Multi-degree-of-freedom charging execution mechanism of energy storage charging robot

Abstract

The invention discloses a multi-degree-of-freedom charging execution mechanism of an energy storage charging robot, and belongs to the technical field of charging robots, the multi-degree-of-freedom charging execution mechanism comprises a rotary lifting mechanism, the rotary lifting mechanism comprises a double-shaft motor arranged on the inner wall of a workbench, one end of an output shaft of the double-shaft motor extends to a driving wheel, and the other end of the output shaft of the double-shaft motor extends to a rotary table; the driving wheel and the driven wheel are in transmission connection through a conveying belt, the top of a center shaft on the driven wheel extends to a lead screw shaft through a rotary drum, a first sliding block is in spiral transmission on the lead screw shaft, and guide rings are installed at the two ends of the first sliding block through supports. The guide ring is connected with a guide groove in the height direction of a guide column on the workbench. The technical problems that according to an existing charging robot, independent driving mechanisms are needed for adjusting and changing the corresponding height and rotating position, the driving mechanisms are complex in design, the number of drivers is large, and assembling and mounting work is complex can be solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of charging robots, and in particular relates to a multi-degree-of-freedom charging actuator of an energy storage charging robot. Background Art

[0002] The charging robot is an innovative product that integrates artificial intelligence, energy storage technology, and autonomous driving. It aims to address issues such as limited space and waiting times when charging new energy vehicles. Its core capabilities include autonomous navigation, integration of automotive-grade energy storage devices, and adaptability to multiple scenarios. A 10-minute charge can extend a vehicle's range by 70-100 kilometers. Currently, this technology has been deployed in highway service areas, commercial parking lots, and other locations.

[0003] Charging robots are primarily used to improve the efficiency of recharging new energy vehicles while reducing labor costs. Their specific functions are as follows: Improving Recharging Efficiency: Through automated operation, charging robots enable rapid battery swapping and support 24 / 7 uninterrupted operation, significantly improving charging efficiency. Dual-battery power balancing technology ensures continuous power during battery swapping, making it suitable for a wider range of industrial scenarios. Reducing Labor Costs: Some robots can autonomously swap batteries, reducing manual intervention. Intelligent scheduling algorithms also optimize the operation and maintenance costs of public charging stations, reducing installation and operating costs.

[0004] When adjusting the height and rotation of the charging robot, it generally requires independent drive mechanisms to adjust the height and rotation position accordingly. The drive mechanism design is relatively complex, with many drives, and the assembly and installation work is complicated. In addition, for outdoor charging machines, they generally do not have corresponding automatic rain protection structures. For outdoor charging work, there are certain safety hazards, which is not conducive to improving the safety of the device. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom charging actuator for an energy storage charging robot to solve the technical problems that existing charging robots require independent driving mechanisms to adjust the height and rotation position accordingly, the driving mechanism design is relatively complex, there are many drivers, and the assembly and installation work is complicated.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: The multi-degree-of-freedom charging actuator of the energy storage charging robot includes: A rotary lifting mechanism, comprising a dual-axis motor placed on the inner wall of the workbench, wherein one end of the output shaft of the dual-axis motor extends to the driving wheel and the other end extends to the turntable, wherein the driving wheel and the driven wheel are connected by a conveyor belt transmission, and the top of the central axis of the driven wheel extends to the screw shaft through a rotating drum, wherein a first slider is spirally driven on the screw shaft, and guide rings are mounted on both ends of the first slider through brackets; The guide ring is connected with a guide groove along the height direction of the guide column on the workbench. The turntable and the second slider are connected by a swing rod. One end of the second slider is movably connected to a sealing plug placed on the inner wall of the oil pipe through a crossbeam. One end of the oil pipe is connected to a bearing placed on the outer wall of the rotating drum, and both ends of the bearing are provided with oil filling holes connected to the oil pipe and the rotating drum.

