Charging gun insertion and extraction force testing device and control method

Abstract

The invention discloses a charging gun insertion and extraction force testing device and a control method. A turntable is mounted at the output end of a rotating working part; the plugging driving part comprises at least four servo electric push rods which are circumferentially arranged on the side, away from the rotating working part, of the rotating disc, and the tail ends of the output ends of the servo electric push rods are of joint ball structures; according to the charging gun insertion and extraction force testing device and the control method, a rotating disc is installed at the output end of a rotating working part, a plurality of servo electric push rods are installed on the rotating disc, a clamping disc is provided with joint seats corresponding to the plurality of servo electric push rods, and a joint ball structure extends into and is limited to the joint seats to form twisting fit; various manual plugging actions can be simulated through working adjustment of the servo electric push rod, and meanwhile, the numerical value of the plugging force can be obtained through comprehensive calculation of data obtained by the servo electric push rod, so that the working conditions of the charging gun and the charging interface can be evaluated, and the monitoring of the plugging force is real-time. And a finished life performance curve can be formed.

Description

Technical Field

[0001] The present invention relates to the field of charging gun plugging and extraction force testing, and in particular to a charging gun plugging and extraction force testing device and a control method. Background Art

[0002] The process of charging new energy vehicles (usually electric vehicles and plug-in hybrid vehicles) uses a charging gun, which includes a charging gun body and a charging port installed on the new energy vehicle. The design of the charging gun and charging port should ensure that users can charge the vehicle safely and conveniently, while ensuring the stability and efficiency of the charging process. With the rapid development of the new energy vehicle industry, related charging technologies and standards are also constantly improving and updating.

[0003] In addition to the relevant electrical performance requirements, the force required during the plugging and unplugging process of the charging gun is also very important. It can reflect the quality of the fixing effect and provide users with a suitable operating experience. As the service life of the charging gun increases, the force required during the plugging and unplugging process and the fixing effect of the charging gun will change. When the charging gun is used manually, the angle between the charging gun and the charging interface may not be accurate, and the direction of the force may not completely coincide with the direction of the combination; and in the process of separating the charging gun from the charging interface, the direction of the force may not completely coincide with the direction of the combination, and it is often accompanied by shaking movements. At present, there is no plugging and unplugging force test device that simulates human operation in the field of charging guns; in order to be closer to the normal use state, the current plugging and unplugging life test of the charging gun often uses manual operation, which is inefficient and burdensome for the staff, especially for the state changes that cannot be monitored and can only be checked in stages. Summary of the invention

[0004] The main purpose of the present invention is to provide a charging gun plugging and unplugging force testing device and control method, aiming to solve the problem that the plugging and unplugging life test of the charging gun is often done by manual operation close to the use state, which is inefficient and burdensome to the staff, especially the state changes cannot be monitored and can only be checked in stages.

[0005] In order to achieve the above object, the present invention provides a charging gun plugging and pulling force testing device, comprising: Base part; A rotating working part is installed on the base part, and the output end of the rotating working part is arranged horizontally; A rotating disk, mounted at the output end of the rotating working part; The plug-in drive unit includes at least four servo electric push rods arranged around the turntable on a side away from the rotating working unit, and the output ends of the servo electric push rods are end-jointed ball structures; The clamping plate is provided with joint seats corresponding to the plurality of servo electric push rods, and the joint ball structure extends into and is restricted to the joint seat to form a torsional fit; A gun mounting rod, mounted on a side of the clamping plate away from the plug-in drive unit, and used to fix an external charging gun, wherein when the charging gun is mounted on the gun mounting rod, the working end of the charging gun is parallel to the thickness direction of the clamping plate and corresponds to the center position; The processing center controls the operation of the rotating working part and the plugging and unplugging driving part.

[0006] Furthermore, the base portion includes a vertical base, a transverse base and a vertical driving member, the vertical driving member drives the transverse base to move in the vertical direction, an installation platform is provided on the transverse base, and a transverse driving member is provided corresponding to the installation platform to drive the installation platform in the width direction of the vertical base, and the output end of the rotating working part is perpendicular to the width direction of the vertical base.

