Mobile intelligent charging and unplugging direct current charging robot and control method thereof

Abstract

The invention relates to the technical field of mobile intelligent charging and unplugging of new energy automobiles, in particular to a mobile intelligent charging and unplugging direct-current charging robot and a control method thereof.The mobile intelligent charging and unplugging direct-current charging robot comprises a mobile device, a motor, a connecting rod, a hinge, a rotating base and a charging gun head assembly; the motor comprises a base driving motor, a first motor, a second motor, a third motor, a fourth motor, a fifth motor and a rotating motor; the connecting rod comprises a first connecting rod and a second connecting rod; the hinge is a universal hinge; the rotary base is used for mounting a fifth motor; the charging gun head assembly comprises a charging gun shell device, an electric push rod, a direct current charging gun head and sensors, and the sensors comprise a laser sensor and a visual sensor. The intelligent charging pile has the characteristics of mobile intelligent charging, high charging efficiency, simple structure and realization of multi-charging by one pile, is suitable for being mounted in charging stations and high-speed service areas, and is used for intelligent automatic charging of pure electric buses, electric logistics vehicles and unmanned vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile intelligent charging and unplugging technology for new energy vehicles, in particular to a mobile intelligent charging and unplugging DC charging robot and its control method. Background Art

[0002] With the increasingly serious global energy crisis and environmental problems, new energy vehicles, as a strategic emerging industry in China, have developed rapidly. At present, pure electric buses, as urban transportation tools, are gradually replacing traditional fuel vehicles, promoting the green development of public transportation with their environmental protection and low-emission characteristics. However, due to the high usage frequency and limited endurance of pure electric buses, they need to be charged frequently. At the same time, in the application scenarios of unmanned autonomous vehicles, such as logistics distribution, environmental sanitation cleaning, and park patrol, although these vehicles adopt advanced technologies, the charging process is still mainly semi-automatic and relies on manual regular inspection of the charging status. As an important part of new energy vehicles, the construction and improvement of electric vehicle charging facilities have become the key factors to promote the popularization of electric vehicles, and the charging problem remains the core problem to be solved urgently. Most of the current charging piles on the market are mainly in a fixed mode of manual operation, and for occasions that require frequent charging and unmanned driving, the traditional charging mode can no longer meet the needs better.

[0003] Chinese Patent No. 202321143197.5 discloses a charging device for an electric vehicle charging pile. By arranging a wire storage groove in the pile body, this device can prevent the connecting wire from dragging on the ground during charging, resulting in damage and poor contact of the connecting wire, and protect the cable. However, this invention only solves the problem of damage to the charging cable of the charging pile and still mainly adopts a fixed charging mode of manual operation. Chinese Patent No. 201811448894.5 discloses a charging device and system for a charging pile. This device can confirm the user's identity through voice recognition and charge according to the instruction to meet the intelligent requirements, but it does not consider the charging duration, and there will also be a phenomenon of occupying the charging pile for a long time.

[0004] At present, there has been no report on a charging device with automatic identification of charging and unplugging functions, mobile intelligent charging, high charging efficiency, simple structure, and the ability to achieve "one pile, multiple charges", which can be applied to the charging scenarios of pure electric bus vehicles, electric logistics vehicles, and unmanned vehicle fields, and is suitable for installation in charging stations and highway service areas, namely a mobile intelligent charging and unplugging DC charging robot. Summary of the Invention

[0005] In order to overcome the disadvantages of the prior art, such as long charging time, low charging efficiency, and fixed charging method, the present invention provides a mobile intelligent charging and unplugging DC charging robot and its control method, which has the characteristics of automatic identification of charging and unplugging functions, mobile intelligent charging, high charging efficiency, simple structure, and realization of "one charging pile for multiple chargings". It can be applied to the charging scenarios of pure electric bus vehicles, electric logistics vehicles, and driverless vehicle fields, and is suitable for installation in charging stations and highway service areas to realize the intelligent automatic charging function.

