat 2112 and a sleeve 2113. The connecting flange 2111 is fixedly connected to the rotation drive assembly 220. The supporting seat 2112 is fixed to the side of the connecting flange 2111 away from the rotation drive assembly 220. A mounting groove 2114 is provided on the side of the supporting seat 2112 close to the connecting flange 2111, and the stepping motor 212 is fixed to the mounting groove 2114. The bottom wall of the mounting groove 2114 is provided with an avoidance hole 2115 for the screw output end 2121 to pass through. The sleeve 2113 is sleeved on the outer side of the screw output end 2121 and fixed to the side of the supporting seat 2112 away from the connecting flange 2111. The outer side wall of the sleeve 2113 is provided with an avoidance groove 2116 extending along the axial direction of the screw output end 2121 and communicating with the inner cavity of the sleeve 2113. The telescopic drive assembly 210 also includes a transmission rod 214 that cooperates with the sleeve 2113 along the axial movement of the screw output end 2121. One end of the transmission rod 214 is transmission-connected to the nut 213, and the other end passes through the avoidance groove 2116 and is transmission-connected to the adaptive mechanism 100.

[0047] Among them, the connecting flange 2111 and the end cover 223, the connecting flange 2111 and the support seat 2112, the support seat 2112 and the stepper motor 212, the support seat 2112 and the sleeve 2113, the transmission rod 214 and the nut 213, and the transmission rod 214 and the transmission member 111 can all be fixedly connected by snapping, screwing or other means.

[0048] As shown in FIG6 , optionally, one end of the sleeve 2113 away from the support seat 2112 is set as a blind end. The telescopic drive assembly 210 also includes a bearing 215, which is sleeved on the tail of the screw output end 2121 and installed on the inner wall of the blind end. In this way, the bearing 215 can limit the swing of the screw output end 2121, ensuring that the screw output end 2121 can drive the charging gun 20 to stably telescope in a straight line direction through the nut 213, the transmission rod 214 and the adaptive mechanism 100, thereby improving the reliability of the end drive device 10.

[0049] Specifically in this embodiment, the inner side wall of the blind end is provided with a slot for engaging with the bearing 215. In this way, the bearing 215 can be assembled with the tail of the screw output end 2121 and then assembled into the slot accordingly. In other embodiments, the bearing 215 can also be installed on the inner side wall of the blind end by plugging, screwing or other methods.

[0050] Specifically in this embodiment, one end of the sleeve 2113 close to the support seat 2112 is set as an open end, and the end surface of the open end is provided with an annular flange. The annular flange is integrally formed with the sleeve 2113. When the annular flange is fixed to the side of the support seat 2112 away from the connecting flange 2111, the support seat 2112, the annular flange and the sleeve 2113 are connected in sequence. The transmission rod 214 is provided with a guide hole, and the telescopic drive assembly 210 also includes a guide rod, which is arranged along the axial direction of the screw output end 2121 and passes through the guide hole accordingly. The two ends of the guide rod are respectively connected to the annular flange and the blind end. In other embodiments, the transmission rod 214 can also be connected to the inner side wall of the sleeve 2113 along the axial direction of the screw output shaft through the cooperation of the slide groove and the slide column, the cooperation of the slide rail and the slide block, or other sliding structures.

[0051] In one embodiment, a car charger robot is provided, comprising a mechanical arm and an end drive device 10 in any of the above embodiments, wherein the end drive device 10 is installed at the end of the mechanical arm. In this way, the car charger robot has the technical effect corresponding to the end drive device 10, thereby improving the practicality and adaptability of the car charger robot.

[0052] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0053] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0055] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0057] It should also be understood that when explaining the connection relationship or positional relationship of elements, although not explicitly described, the connection relationship and positional relationship are interpreted as including an error range, which should be within the acceptable deviation range of a specific value determined by those skilled in the art. For example, "approximately", "approximately" or "substantially" may mean within one or more standard deviations, which are not limited here.