[0007] Furthermore, an optical alignment device is detachably provided at the end of the gun mounting rod.

[0008] Furthermore, the clamping plate includes a front clamping plate and a rear clamping plate which are detachably fixed in thickness, and the inner side surfaces of the front clamping plate and the rear clamping plate are respectively provided with corresponding front ball grooves and rear ball grooves which are through grooves, wherein the front ball groove and the rear ball groove are combined to form a joint seat.

[0009] Furthermore, the number of the servo electric push rods is four.

[0010] Furthermore, the base portion is provided with a support platform extending to below the clamping plate or the gun mounting rod and forming an elastic support.

[0011] The present invention also provides a control method, which is applied to the above-mentioned charging gun plugging and pulling force testing device, comprising: S1, controlling all the servo electric push rods to synchronously extend forward to a first preset length, and recording the driving force of each of the servo electric push rods; S2, controlling all the servo electric push rods to synchronously retract to a first preset length, and recording the driving force of each of the servo electric push rods; S3, repeating step S1 and step S2 for a first preset number of times; S4, controlling the two servo electric push rods corresponding to each other in the circumferential direction to perform opposite telescopic actions within a second preset length, and the other servo electric push rods synchronously extend forward by a first preset length; S5, controlling the two servo electric push rods corresponding to each other in the circumferential direction to perform opposite telescopic actions within a second preset length, and the other servo electric push rods to synchronously retract to a first preset length; S6. Repeat steps S4 and S5 for a second preset number of times.

[0012] Furthermore, the step S3 includes: S7, controlling the two servo electric push rods corresponding to each other in the circumferential direction to perform opposite driving actions of a third preset length, and the remaining servo electric push rods synchronously extend forward by a first preset length; S8, controlling the two corresponding servo electric push rods in the circumferential direction to perform opposite driving actions of a third preset length, and the remaining servo electric push rods to synchronously retract the first preset length; S9, repeat step S7 and step S8 for a third preset number of times.

[0013] Furthermore, the step S1 includes: S0. Control the output end of the rotating working part to rotate to a preset angle.

[0014] Further, the base portion includes a vertical base, a transverse base and a vertical driving member, the vertical driving member drives the transverse base to move in the vertical direction, the transverse base is provided with a mounting platform, and a transverse driving member is provided corresponding to the mounting platform to drive the mounting platform in the width direction of the vertical base, the output end of the rotating working part is perpendicular to the width direction of the vertical base, and the step S1 includes: The vertical driving member and the horizontal driving member are controlled to drive the gun mounting rod to a preset position.

[0015] The present invention provides a charging gun plugging and unplugging force testing device and control method, a turntable is installed at the output end of the rotating working part, a plurality of servo electric push rods are installed on the turntable, and a clamping plate is provided with a joint seat corresponding to the plurality of servo electric push rods, and a joint ball structure extends into and is restricted to the joint seat to form a torsional fit. While the working adjustment of the servo electric push rod can simulate various artificial plugging and unplugging actions, the data obtained by the servo electric push rod can be comprehensively calculated to obtain the value of the plugging and unplugging force, so as to evaluate the working conditions of the charging gun and the charging interface, and the above monitoring of the plugging and unplugging force is real-time, and thus a complete life performance curve can be formed; when the rotating working part is working, the rotation angle of the gun mounting rod can be adjusted, so as to realize the simulation of a small alignment error between the circumferential angle of the charging gun and the charging interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of a charging gun plugging and extraction force testing device according to a first embodiment of the present invention; Figure 2 yes Figure 1 Middle partial enlarged picture; Figure 3 It is a cross-sectional view of the combination of the clamping plate part and the servo electric push rod in the charging gun plugging and extraction force testing device of the first embodiment of the present invention; Figure 4 Schematic diagram of a clamping plate in a charging gun plugging and extraction force testing device according to a first embodiment of the present invention; Figure 5 is a cross-sectional view of the clamping plate portion of the charging gun plugging and extraction force testing device according to the first embodiment of the present invention; Figure 6 1 is a schematic diagram of a charging gun plugging and extraction force testing device according to a first embodiment of the present invention performing a parallel pushing action; Figure 7 1 is a schematic diagram of a charging gun plugging and extraction force testing device according to a first embodiment of the present invention performing a shaking action (first swing direction); Figure 8 It is a schematic diagram of the shaking action (second swing direction) of the charging gun plugging and extraction force testing device according to the first embodiment of the present invention.