[0006] The technical solution of the present invention is: a mobile intelligent charging and unplugging DC charging robot and its control method. The components include a mobile charging device, a motor, a connecting rod, a hinge, a rotating base, and a charging gun head assembly. The specific structures and connection relationships of the components are as follows:

[0007] The mobile device is installed on the sliding track and is used to move the charging device;

[0008] The motor includes a base drive motor, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, and a rotating motor. The base drive motor is installed at the bottom and is used to drive the entire charging structure device to rotate. The connecting rod includes a first connecting rod and a second connecting rod. The first motor is installed at the bottom and is connected to one end of the first connecting rod. The second motor is installed at the other end of the first connecting rod and is connected to one end of the universal hinge. The third motor is installed at one end of the second connecting rod and is connected to the other end of the universal hinge. The fourth motor is installed at the other end of the second connecting rod and is connected to the rotating motor. The rotating motor is connected to the fifth motor to drive the rotating base;

[0009] The hinge is a universal hinge. One end of the universal hinge is connected to the second motor, and the other end is connected to the third motor.

[0010] One end of the rotating base is connected to the rotating motor, and the other end of the rotating base is installed with the fifth motor;

[0011] The charging gun head assembly includes a charging gun shell device, an electric push rod, a DC charging gun head, and a sensor. The charging gun shell device is used to install the electric push rod, the DC charging gun head, and the sensor. One end of the electric push rod is fixedly connected to the charging gun shell device through a bolt, and the other end is connected to the DC charging gun head. One end of the DC charging gun head is connected to the electric push rod, and the other end is used to connect to a charging pile or a vehicle charging port;

[0012] The sensor includes a laser sensor and a vision sensor. The laser sensor is installed on one side of the charging gun shell device, and the vision sensor is installed on the other side of the charging gun shell device;

[0013] There is a keyway on the charging gun shell device, which is used to connect the DC charging gun head and play a limiting role.

[0014] The laser sensor is used to obtain three-dimensional information of the surrounding environment to facilitate the navigation and obstacle avoidance of the DC charging gun head; the vision sensor is used to acquire image and video information in the environment to achieve functions such as target detection, obstacle recognition, and attitude estimation.

[0015] The movement of the mobile device on the sliding track, combined with the drive of the motor, can accurately move the DC charging gun head to the vehicle charging port. After automatically identifying that the vehicle is fully charged, the DC charging gun head is automatically removed and the motors drive each other to return to the original position of the charging pile.

[0016] The charging gun head assembly further includes an unlocking device for unlocking the DC charging gun head so that the electric push rod can remove the DC charging gun head.

[0017] The charging gun head assembly further includes a connecting device for connecting to the charging pile or the vehicle charging port to achieve a stable connection between the DC charging gun head and the charging pile or the vehicle charging port.

[0018] The charging gun head assembly further includes a disconnecting device for automatically disconnecting the connection between the DC charging gun head and the vehicle charging port after charging is completed.

[0019] The charging gun head assembly further includes a charging status detection device for detecting the charging status of the vehicle and automatically identifying that the vehicle is fully charged.

[0020] The charging gun head assembly further includes a charging control device for controlling the charging process, including adjusting charging current and voltage parameters.

[0021] The charging gun head assembly further includes a communication device for communicating with the vehicle, the charging pile or other devices to achieve information interaction and instruction transmission.

[0022] A control method for a mobile intelligent charging and unplugging DC charging robot includes the following steps:

[0023] S1. Automatically unplug the DC charging gun head: After the charging pile receives a charging instruction, the charging gun head assembly unlocks the DC charging gun head, and the electric push rod removes the DC charging gun head;

[0024] S2. Automatically identify and connect to the vehicle charging port: At the location of the vehicle according to the user-specified vehicle charging port, the base drive motor drives the entire charging device to rotate. The universal hinge moves the charging gun head assembly left and right and up and down under the drive of the second and third motors. The auxiliary charging gun head assembly can avoid obstacles and adjust its position when moving to the vehicle charging port. The fourth motor is used to adjust the left-right state of the charging gun head assembly, enabling the charging gun head assembly to perform left-right positioning and position fine-tuning when docking with the vehicle charging port. The rotation motor is used to adjust the horizontal state of the charging gun head assembly, enabling the charging gun head assembly to perform horizontal positioning and position fine-tuning when docking with the vehicle charging port. After determining that the charging gun head assembly is aligned with the vehicle charging port, the DC charging gun head is pushed by an electric push rod to achieve telescopic movement, realizing the connection between the DC charging gun head and the vehicle charging port;

[0025] S3. Automatically identify the charging status and unplug the DC charging gun head: The charging gun head assembly is equipped with a charging status detection device. After automatically identifying that the vehicle is fully charged, it automatically disconnects the connection between the DC charging gun head and the vehicle charging port, automatically removes the DC charging gun head, and returns to the original position of the charging pile under the interaction of each motor.