[0007] Furthermore, a storage cavity connected to the oil hole is provided inside the rotating drum, and top plates connected to the conduit are installed on both sides of the top of the rotating drum, a positioning frame connected to the guide column is installed at the bottom of the top plate, a guide groove connected to the conduit is provided at the center of the positioning frame, and a retaining ring is provided at the bottom of the positioning frame and is placed on the edge of the outer wall of the guide column.

[0008] Furthermore, a conical funnel is fixedly connected to the outer wall of the guide column in a detachable manner, the bottom of the conical funnel is connected to the oil pipe through a multi-way tube, the oil pipe is fixedly connected to the movable opening on the guide column, and the opening on the oil pipe is movably connected to a baffle through a first rotating shaft, and the outer wall of the first rotating shaft is provided with a torsion spring adapted to the side wall of the oil pipe.

[0009] Furthermore, the top of the bracket is connected to the charging mechanism through a movably supported fixed rod, the top of the screw shaft is integrally connected to a fixed plate with protrusions at both ends, and the fixed plate is installed in an annular groove placed at the bottom of the charging mechanism through a movably limited manner, and both ends of the annular groove are provided with protrusions extending outward.

[0010] Furthermore, the charging mechanism includes a shell with a slot on the top, the support rod and the friction pad on the shell are connected by a first spring, the outer wall of the friction pad is connected to a limiting slot along the height direction of the shell side wall, and a push rod is installed on the friction pad through a counterweight block.

[0011] Furthermore, one end of the push rod is connected to a conical insertion rod extending to the gap between the battery packs, and the conical insertion rod and the bottom of the inner wall of the battery box are connected by a second spring. Both ends of the battery pack are provided with positioning holes placed on the inner wall of the battery box, and both ends of the outside of the battery pack are provided with limit plates placed on the inner wall of the battery box. The battery pack is installed on the drive motor on the outer wall of the shell by electrical connection.

[0012] Furthermore, the output shaft of the driving motor is fixed to the second rotating shaft through a coupling, and a winding roller is fixedly installed on the outer wall of the second rotating shaft. The winding roller is movable to wind up a roller blind extending to the outside of the shell, and third sliders are installed at both ends of the roller blind and placed in the slots of the multi-section telescopic rod, and an interference block is fixedly installed on the multi-section telescopic rod to limit the position of the third slider.

[0013] Furthermore, the outer wall of the third slider is connected with a strip groove along the length direction of the multi-section telescopic rod, and a charging head placed on the shell is provided below the roller blind, and the charging head is installed on the outer wall of the shell in a movable and telescopic manner.

[0014] Furthermore, both ends of the swing arm are mounted on the second slider and the turntable by a rotational connection, one end of the multi-way tube is fixedly connected to an oil storage box, a control valve adapted thereto is connected to the oil storage box, and the transmission ratio between the driving wheel and the driven wheel is 1:3 or 1:4.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: (1) In the present invention, the rotary lifting mechanism not only realizes rotation and lifting through the same driving source, but also realizes corresponding lubrication through lubricating oil, thereby reducing friction damage between transmission parts and improving the service life of the device. When lifting is required, the dual-axis motor starts and drives the rotation of the driving wheel. Under the transmission adjustment of the driven wheel, the corresponding deceleration processing can be performed while driving the rotation of the screw shaft. Under the action of the spiral transmission, the first slider moves up and down on the guide column and drives the charging mechanism to perform a certain height adjustment action. When the charging mechanism needs to be rotated, the charging mechanism is moved to the fixed disk, thereby limiting and fixing the annular groove on the shell and the protrusion on the fixed disk. At the same time, the fixed rod is separated from the shell during the descent process. In this way, the fixed disk drives the charging mechanism to rotate synchronously during the rotation process, thereby realizing corresponding rotation and height adjustment under the action of the same driving source, effectively expanding the applicability of the charging robot, with reasonable design and high degree of integration.