[0017] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0018] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0019] Those skilled in the art will appreciate that, unless expressly stated otherwise, the singular forms "a", "an", "said", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements, units, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, modules, components, and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0020] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0021] Reference Figures 1 to 8In one embodiment of the present invention, a charging gun plugging and pulling force testing device includes: Base part; A rotating working part is installed on the base part, and the output end of the rotating working part is arranged horizontally; A rotating disk, mounted at the output end of the rotating working part; The plug-in drive unit includes at least four servo electric push rods arranged around the turntable on a side away from the rotating working unit, and the output ends of the servo electric push rods are end-jointed ball structures; The clamping plate is provided with joint seats corresponding to the plurality of servo electric push rods, and the joint ball structure extends into and is restricted to the joint seat to form a torsional fit; A gun mounting rod, mounted on a side of the clamping plate away from the plug-in drive unit, and used to fix an external charging gun, wherein when the charging gun is mounted on the gun mounting rod, the working end of the charging gun is parallel to the thickness direction of the clamping plate and corresponds to the center position; The processing center controls the operation of the rotating working part and the plugging and unplugging driving part.

[0022] In the prior art, there is no plugging and unplugging force testing device used in the field of charging guns to simulate human operation. In order to be closer to normal use, the current plugging and unplugging life test of charging guns often uses manual operation, which is inefficient and burdensome for staff, especially because the state changes cannot be monitored and can only be checked periodically.

[0023] In the present invention, the charging gun plugging and unplugging force testing device is used to simulate the human plugging and unplugging action and to monitor the plugging and unplugging force.

[0024] The base part serves as the foundation of the entire charging gun plug-in force test device and provides an installation foundation for subsequent related parts. In some specific cases, the base part can form a two-dimensional drive in the vertical plane, thereby providing greater convenience for the position of the subsequent gun mounting rod.

[0025] The rotating working part is installed on the base part. The output end of the rotating working part is arranged horizontally, which can ensure that the rotating surface of the output end of the rotating working part is on the vertical plane. The rotating working part can be driven by a servo motor, and precise angle control and large torque output can be achieved through a reduction motor.

[0026] The turntable is installed at the output end of the rotating working part. When the rotating working part is working, its output end drives the turntable to rotate. The turntable is the installation base for the subsequent plug-in drive part.

[0027] The plug-in and pull-out drive unit includes at least four servo electric push rods arranged around the side of the turntable away from the rotating working unit, and the end of the servo electric push rod output end is a joint ball structure. The servo electric push rod provides plug-in and pull-out actions for the charging gun, and the asynchronous control between different servo electric push rods realizes the simulation of various manual operations.

[0028] The clamping disk is provided with joint seats corresponding to multiple servo electric push rods. The joint ball structure extends into and is restricted to the joint seat to form a torsional fit. Through the setting of the joint seat on the clamping disk, a connection can be formed with the servo electric push rod. When the servo electric push rod is extended and retracted, the clamping disk is accompanied by corresponding movements. For example, when all the servo electric push rods are extended synchronously, the action of pushing the clamping disk forward smoothly can be completed; specifically, the two servo electric push rods corresponding to the circumferential direction move asynchronously, and the other servo electric push rods retract synchronously, which can simulate the swinging and pulling action. While completing the simulation of various plug-in and pull-out actions, the data obtained by the servo electric push rod can obtain the value of the plug-in and pull-out force through comprehensive calculation, so as to evaluate the working conditions of the charging gun and the charging interface, and the above monitoring of the plug-in and pull-out force is real-time, so as to form a complete life performance curve.