[0026] The prominent advantages of the present invention are as follows:

[0027] 1. Automatic identification of charging with high charging efficiency. The present invention provides an intelligent charging mode that accurately judges the vehicle charging situation through the Internet, automatically connects to the next vehicle for charging, avoids the phenomenon of long-term "charging" occupation, increases the usage times of the charging pile, and improves the charging efficiency.

[0028] 2. Mobile intelligent charging, realizing "one charging pile for multiple chargings" with a wide range of applications. Compared with the fixed-mode charging piles operated manually, the mobile intelligent charging robot provided by the device of the present invention can meet the charging needs of vehicles with different charging port positions, greatly improving the service capacity of the charging facilities. It is applicable to various vehicle types such as pure electric bus vehicles, electric logistics vehicles, and driverless vehicles, and can also be applied to AC charging piles.

[0029] 3. Simple structure. The device provided by the present invention simplifies the structure, is easy to install and maintain, and reduces the production and operation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic structural diagram of the mobile intelligent DC charging and unplugging robot described in the present invention.

[0031] Figure 2 It is a structural diagram of the initial charging state of the mobile intelligent DC charging and unplugging robot described in the present invention.

[0032] Figure 3This is the charging state structure diagram of the mobile intelligent plug-in and unplug DC charging robot described in the present invention.

[0033] Figure 4 This is the charging recognition state structure diagram of the mobile intelligent plug-in and unplug DC charging robot described in the present invention.

[0034] Figure 5 This is the charging position fine-tuning state structure diagram of the mobile intelligent plug-in and unplug DC charging robot described in the present invention.

[0035] Figure 6 This is the charging movement state structure diagram of the mobile intelligent plug-in and unplug DC charging robot described in the present invention.

[0036] Figure 7 This is the charging recognition and charging state structure diagram of the mobile intelligent plug-in and unplug DC charging robot described in the present invention.

[0037] Figure 8 This is the schematic diagram of the position fine-tuning when the mobile intelligent plug-in and unplug DC charging robot described in the present invention connects to a vehicle.

[0038] Figure 9 This is the schematic diagram of the charging gun head assembly of the mobile intelligent plug-in and unplug DC charging robot described in the present invention.

[0039] In the figure, the markings are: mobile device 1, base drive motor 2, first motor 3, first connecting rod 4, second motor 5, universal hinge 6, third motor 7, second connecting rod 8, fourth motor 9, rotating motor 10, rotating base 11, fifth motor 12, charging gun housing device 13, electric push rod 14, laser sensor 15, DC charging gun head 16, charging pile 17, sliding track 18, vehicle charging port 19, vision sensor 20. Detailed implementation manners

[0040] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] Embodiment 1

[0042] As Figures 1 to 9 shown, the mobile intelligent plug-in and unplug DC charging robot described in the present invention includes components such as a mobile device 1, motors, connecting rods, hinges, a rotating base 11, and a charging gun head assembly. The specific structures and connection relationships of the components are as follows:

[0043] The mobile device 1 is installed on the sliding track 18 and is used to move the charging device;

[0044] The motor includes a base drive motor 2, a first motor 3, a second motor 5, a third motor 7, a fourth motor 9, a fifth motor 12, and a rotation motor 10. The base drive motor 2 is installed at the bottom and is used to drive the entire charging structure device to rotate. The connecting rod includes a first connecting rod 4 and a second connecting rod 8. The first motor 3 is installed at the bottom and is connected to one end of the first connecting rod 4. The second motor 5 is installed at the other end of the first connecting rod 4 and is connected to one end of a universal hinge 6. The third motor 7 is installed at one end of the second connecting rod 8 and is connected to the other end of the universal hinge 6. The fourth motor 9 is installed at the other end of the second connecting rod 8 and is connected to the rotation motor 10. The rotation motor 10 is connected to the fifth motor 12 to drive the rotation base 11.

[0045] The hinge is a universal hinge 6. One end of the universal hinge 6 is connected to the second motor 5, and the other end is connected to the third motor 7.

[0046] One end of the rotation base 11 is connected to the rotation motor 10, and the other end of the rotation base 11 is installed with the fifth motor 12.