[0016] (2) In the present invention, during the start-up process of the dual-axis motor, the turntable can be driven to rotate. Under the action of mechanical transmission, the sealing plug makes horizontal reciprocating movement inside the oil pipe, and through compression movement, the oil inside the rotating cylinder is transported to the guide column through the guide tube. Under the combined action of the oil weight and the retaining ring, the oil is distributed on the guide column and collected through the conical funnel, and then introduced into the oil pipe through the multi-way pipe. The baffle on the first rotating shaft cooperates with the torsion spring to play a one-way adjustment role to prevent the occurrence of liquid backflow. In this way, the oil can be recycled and reused, avoiding resource waste. At the same time, the oil storage box on the multi-way pipe can control and adjust the used oil, and make timely and effective automatic compensation for the oil in the oil pipe, thereby reducing the friction damage between the transmission parts and improving the service life of the device.

[0017] (3) In the present invention, the charging mechanism can automatically protect and shield the charging port on rainy days through the automatic adjustment mechanism. When it rains, rainwater enters the friction pad through the groove. At this time, the friction coefficient between the friction pad and the side wall of the shell is reduced, and the adhesion is reduced, causing the counterweight on the friction pad to move downward. During the downward movement, the push rod drives the conical plug rod to separate from the battery pack, so that the battery packs can be connected and conductive. The driving motor drives the winding roller on the second rotating shaft to rotate, thereby pushing the roller curtain to move outward, so that the roller curtain drives the third slider to move outward in the multi-section telescopic rod, thereby unfolding the roller curtain, effectively protecting and shielding the charging port, improving the safety of the device and solving safety hazards.

[0018] (4) In the present invention, when the rain ends, the space between the friction pad and the side wall of the shell becomes dry and the friction coefficient increases, but the friction pad still has a downward movement tendency. Under the action of static friction and the elastic recovery of the first spring, the friction pad moves upward and returns to its original position. The battery pack no longer supplies power to the drive motor. Under the torsional rotation of the return spring, the roller blind achieves the purpose of automatic retraction, effectively achieving the effect of automatic adjustment, with a high degree of automation and convenient use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom charging actuator of the energy storage charging robot of the present invention. Figure 1 ; Figure 2This is a schematic diagram of the structure of the multi-degree-of-freedom charging actuator of the energy storage charging robot of the present invention. Figure 2 ; Figure 3 1. It is a front view of the multi-degree-of-freedom charging actuator of the energy storage charging robot of the present invention; Figure 4 It is a schematic diagram of the interior of the workbench of the present invention; Figure 5 This is a schematic diagram of the connection between the driving wheel and the driven wheel of the present invention; Figure 6 is a schematic diagram of the interior of the oil pipe of the present invention; Figure 7 It is a structural schematic diagram of the housing of the present invention; Figure 8 is a schematic cross-sectional view of the housing of the present invention in the front view direction; Figure 9 This invention Figure 1 A magnified view of point A; Figure 10 It is a schematic diagram of the interior of the battery box of the present invention.