[0029] The gun mounting rod is installed on the side of the clamping plate away from the plug-in drive unit and is used to fix the external charging gun. The specific form of the gun mounting rod can be various, depending on how the charging gun is fixed. For example, the charging gun is fixed by a clamp matching the charging gun, and the clamp is provided with a fixing hole position. The gun mounting rod is a rod-shaped structure, and the gun mounting rod is connected to the clamp by screws.

[0030] It should be noted that when the charging gun is installed on the gun mounting rod, the working end of the charging gun is parallel to the thickness direction of the clamping plate, so the working end of the charging gun will not undergo irregular deflection along with the operation of the rotating working part, and the working end of the charging gun corresponds to the center position, so the working end of the charging gun will not undergo a large position deviation along with the operation of the rotating working part.

[0031] The processing center controls the operation of the rotating working part and the plug-in driving part. The processing center can be a single chip microcomputer or a microcomputer, and controls the rotation of the rotating working part and the extension and retraction of the plug-in driving part through a program.

[0032] Take the example of four servo electric push rods set at 90 degrees in the circumferential direction: During the docking process, when all the servo electric push rods complete the same action synchronously, the parallel pushing action of the charging gun can be simulated; when the two corresponding servo electric push rods in the circumference act asynchronously (push and pull repeatedly respectively), and the other servo electric push rods extend synchronously, the shaking docking action of the charging gun can be simulated; when the two corresponding servo electric push rods in the circumference act asynchronously (perform a push and pull action), the charging gun can be simulated to complete the docking action at an inclined angle (the driving degree of all servo electric push rods is unified after combining with the charging interface).

[0033] During the separation process, when all the servo electric push rods complete the same action synchronously, the parallel separation action of the charging gun can be simulated; when the two corresponding servo electric push rods in the circumferential direction act asynchronously (repeatedly push and pull respectively), and the remaining servo electric push rods contract synchronously, the swing separation action of the charging gun can be simulated.

[0034] It should be noted that since the setting angle of the servo electric push rod is fixed, it can only simulate swing, shake and tilt angles of specific angles, but cannot realize the situation where there are slight angle abnormalities in the circumference of the charging gun and the circumference of the charging interface; when the rotating working part is introduced, the angle of the servo electric push rod can be adjusted to achieve the simulation of slight alignment errors in the circumferential angle.

[0035] In summary, the turntable is installed at the output end of the rotating working part, and multiple servo electric push rods are installed on the turntable. The clamping plate is provided with joint seats corresponding to the multiple servo electric push rods, and the joint ball structure extends into and is restricted to the joint seat to form a torsional fit. While the working adjustment of the servo electric push rod can simulate various artificial plugging and unplugging actions, the data obtained by the servo electric push rod can be used to obtain the value of the plugging and unplugging force through comprehensive calculation, so as to evaluate the working conditions of the charging gun and the charging interface, and the above monitoring of the plugging and unplugging force is real-time, so as to form a complete life performance curve; when the rotating working part is working, the rotation angle of the gun mounting rod can be adjusted, so as to realize the simulation of a small alignment error between the circumferential angle of the charging gun and the charging interface.

[0036] Reference Figures 1 to 2 In one embodiment, the base portion includes a vertical base, a transverse base and a vertical driving member, the vertical driving member drives the transverse base to move in the vertical direction, an installation platform is provided on the transverse base, and a transverse driving member is provided corresponding to the installation platform to drive the installation platform in the width direction of the vertical base, and the output end of the rotating working part is perpendicular to the width direction of the vertical base.

[0037] In this embodiment, a vertical driving member is provided corresponding to the transverse base, so that the transverse base can change in height under the operation of the vertical driving member. The operation of the vertical driving member is controlled by the processing center. The vertical driving member is preferably a precise linear driving system, so that the height of the transverse base can be accurately controlled. When the transverse driving member is working, the mounting platform slides on the transverse base, and the sliding direction is consistent with the width direction of the vertical base, that is, through the structural limitation of the base part, the mounting platform can complete the position change up and down and left and right. The operation of the transverse driving member and the vertical driving member is controlled by the processing center. Through the two-dimensional drive of the mounting platform, two functions can be achieved. First, the alignment process of the gun mounting rod and the charging interface can be realized by adjusting the position of the mounting platform, providing a position alignment basis for the start of the test; secondly, it can provide a situation where the working end of the charging gun is parallel to the charging interface, but the position is slightly offset.