[0047] The charging gun head assembly includes a charging gun housing device 13, an electric push rod 14, a DC charging gun head 16, and a sensor. The charging gun housing device 13 is used to install the electric push rod 14, the DC charging gun head 16, and the sensor. One end of the electric push rod 14 is fixedly connected to the charging gun housing device 13 by bolts, and the other end is connected to the DC charging gun head 16. One end of the DC charging gun head 16 is connected to the electric push rod 14, and the other end is used to connect to a charging pile 17 or a vehicle charging port 19.

[0048] The sensor includes a laser sensor 15 and a vision sensor 20. The laser sensor 15 is installed on one side of the charging gun housing device 13, and the vision sensor 20 is installed on the other side of the charging gun housing device 13.

[0049] There is a keyway on the charging gun housing device 13, which is used to connect the DC charging gun head 16 and play a limiting role.

[0050] The laser sensor 15 is used to obtain three-dimensional information of the surrounding environment to facilitate the navigation and obstacle avoidance of the DC charging gun head 16; the vision sensor 20 is used to obtain image and video information in the environment to achieve functions such as target detection, obstacle recognition, and pose estimation.

[0051] The movement of the mobile device 1 on the sliding track 18, combined with the drive of the motor, can enable the DC charging gun head 16 to accurately move to the vehicle charging port 19. After automatically identifying that the vehicle is fully charged, the DC charging gun head 16 is automatically removed and returns to the original position of the charging pile 17 under the interaction of the drive of each motor.

[0052] The charging gun head assembly further includes an unlocking device for unlocking the DC charging gun head 16 so that the electric push rod 14 can remove the DC charging gun head 16.

[0053] The charging gun head assembly further includes a connecting device for connecting to the charging pile 17 or the vehicle charging port 19 to achieve stable connection between the DC charging gun head 16 and the charging pile 17 or the vehicle charging port 19.

[0054] The charging gun head assembly further includes a disconnecting device for automatically disconnecting the connection between the DC charging gun head 16 and the vehicle charging port 19 after charging is completed.

[0055] The charging gun head assembly further includes a charging state detection device for detecting the charging state of the vehicle and automatically identifying when the vehicle is fully charged.

[0056] The charging gun head assembly further includes a charging control device for controlling the charging process, including adjusting the charging current and voltage parameters.

[0057] The charging gun head assembly further includes a communication device for communicating with the vehicle, the charging pile 17 or other devices to achieve information interaction and instruction transmission.

[0058] Embodiment 2

[0059] This embodiment is a control method for the mobile intelligent charging and unplugging DC charging robot described in the present invention, including the following steps:

[0060] S1. Automatically unplug the DC charging gun head 16: After the charging pile 17 receives a charging instruction, the charging gun head assembly unlocks the DC charging gun head 16, and the electric push rod 14 removes the DC charging gun head 16.

[0061] S2. Automatically identify and connect to the vehicle charging port 19: According to the user-specified vehicle charging port 19 at the vehicle's location, the base drive motor 2 drives the entire charging device to rotate. The universal hinge 6 moves left and right and up and down under the drive of the second motor 5 and the third motor 7 to enable the charging gun head assembly to avoid obstacles and adjust its position when moving to the vehicle charging port 19. The fourth motor 9 is used to adjust the left and right state of the charging gun head assembly to perform left and right positioning and position fine-tuning when the charging gun head assembly docks with the vehicle charging port 19. The rotation motor 10 is used to adjust the horizontal state of the charging gun head assembly to perform horizontal positioning and position fine-tuning when the charging gun head assembly docks with the vehicle charging port 19. After determining that the charging gun head assembly is aligned with the vehicle charging port 19, the electric push rod 14 is used to push the DC charging gun head 16 to achieve telescopic movement, thereby realizing the connection between the DC charging gun head 16 and the vehicle charging port 19.

[0062] S3. Automatically identify the charging status and unplug the DC charging gun head 16: The charging gun head assembly is equipped with a charging status detection device. After automatically identifying that the vehicle is fully charged, it automatically disconnects the connection between the DC charging gun head 16 and the vehicle charging port 19, automatically removes the DC charging gun head 16, and through the interaction of each motor drive, it returns to the original position of the charging pile 17.