[0021] Reference numerals: 1, rotary lifting mechanism; 2, workbench; 3, dual-axis motor; 4, driving wheel; 5, turntable; 6, driven wheel; 7, conveyor belt; 8, rotating drum; 9, screw shaft; 10, first slider; 11, guide ring; 12, guide column; 13, second slider; 14, swing rod; 15, oil pipe; 16, sealing plug; 17, bearing; 18, guide tube; 19, top plate; 20, positioning frame; 21, retaining ring; 22, conical funnel; 23, multi-way pipe; 24, first rotating shaft; 25, baffle; 26, torsion spring; 27 , fixing rod; 28, charging mechanism; 29, fixing plate; 30, annular groove; 31, shell; 32, support rod; 33, friction pad; 34, first spring; 35, counterweight; 36, push rod; 37, battery pack; 38, conical plug rod; 39, battery box; 40, second spring; 41, limit plate; 42, drive motor; 43, second rotating shaft; 44, winding roller; 45, roller blind; 46, multi-section telescopic rod; 47, third slider; 48, resistance block; 49, charging head; 50, oil storage box; 51, return spring. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] Reference Manual Figure 1 -Attached Figure 10 As shown, the multi-degree-of-freedom charging actuator of the energy storage charging robot includes: a rotary lifting mechanism 1, which includes a dual-axis motor 3 placed on the inner wall of a workbench 2. One end of the output shaft of the dual-axis motor 3 extends to a driving wheel 4, and the other end extends to a turntable 5. The driving wheel 4 and the driven wheel 6 are connected by a conveyor belt 7, and the top of the central axis of the driven wheel 6 extends to a screw shaft 9 through a rotating drum 8. A first slider 10 is spirally driven on the screw shaft 9, and guide rings 11 are installed at both ends of the first slider 10 through brackets; The guide ring 11 is connected with a guide groove along the height direction of the guide column 12 on the workbench 2. The turntable 5 and the second slider 13 are connected by a swing rod 14. One end of the second slider 13 is movably connected to a sealing plug 16 placed on the inner wall of the oil pipe 15 through a cross beam. One end of the oil pipe 15 is connected to a bearing 17 placed on the outer wall of the rotating drum 8, and both ends of the bearing 17 are provided with oil filling holes connected to the oil pipe 15 and the rotating drum 8.

[0024] Specifically, the oil filling hole on the bearing 17 can ensure the free rotation of the drum 8, and at the same time can normally and stably transport the oil in the oil pipe 15 to the drum 8. The rotating connection of the swing rod 14 can convert the rotational motion of the turntable 5 into the linear motion of the sealing plug 16, and then distribute the oil to the guide column 12 through continuous compression.

[0025] Since the charging port on the car is generally set at a fixed height, the present invention can effectively adapt the charging port at the corresponding angular position to the charging operation by rotating and adjusting at the corresponding height. The fixed rod 27 is connected to the bottom of the shell 31 by a limiting support, which can effectively play the role of a movable support, and when it moves downward to the corresponding height, the shell 31 can be separated from the fixed rod 27. At the same time, the shell 31 is limitedly connected in the annular groove 30 and is limited by the protrusions at both ends of the annular groove 30, so that the fixed disk 29 drives the synchronous rotation of the charging mechanism 28 during the rotation process.

[0026] A storage cavity connected to the oil hole is provided inside the rotating drum 8, and top plates 19 connected to the conduit 18 are installed on both sides of the top of the rotating drum 8. A positioning frame 20 connected to the guide column 12 is installed at the bottom of the top plate 19. A guide groove connected to the conduit 18 is provided at the center of the positioning frame 20, and a retaining ring 21 is provided at the bottom of the positioning frame 20 and is placed on the edge of the outer wall of the guide column 12.

[0027] A conical funnel 22 is fixedly connected to the outer wall of the guide column 12 in a detachable manner, and the bottom of the conical funnel 22 is connected to the oil pipe 15 through a multi-way tube 23. The oil pipe 15 is fixedly connected to the movable opening on the guide column 12, and the opening on the oil pipe 15 is movably connected to a baffle 25 through a first rotating shaft 24. The outer wall of the first rotating shaft 24 is provided with a torsion spring 26 adapted to the side wall of the oil pipe 15. When the weight on the oil body reaches a preset value, it can drive the baffle 25 to rotate downward, thereby opening the oil hole, so that the oil body is transported to the oil pipe 15, and then the oil body is reused. Under the elastic recovery action of the torsion spring 26, the first rotating shaft 24 can automatically rotate and reset, thereby closing the oil hole, thereby ensuring the normal compression work of the sealing plug 16 in the oil pipe 15.