[0038] In one embodiment, an optical alignment device is detachably provided at the end of the gun mounting rod.

[0039] In this embodiment, the optical alignment device can provide a basis for the position of the charging gun. For example, when the natural contact between the charging gun and the charging interface is used to adjust the operation of the base part, it is necessary to repeatedly control the operation of the plug-in drive part, thereby increasing the complexity of the entire process. The optical alignment device can guide whether the position of the gun mounting rod is normal. For example, the optical alignment device is a laser generator that emits a laser of a specific shape. Through the positional relationship between the laser spot and the charging interface, it can be known whether the position of the gun mounting rod is correct.

[0040] Reference Figures 3 to 5 In one embodiment, the clamping plate includes a front clamping plate and a rear clamping plate which are detachably fixed in thickness, and the inner side surfaces of the front clamping plate and the rear clamping plate are respectively provided with corresponding front ball grooves and rear ball grooves which are through grooves, wherein the front ball groove and the rear ball groove are combined to form a joint seat.

[0041] In this embodiment, the shape of the clamping plate is restricted, so as to facilitate the forming of the joint seat and the installation of the output end of the servo electric push rod. Specifically, the joint ball structure of the servo electric push rod is clamped between the front clamping plate and the rear clamping plate, and the output end of the servo electric push rod passes through the rear ball groove.

[0042] Reference Figure 1 In one embodiment, the number of the servo electric push rods is four.

[0043] In this embodiment, a suitable number of servo electric push rods is provided, and the simulation of various working states can be satisfied under the condition of simple structure. In other embodiments, it can also be six or eight.

[0044] Reference Figure 1 In one embodiment, the base portion is provided with a support platform extending to below the clamping plate or the gun mounting rod and forming an elastic support.

[0045] In this embodiment, since the weight of the clamping plate, the gun mounting rod and the charging gun are all applied to the plug-in drive unit, the plug-in drive unit is easily deformed and will interfere with the driving force feedback of the servo electric push rod. Since the direction of the gun mounting rod will change to a certain extent as the plug-in drive unit works, the supporting effect of the support platform needs to be elastic. For example, the support platform includes a support rod and a spring support plate arranged at the end of the support rod, so that when the direction of the gun mounting rod changes to a certain extent, the support platform can always have an excellent supporting effect.

[0046] The present invention also provides a control method, which is applied to the above-mentioned charging gun plugging and pulling force testing device, comprising: S1, controlling all the servo electric push rods to synchronously extend forward to a first preset length, and recording the driving force of each of the servo electric push rods; S2, controlling all the servo electric push rods to synchronously retract to a first preset length, and recording the driving force of each of the servo electric push rods; S3, repeating step S1 and step S2 for a first preset number of times; S4, controlling the two servo electric push rods corresponding to each other in the circumferential direction to perform opposite telescopic actions within a second preset length, and the other servo electric push rods synchronously extend forward by a first preset length; S5, controlling the two servo electric push rods corresponding to each other in the circumferential direction to perform opposite telescopic actions within a second preset length, and the other servo electric push rods to synchronously retract to a first preset length; S6. Repeat steps S4 and S5 for a second preset number of times.

[0047] In this embodiment, in steps S1 to S3, the charging gun simulation operation of parallel advancement and withdrawal is performed in the same action. The smaller the first preset length and the faster the execution speed (the speed of extension and retraction), the higher the efficiency of the test, but it is necessary to complete the plugging and unplugging action. In steps S4 to S6, when the two corresponding servo electric push rods in the circumferential direction act asynchronously (repeatedly push and pull respectively), and the remaining servo electric push rods extend forward and retract synchronously, the shaking docking action and separation action of the charging gun can be simulated. The value of the second preset length and the execution speed determine the shaking state.