[0063] Working principle and process:

[0064] As Figures 1 to 5 shown, when the user designates the vehicle charging port 19 to be in the front position of the vehicle, the DC charging gun head 16 of the charging device is placed on the charging pile 17. After receiving the charging instruction, the charging gun head assembly unlocks the DC charging gun head 16 and the electric push rod 14 removes the DC charging gun head 16; at this time, the base drive motor 2 drives the entire charging device to rotate, the first motor 3 drives the first connecting rod 4 to move, the second motor 5 drives the universal hinge 6 to move left and right, the third motor 7 drives the second connecting rod 8 to move up and down, the fourth motor 9 drives the rotating motor 10 to move left and right, and the rotating motor 10 drives the rotating base 11 to rotate to adjust the horizontal state of the charging gun head assembly. The fifth motor 12 drives the charging gun housing device 13 to move up and down. With the assistance of the universal hinge 6, the charging gun head assembly can avoid obstacles and adjust its position during the movement to the vehicle charging port 19, so as to accurately move the DC charging gun head 16 to the vehicle charging port 19. The position and shape of the vehicle charging port 19 are determined by the laser sensor 15 and the vision sensor 20. At the same time, the charging gun head assembly adjusts its horizontal state through the action of the rotating motor 10 and performs horizontal positioning and position fine-tuning, and adjusts its vertical state through the action of the fifth motor 12 and performs vertical positioning and position fine-tuning. After determining that the charging gun head assembly is aligned with the vehicle charging port 19, the electric push rod 14 is used to push the DC charging gun head 16 to achieve telescopic movement, realizing the connection and disconnection between the DC charging gun head 16 and the vehicle charging port 19; the charging gun head assembly is equipped with a charging status detection device. After automatically identifying that the vehicle is fully charged, it automatically removes the DC charging gun head 16 and through the interaction of each motor drive, it returns to the original position of the charging pile 17, thus realizing the mobile intelligent charging function.

[0065] As Figures 1 to 7As shown, when the user specifies that the vehicle charging port 19 is at the rear position of the vehicle, the DC charging gun head 16 of the charging device is placed on the charging pile 17. After receiving the charging instruction, the charging gun head assembly unlocks the DC charging gun head 16, and the electric push rod 14 removes the DC charging gun head 16; at this time, the base drive motor 2 drives the entire charging device to rotate, and the moving device 1 moves the charging device on the sliding track 18. After reaching the position of the vehicle charging port 19, the first motor 3 of the charging device drives the first connecting rod 4 to move, the second motor 5 drives the universal hinge 6 to move left and right, the third motor 7 drives the second connecting rod 8 to move up and down, the fourth motor 9 drives the rotating motor 10 to move left and right, the rotating motor 10 drives the rotating base 11 to rotate, and the fifth motor 12 drives the charging gun housing device 13 to move up and down. With the assistance of the universal hinge 6, the charging gun head assembly can avoid obstacles and adjust its position during the movement to the vehicle charging port 19, so as to accurately move the DC charging gun head 16 to the vehicle charging port 19. The position and shape of the vehicle charging port 19 are determined by the laser sensor 15 and the vision sensor 20. At the same time, the charging gun head assembly adjusts its horizontal state and performs horizontal positioning and position fine-tuning under the action of the rotating motor 10, and adjusts its up and down state and performs up and down positioning and position fine-tuning under the action of the fifth motor 12. After determining that the charging gun head assembly is aligned with the vehicle charging port 19, the electric push rod 14 is used to push the DC charging gun head 16 to achieve telescopic movement, so as to realize the connection and disconnection between the DC charging gun head 16 and the vehicle charging port 19; the charging gun head assembly is equipped with a charging state detection device. After automatically identifying that the vehicle is fully charged, it automatically removes the DC charging gun head 16 and returns to the original position of the charging pile 17 under the interaction of the drive of each motor, thus realizing the mobile intelligent charging function.

Claims

1. A mobile intelligent charging and unloading DC charging robot and its control method, the components include a mobile charging device, a motor, a connecting rod, a hinge, a rotating base and a charging gun head assembly, characterized in that: The specific structure and connection relationship of the components are as follows: The moving device is installed on the sliding track and is used to move the charging device; The motor includes a base drive motor, a first motor, a second motor, a third motor, a fourth motor, a fifth motor and a rotating motor. The base drive motor is installed at the bottom to drive the rotation of the entire charging structure device. The connecting rod includes a first connecting rod and a second connecting rod. The first motor is installed at the bottom and connected to one end of the first connecting rod. The second motor is installed at the other end of the first connecting rod and connected to one end of the universal hinge. The third motor is installed at one end of the second connecting rod and connected to the other end of the universal hinge. The fourth motor is installed at the other end of the second connecting rod and connected to the rotating motor. The rotating motor is connected to the fifth motor to drive the rotating base. The hinge is a universal hinge, one end of which is connected to the second motor, and the other end of which is connected to the third motor. One end of the rotating base is connected to the rotating motor, and the other end of the rotating base is installed with a fifth motor; The charging gun head assembly includes a charging gun housing device, an electric push rod, a DC charging gun head and a sensor. The charging gun housing device is used to install the electric push rod, the DC charging gun head and the sensor. One end of the electric push rod is fixed to the charging gun housing device by bolts, and the other end is connected to the DC charging gun head. One end of the DC charging gun head is connected to the electric push rod, and the other end is used to connect to the charging pile or the vehicle charging port; The sensor includes a laser sensor and a visual sensor, the laser sensor is installed on one side of the charging gun housing device, and the visual sensor is installed on the other side of the charging gun housing device; The charging gun housing device is provided with a keyway for connecting the DC charging gun head and playing a limiting role.