[0028] During the startup of the dual-axis motor 3, it can drive the rotation of the turntable 5. Under the action of mechanical transmission, the sealing plug 16 makes horizontal reciprocating movement inside the oil pipe 15. Through compression movement, the oil inside the rotating drum 8 is transported to the guide column 12 through the conduit 18. Under the combined action of the oil body's own weight and the retaining ring 21, the oil body is distributed on the guide column 12 and collected through the conical funnel 22, and then introduced into the oil pipe 15 through the multi-way pipe 23. The baffle 25 on the first rotating shaft 24 cooperates with the torsion spring 26 to play a one-way adjustment role to prevent the occurrence of liquid backflow. In this way, the oil body can be recycled and reused, avoiding waste of resources. At the same time, the oil storage box 50 on the multi-way pipe 23 can control and adjust the used oil body, and perform timely and effective automatic compensation for the oil body in the oil pipe 15, thereby reducing friction damage between transmission parts and improving the service life of the device.

[0029] The top of the bracket is movably supported and connected to the charging mechanism 28 through a fixed rod 27. The top of the screw shaft 9 is integrally connected to a fixed plate 29 with protrusions at both ends, and the fixed plate 29 is installed with an annular groove 30 placed at the bottom of the charging mechanism 28 through a movable limiter. Both ends of the annular groove 30 are provided with protrusions extending outward.

[0030] The rotary lifting mechanism 1 not only realizes rotation and lifting through the same drive source, but also realizes corresponding lubrication through lubricating oil, reducing friction damage between transmission parts and improving the service life of the device. When lifting work is required, the dual-axis motor 3 starts and drives the rotation of the driving wheel 4. Under the transmission adjustment of the driven wheel 6, the corresponding deceleration processing can be performed while driving the rotation of the screw shaft 9. Under the action of the spiral transmission, the first slider 10 moves up and down on the guide column 12 and drives the charging mechanism 28 to perform a certain height adjustment action. When the charging mechanism 28 needs to be rotated, the charging mechanism 28 is moved to the fixed plate 29, so that the annular groove 30 on the shell 31 is limited and fixed with the protrusion on the fixed plate 29. At the same time, the fixed rod 27 is separated from the shell 31 during the descending process. In this way, the fixed plate 29 drives the charging mechanism 28 to rotate synchronously during the rotation process, thereby realizing corresponding rotation and height adjustment work under the action of the same drive source, effectively expanding the applicability of the charging robot, with reasonable design and high degree of integration.

[0031] The charging mechanism 28 includes a shell 31 with a notch on the top, and the support rod 32 and the friction pad 33 on the shell 31 are connected by a first spring 34. The outer wall of the friction pad 33 is connected to a limiting groove along the height direction of the side wall of the shell 31, and a push rod 36 is installed on the friction pad 33 through a counterweight block 35. One end of the push rod 36 is connected to a conical plug rod 38 extending to the gap between the battery packs 37, and the conical plug rod 38 and the bottom of the inner wall of the battery box 39 are connected by a second spring 40. Both ends of the battery pack 37 are provided with positioning holes placed on the inner wall of the battery box 39, and both ends of the outside of the battery pack 37 are provided with limiting plates 41 placed on the inner wall of the battery box 39. The battery pack 37 is electrically connected to a drive motor 42 installed on the outer wall of the shell 31.

[0032] Specifically, the output shaft of the drive motor 42 is fixed to the second rotating shaft 43 through a coupling, and a winding roller 44 is fixedly installed on the outer wall of the second rotating shaft 43. The winding roller 44 has a rolling curtain 45 that extends to the outside of the shell 31. Both ends of the rolling curtain 45 are equipped with a third slider 47 placed in the slot of the multi-section telescopic rod 46, and the multi-section telescopic rod 46 is fixedly equipped with a resistance block 48 that is limited by the third slider 47.