[0048] In one embodiment, the step S3 includes: S7, controlling the two servo electric push rods corresponding to each other in the circumferential direction to perform opposite driving actions of a third preset length, and the remaining servo electric push rods synchronously extend forward by a first preset length; S8, controlling the two corresponding servo electric push rods in the circumferential direction to perform opposite driving actions of a third preset length, and the remaining servo electric push rods to synchronously retract the first preset length; S9, repeat step S7 and step S8 for a third preset number of times.

[0049] In this embodiment, when the two corresponding servo electric push rods in the circumferential direction act asynchronously (performing a push and pull action), it can simulate the charging gun completing the docking and separation actions at an inclined angle (after combining with the charging interface, the driving degree of all servo electric push rods is unified). The above simulation is mainly aimed at the operating habits of users at different heights.

[0050] In one embodiment, the step S1 includes: S0. Control the output end of the rotating working part to rotate to a preset angle.

[0051] In this embodiment, since the setting angle of the servo electric push rod is fixed, only swing, shaking and tilting angles of specific angles can be simulated, and the situation where there is a slight angle abnormality between the circumference of the charging gun and the circumference of the charging interface cannot be realized; when the work of the rotating working part is introduced, the angle of the servo electric push rod can be adjusted to realize the simulation of a slight alignment error in the circumferential angle. For example, the preset angle can be selected between -5 and 5 degrees.

[0052] In one embodiment, the base portion includes a vertical base, a transverse base and a vertical driving member, the vertical driving member drives the transverse base to move in the vertical direction, a mounting platform is provided on the transverse base, a transverse driving member is provided corresponding to the mounting platform to drive the mounting platform in the width direction of the vertical base, the output end of the rotating working part is perpendicular to the width direction of the vertical base, and the step S1 includes: The vertical driving member and the horizontal driving member are controlled to drive the gun mounting rod to a preset position.

[0053] In this embodiment, by controlling the vertical drive and the horizontal drive, the mounting platform can complete the position change up and down and left and right. The work of the horizontal drive and the vertical drive is controlled by the processing center. Through the two-dimensional drive of the mounting platform, two functions can be achieved. First, the alignment process of the gun mounting rod and the charging interface can be achieved by adjusting the position of the mounting platform, providing a position alignment basis for the start of the test; second, it can provide a situation where the working end of the charging gun is parallel to the charging interface, but the position is slightly offset.

[0054] In summary, the charging gun plugging and unplugging force testing device and control method provided by the present invention has a turntable installed at the output end of the rotating working part, and multiple servo electric push rods are installed on the turntable. The clamping plate is provided with joint seats corresponding to the multiple servo electric push rods, and the joint ball structure extends into and is restricted to the joint seat to form a torsional fit. While the working adjustment of the servo electric push rod can simulate various artificial plugging and unplugging actions, the data obtained by the servo electric push rod can obtain the value of the plugging and unplugging force through comprehensive calculation, so as to evaluate the working conditions of the charging gun and the charging interface, and the above monitoring of the plugging and unplugging force is real-time, and thus a complete life performance curve can be formed; when the rotating working part is working, the rotation angle of the gun mounting rod can be adjusted, so as to realize the simulation of a small alignment error between the circumferential angle of the charging gun and the charging interface.

[0055] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A charging gun plug-in force test device, characterized in that: include: A base portion (100); A rotating working part (200) is mounted on the base part (100), and an output end of the rotating working part (200) is arranged horizontally; A rotating disk (300) mounted on the output end of the rotating working part (200); The plug-in drive unit (400) comprises at least four servo electric push rods (410) arranged around a side of the rotating disk (300) away from the rotating working unit (200), wherein the output ends of the servo electric push rods (410) are distal ends of joint ball structures (411); The clamping plate (500) is provided with joint seats (510) corresponding to the plurality of servo electric push rods (410), and the joint ball structure (411) extends into and is restricted to the joint seat to form a torsional fit; a gun mounting rod (600) mounted on a side of the clamping plate (500) facing away from the plug-in drive unit (400) and used for fixing an external charging gun (010), wherein when the charging gun (010) is mounted on the gun mounting rod (600), the working end of the charging gun (010) is parallel to the thickness direction of the clamping plate (500) and corresponds to the center position; The processing center controls the operation of the rotating working part (200) and the plugging and unplugging driving part (400).