2. The mobile intelligent charging and unloading DC charging robot according to claim 1 is characterized in that: The laser sensor is used to obtain three-dimensional information of the surrounding environment, which facilitates the DC charging gun head to navigate and avoid obstacles. The visual sensor is used to obtain image and video information in the environment to achieve target detection, obstacle recognition, and posture estimation functions.

3. The mobile intelligent charging and unloading DC charging robot according to claim 1 is characterized in that: The movement of the mobile device on the sliding track, combined with the drive of the motor, can realize the accurate movement of the DC charging gun head to the vehicle charging port. After automatically identifying that the car is fully charged, the DC charging gun head is automatically removed and driven by the interaction of each motor to return to the original position of the charging pile.

4. The mobile intelligent charging and unloading DC charging robot according to claim 1 is characterized in that: The charging gun head assembly also includes an unlocking device for unlocking the DC charging gun head so that the electric push rod can remove the DC charging gun head.

5. The mobile intelligent charging and unloading DC charging robot according to claim 1 is characterized in that: The charging gun head assembly also includes a connecting device for connecting to a charging or vehicle charging port to achieve a stable connection between the DC charging gun head and the charging pile or vehicle charging port.

6. The mobile intelligent charging and unloading DC charging robot according to claim 1 is characterized in that: The charging gun head assembly also includes a disconnection device for automatically disconnecting the DC charging gun head from the vehicle charging port after charging is completed.

7. The mobile intelligent charging and unloading DC charging robot according to claim 1 is characterized in that: The charging gun head assembly also includes a charging status detection device for detecting the charging status of the vehicle and automatically identifying whether the vehicle is fully charged.

8. The mobile intelligent charging and unloading DC charging robot according to claim 1 is characterized in that: The charging gun head assembly also includes a charging control device for controlling the charging process, including the adjustment of charging current and voltage parameters.

9. The mobile intelligent charging and unloading DC charging robot according to claim 1, characterized in that: The charging gun head assembly also includes a communication device for communicating with a vehicle, a charging pile or other equipment to achieve information interaction and command transmission.

10. A control method for a mobile intelligent charging and unloading DC charging robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Automatically remove the DC charging gun head: After the charging pile receives the charging command, the charging gun head assembly unlocks the DC charging gun head, and the DC charging gun head is removed by the electric push rod; S2. Automatic identification and connection of vehicle charging port: According to the user-specified location of the vehicle charging port, the base drive motor drives the entire charging device to rotate. The universal hinge realizes the left and right and up and down movement of the charging gun head assembly under the drive of the second motor and the third motor. The auxiliary charging gun head assembly can avoid obstacles and adjust the position when moving to the vehicle charging port. The fourth motor is used to adjust the left and right state of the charging gun head assembly, so that the charging gun head assembly can be positioned left and right and fine-tuned when docking the vehicle charging port. The rotating motor is used to adjust the horizontal state of the charging gun head assembly, so that the charging gun head assembly can be horizontally positioned and fine-tuned when docking the vehicle charging port. After confirming that the charging gun head assembly is aligned with the vehicle charging port, the DC charging gun head is pushed by the electric push rod to achieve telescopic movement, thereby realizing the connection between the DC charging gun head and the vehicle charging port. S3. Automatically identify the charging status and unplug the DC charging gun head: The charging gun head assembly is equipped with a charging status detection device. After automatically identifying that the car is fully charged, it automatically disconnects the DC charging gun head from the vehicle charging port, automatically removes the DC charging gun head and drives the motors to interact with each other to return to the original position of the charging pile.

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