[0058] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An end drive device, applied to a car charging robot, characterized in that: include: An adaptive mechanism (100) for clamping a charging gun (20); The driving mechanism (200) comprises a telescopic driving component (210) and a rotating driving component (220); the telescopic driving component (210) is in transmission connection with the adaptive mechanism (100) so as to be able to drive the adaptive mechanism (100) to drive the charging gun (20) to telescope; and the rotating driving component (220) is in transmission connection with the telescopic driving component (210) so as to be able to drive the telescopic driving component (210) to drive the adaptive mechanism (100) and the charging gun (20) to rotate.

2. The final drive device according to claim 1, characterized in that: The adaptive mechanism (100) comprises a transmission member (111), an elastic member (112), and a clamping member (113) for clamping the charging gun (20); the transmission member (111) is transmission-connected to the telescopic drive assembly (210) and is spaced apart from the clamping member (113); one end of the elastic member (112) is connected to the transmission member (111), and the other end is connected to the clamping member (113).

3. The end drive device according to claim 2, characterized in that: The transmission member (111) is configured as a clutch, the clutch is disposed on the charging gun (20), and moves in coordination with the charging gun (20) in a direction approaching or moving away from the clamping member (113).

4. The final drive device according to claim 2, characterized in that: The number of the elastic member (112) is at least one, and the elastic members (112) are arranged at intervals along the circumference of the clamping member (113).

5. The final drive device according to claim 2, characterized in that: The clamping member (113) comprises a first clamp (1131) and a second clamp (1132); the first clamp (1131) and the second clamp (1132) are arranged relative to each other and are detachably connected so as to cooperate in clamping the charging gun (20).

6. The final drive device according to any one of claims 1 to 5, characterized in that: The rotation drive assembly (220) comprises a base (221), a joint module (222) and an end cover (223); the joint module (222) is mounted on the base (221) and is drivingly connected to the end cover (223) so as to be able to drive the end cover (223) to rotate.

7. The final drive device according to any one of claims 1 to 5, characterized in that: The telescopic drive assembly (210) comprises a mounting body (211), a stepper motor (212) provided with a screw output end (2121), and a nut (213) threadedly connected to the screw output end (2121); the mounting body (211) is fixedly connected to the rotation drive assembly (220); the stepper motor (212) is fixed to the mounting body (211); the nut (213) is transmission-connected to the adaptive mechanism (100) and cooperates with the mounting body (211) to move axially along the screw output end (2121).

8. The final drive device according to claim 7, characterized in that: The mounting body (211) further comprises a connecting flange (2111), a support seat (2112) and a sleeve (2113); the connecting flange (2111) is fixedly connected to the rotation drive assembly (220); the support seat (2112) is fixed to a side of the connecting flange (2111) away from the rotation drive assembly (220); a mounting groove (2114) is provided on a side of the support seat (2112) close to the connecting flange (2111); the stepping motor (212) is fixed to the mounting groove (2114); a bottom wall of the mounting groove (2114) is provided with an avoidance hole (2115) for the screw output end (2121) to pass through; and the sleeve (2113) is provided with a support seat (2112) to allow the screw output end (2121) to pass through. 3) is sleeved on the outer side of the screw output end (2121) and fixed to the side of the support seat (2112) away from the connecting flange (2111), the outer wall of the sleeve (2113) is provided with an avoidance groove (2116) extending along the axial direction of the screw output end (2121) and communicating with the inner cavity of the sleeve (2113), the telescopic drive assembly (210) further comprises a transmission rod (214) which cooperates with the sleeve (2113) to move axially along the screw output end (2121), one end of the transmission rod (214) is transmission-connected to the nut (213), and the other end passes through the avoidance groove (2116) and is transmission-connected to the adaptive mechanism (100).

9. The final drive device according to claim 8, characterized in that: One end of the sleeve (2113) away from the support seat (2112) is set as a blind end. The telescopic drive assembly (210) further includes a bearing (215). The bearing (215) is sleeved on the tail of the screw output end (2121) and installed on the inner wall of the blind end.

10. A car charging robot, characterized in that: It comprises a robotic arm and an end drive device (10) according to any one of claims 1 to 9, wherein the end drive device (10) is installed at the end of the robotic arm.

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