2. The charging gun plugging and extraction force testing device according to claim 1, characterized in that: The base portion (100) comprises a vertical base (110), a transverse base (120) and a vertical driving member (130); the vertical driving member (130) drives the transverse base (120) to move in a vertical direction; a mounting platform (140) is provided on the transverse base (120); a transverse driving member (150) is provided corresponding to the mounting platform (140) to drive the mounting platform (140) in a width direction of the vertical base (110); and an output end of the rotating working portion (200) is perpendicular to the width direction of the vertical base (110).

3. The charging gun plugging and extraction force testing device according to claim 1, characterized in that: An optical alignment device is detachably provided at the end of the gun mounting rod (600).

4. The charging gun plugging and extraction force testing device according to claim 1, characterized in that: The clamping plate (500) comprises a front clamping plate (500) and a rear clamping plate (500) which are detachably fixed in thickness, and the inner side surface of the front clamping plate (500) and the inner side surface of the rear clamping plate (500) are respectively provided with corresponding front ball grooves (511) and rear ball grooves (512) which are through grooves, wherein the front ball grooves (511) and the rear ball grooves (512) are combined to form a joint seat (510).

5. The charging gun plugging and extraction force testing device according to claim 1, characterized in that: The number of the servo electric push rods (410) is four.

6. The charging gun plugging and extraction force testing device according to claim 1, characterized in that: The base portion (100) is provided with a support platform (700) extending below the clamping plate (500) or the gun mounting rod (600) and forming an elastic support.

7. A control method, applied to the charging gun plugging and pulling force testing device according to any one of claims 1 to 5, characterized in that: include S1, controlling all the servo electric push rods (410) to synchronously extend forward to a first preset length, and recording the driving force of each of the servo electric push rods (410); S2, controlling all the servo electric push rods (410) to synchronously retract to a first preset length, and recording the driving force of each of the servo electric push rods (410); S3, repeating step S1 and step S2 for a first preset number of times; S4, controlling two corresponding servo electric push rods (410) in the circumferential direction to perform opposite telescopic motion steps within a range of a second preset length, and the remaining servo electric push rods (410) to synchronously extend forward by a first preset length; S5, controlling two corresponding servo electric push rods (410) in the circumferential direction to perform opposite telescopic movements within a range of a second preset length, and the remaining servo electric push rods (410) to synchronously retract to a first preset length; S6. Repeat steps S4 and S5 for a second preset number of times.

8. The control method according to claim 7, characterized in that: The step of S3 then includes: S7, controlling the two servo electric push rods (410) corresponding to each other in the circumferential direction to perform opposite driving actions of a third preset length, and the remaining servo electric push rods (410) to synchronously extend forward by a first preset length; S8, controlling two corresponding servo electric push rods (410) in the circumferential direction to perform opposite driving actions of a third preset length, and the remaining servo electric push rods (410) to synchronously retract to a first preset length; S9, repeat step S7 and step S8 for a third preset number of times.

9. The control method according to claim 7, characterized in that: The step of S1 includes: S0. Controlling the output end of the rotating working part (200) to rotate to a preset angle.

10. The control method according to claim 7, 8 or 9, characterized in that: The base portion (100) comprises a vertical base (110), a horizontal base (120) and a vertical driving member (130); the vertical driving member (130) drives the horizontal base (120) to move in a vertical direction; a mounting platform (140) is provided on the horizontal base (120); a horizontal driving member (150) is provided corresponding to the mounting platform (140) to drive the mounting platform (140) in a width direction of the vertical base (110); an output end of the rotating working part (200) is perpendicular to the width direction of the vertical base (110); and the step S1 comprises: The vertical driving member (130) and the horizontal driving member (150) are controlled to drive the gun mounting rod (600) to a preset position.

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