[0033] The charging mechanism 28 can automatically protect and shield the charging port on rainy days through the automatic adjustment mechanism. On rainy days, rainwater enters the friction pad 33 through the groove. At this time, the friction coefficient between the friction pad 33 and the side wall of the shell 31 is reduced, and the adhesion is reduced, causing the counterweight block 35 on the friction pad 33 to move downward. During the downward movement, the push rod 36 drives the conical plug rod 38 to separate from the adjacent battery pack 37, so that the battery packs 37 are connected and conductive. In this way, the driving motor 42 drives the winding roller 44 on the second rotating shaft 43 to rotate, thereby pushing the roller shutter 45 to move outward, so that the roller shutter 45 drives the third slider 47 to move outward in the multi-section telescopic rod 46, thereby unfolding the roller shutter 45, effectively protecting and shielding the charging port, improving the safety of the device and solving safety hazards.

[0034] Furthermore, the tip of the tapered rod 38 is made of elastic silicone, which can effectively protect the structure when inserted into the gap of the battery pack 37, thereby preventing corresponding insertion damage to the battery pack 37.

[0035] The resistance block 48 on the multi-section telescopic rod 46 can not only play a role in resisting and limiting the movement of the third slider 47, but also the resistance block 48 can drive the synchronous movement of the multi-section telescopic rod 46 under the pushing action of the third slider 47, thereby expanding the activity space inside the multi-section telescopic rod 46. When the winding roller 44 rotates, it can drive the roller shutter 45 to contract at the slot, thereby preventing rainwater from entering the charging head 49.

[0036] The outer wall of the third slider 47 is connected with a strip groove along the length direction of the multi-section telescopic rod 46. A charging head 49 is provided on the shell 31 below the roller shutter 45. The charging head 49 is installed on the outer wall of the shell 31 in a movable and telescopic manner. A return spring 51 connected to the side wall of the shell 31 is provided on the second rotating shaft 43. Both ends of the swing rod 14 are installed on the second slider 13 and the turntable 5 by a rotating connection. One end of the multi-way tube 23 is fixedly connected to the oil storage box 50, and the oil storage box 50 is connected to a control valve adapted thereto, and the transmission ratio between the driving wheel 4 and the driven wheel 6 is 1:3 or 1:4.

[0037] The above-mentioned transmission ratio setting can effectively reduce the rotation speed of the driving wheel 4, thereby ensuring the smooth rotation of the transmission mechanism. A certain gap is formed between the retaining ring 21 and the guide column 12, so that the oil body can effectively fit with the outer wall of the guide column 12 during the falling process, thereby distributing it on the guide column 12, and the guide ring 11 can also fully contact with the lubricating oil during the up and down movement.

[0038] When the rain ends, the friction pad 33 and the side wall of the shell 31 become dry and the friction coefficient increases, but the friction pad 33 still has a downward movement trend. Under the action of static friction and the elastic recovery of the first spring 34, the friction pad 33 moves upward and returns to its position. The battery pack 37 no longer supplies power to the drive motor 42. Under the torsional rotation of the return spring 51, the roller shutter 45 achieves the purpose of automatic retraction, effectively achieving the effect of automatic adjustment, with a high degree of automation and easy use.

[0039] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

[0040] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The multi-degree-of-freedom charging actuator of the energy storage charging robot is characterized by: include: A rotary lifting mechanism (1), the rotary lifting mechanism (1) comprising a double-axis motor (3) placed on the inner wall of a workbench (2), one end of an output shaft of the double-axis motor (3) extending to a driving wheel (4), and the other end extending to a turntable (5), the driving wheel (4) and the driven wheel (6) being connected by a conveyor belt (7), and the top of a central axis on the driven wheel (6) extending to a screw shaft (9) through a rotating drum (8), a first slider (10) being spirally driven on the screw shaft (9), and guide rings (11) being mounted on both ends of the first slider (10) through brackets; The guide ring (11) is connected to a guide groove along the height direction of the guide column (12) on the workbench (2). The turntable (5) and the second slider (13) are connected via a swing rod (14). One end of the second slider (13) is movably connected to a sealing plug (16) placed on the inner wall of the oil pipe (15) via a crossbeam. One end of the oil pipe (15) is connected to a bearing (17) placed on the outer wall of the rotating drum (8), and both ends of the bearing (17) are provided with oil filling holes connected to the oil pipe (15) and the rotating drum (8).

2. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 1, characterized in that: A storage cavity connected to the oil hole is provided inside the rotating drum (8), and top plates (19) connected to the guide tube (18) are installed on both sides of the top of the rotating drum (8). A positioning frame (20) connected to the guide column (12) is installed at the bottom of the top plate (19). A guide groove connected to the guide tube (18) is provided at the center of the positioning frame (20), and a retaining ring (21) is provided at the bottom of the positioning frame (20) and is placed on the edge of the outer wall of the guide column (12).

3. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 2, characterized in that: A conical funnel (22) is fixedly connected to the outer wall of the guide column (12) in a detachable manner. The bottom of the conical funnel (22) is connected to the oil pipe (15) through a multi-way pipe (23). The oil pipe (15) is fixedly connected to the movable opening on the guide column (12). The opening on the oil pipe (15) is movably connected to a baffle (25) through a first rotating shaft (24). The outer wall of the first rotating shaft (24) is provided with a torsion spring (26) adapted to the side wall of the oil pipe (15).

4. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 1, characterized in that: The top of the bracket is movably supported and connected to a charging mechanism (28) via a fixing rod (27); the top of the screw shaft (9) is integrally connected to a fixing plate (29) with protrusions at both ends; and the fixing plate (29) is mounted in an annular groove (30) at the bottom of the charging mechanism (28) by a movable limiter, and both ends of the annular groove (30) are provided with protrusions extending outward.

5. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 4, characterized in that: The charging mechanism (28) includes a shell (31) with a notch on the top, a support rod (32) and a friction pad (33) on the shell (31) are connected via a first spring (34), an outer wall of the friction pad (33) is connected to a limiting groove along the height direction of the side wall of the shell (31), and a push rod (36) is installed on the friction pad (33) via a counterweight (35).

6. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 5, characterized in that: One end of the push rod (36) is connected to a conical plug rod (38) extending to the gap between the battery packs (37), and the conical plug rod (38) and the bottom of the inner wall of the battery box (39) are connected via a second spring (40). Both ends of the battery pack (37) are provided with positioning holes disposed on the inner wall of the battery box (39), and both ends of the outside of the battery pack (37) are provided with limit plates (41) disposed on the inner wall of the battery box (39). The battery pack (37) is mounted on the drive motor (42) on the outer wall of the housing (31) by means of electrical connection.

7. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 6, characterized in that: The output shaft of the driving motor (42) is fixed to the second rotating shaft (43) through a coupling, and a winding roller (44) is fixedly installed on the outer wall of the second rotating shaft (43). The winding roller (44) is equipped with a rolling curtain (45) extending to the outside of the shell (31). Both ends of the rolling curtain (45) are equipped with a third slider (47) placed in the groove of the multi-section telescopic rod (46), and the multi-section telescopic rod (46) is fixedly equipped with a contact block (48) that is limited and fits with the third slider (47).

8. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 7, characterized in that: The outer wall of the third slider (47) is connected to a strip groove along the length direction of the multi-section telescopic rod (46); a charging head (49) is provided below the roller blind (45) and is placed on the shell (31); the charging head (49) is mounted on the outer wall of the shell (31) in a movable and telescopic manner; and a return spring (51) connected to the side wall of the shell (31) is provided on the second rotating shaft (43).

9. The multi-degree-of-freedom charging actuator of the energy storage charging robot according to claim 3, characterized in that: Both ends of the swing rod (14) are mounted on the second slider (13) and the turntable (5) by means of a rotational connection. One end of the multi-way pipe (23) is fixedly connected to an oil storage box (50). A control valve adapted thereto is connected to the oil storage box (50). The transmission ratio between the driving wheel (4) and the driven wheel (6) is 1:3 or 1:4.

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