Automatic charging robot

Abstract

This invention relates to the field of charging robot technology, specifically disclosing an automatic charging robot. The robot includes a mounting cover slidably mounted on a protective cover, with a linear module installed inside the protective cover. The slider of the linear module is connected to the mounting cover. A control unit is located inside the protective cover. A vision detection device electrically connected to the control unit is mounted on the top side of the mounting cover, and a sensing unit is located inside the mounting cover. This automatic charging robot, through the coordinated operation of the vision detection device, linear module, posture and position adjustment components, and sensing unit by the control unit, completes the entire automated operation from vehicle positioning, precise alignment, automatic charging gun insertion to removal, completely replacing the traditional method of manually inserting and removing charging guns. This effectively meets the application needs of intelligent scenarios such as smart parking lots and unattended charging stations, significantly improving the convenience and efficiency of charging services.

Description

Technical Field

[0001] This invention relates to the field of charging robot technology, and more specifically to an automatic charging robot. Background Technology

[0002] With the global energy structure transformation and the popularization of environmental protection concepts, new energy vehicles, with their advantages such as low emissions and high energy efficiency, have become the core direction of the automotive industry's development, and their market share continues to grow rapidly. As a key supporting infrastructure for the promotion and application of new energy vehicles, the convenience, safety, and intelligence level of charging facilities directly affect user experience and the industry's development progress.

[0003] Currently, charging of new energy vehicles mainly relies on manual operation of the charging gun. After parking the vehicle at the charging station, the user needs to manually move the charging gun and plug it into the vehicle's charging interface. This method cannot achieve unmanned and automated charging, and it is difficult to adapt to the development needs of intelligent scenarios such as smart parking lots and unmanned charging stations in the future. Although some products can achieve automatic charging, they are expensive, have low market acceptance, and are often only compatible with a single type of interface or specific vehicle models, resulting in poor versatility and compatibility.

[0004] Therefore, an automatic charging robot was designed to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides an automatic charging robot, which aims to solve the technical problem that existing automatic charging devices can only adapt to a single type of interface or a specific vehicle model, resulting in poor versatility and compatibility.

[0006] The automatic charging robot of the present invention includes:

[0007] The protective cover contains a linear module and a control unit.

[0008] The mounting cover is connected to the slider of the linear module and is slidably connected to the protective cover;

[0009] The visual inspection equipment is installed on the top side of the mounting cover;

[0010] A connecting base is connected to a mounting cover. A fixing clamp is connected to the connecting base, and a sliding clamp is slidably mounted on the fixing clamp.

[0011] A double locking structure is installed between the fixed clamping plate and the sliding clamping plate. The double locking structure is used to double lock and fix the sliding clamping plate.

[0012] The support base is rotatably connected to the protective cover;

[0013] An angle adjustment structure is installed on the support base. The angle adjustment structure is connected to the protective cover and is used to adjust the tilt angle of the protective cover.

[0014] A sliding lifting rod is located below the support base. A drive component is installed inside the sliding lifting rod. The output shaft of the drive component is connected to the support base. The drive component is used to adjust the rotation angle of the support base.

[0015] The mounting rod is slidably connected to the sliding lifting rod. A height adjustment structure is provided between the mounting rod and the sliding lifting rod. The height adjustment structure is used to adjust the height of the support base.

[0016] The first sliding trolley structure is installed at the bottom of the mounting rod and is used to adjust the position of the mounting rod.

[0017] The sensing unit, located inside the mounting cover, is used to detect whether the charging process is complete.

[0018] Preferably, the double locking structure includes a guide groove, a limiting groove, a limiting block, an elastic element, a threaded rod, and a locking knob. The guide groove is formed on one side of the sliding clamp, and a guide slide plate is slidably connected inside the guide groove. The limiting groove is formed on the inner wall of the guide groove, and a limiting block connected to the guide slide plate is slidably connected inside the limiting groove. One end of the elastic element is connected to the limiting block, and the other end of the elastic element is connected to the inner wall of the limiting groove. A threaded hole communicating with the guide groove is formed on one side of the sliding clamp, and the threaded rod is threadedly connected to the threaded hole. The locking knob is installed at the end of the threaded rod.

[0019] Preferably, the angle adjustment structure includes a connecting shell, a limiting rod, a washer, a screw, a nut, and a drive assembly. The connecting shell is installed on the bottom side of the protective cover, and a limiting groove is formed on one side of the connecting shell. The limiting rod is slidably disposed inside the limiting groove. One end of the screw is connected to the limiting rod, and the screw is threadedly connected to the nut. The nut is rotatably disposed on the support base. The drive assembly is disposed between the support base and the nut and is used to drive the nut to rotate.

[0020] Preferably, the drive assembly includes a second drive component, a first worm gear, and a first worm wheel. The second drive component is mounted on a support base, the output end of the second drive component is connected to the first worm gear, the first worm wheel is connected to a first nut, and the first worm wheel meshes with the first worm gear.

[0021] Preferably, the height adjustment structure includes a nut mounting base, a second nut, a first lead screw, and a third drive component. The nut mounting base is fixedly installed inside the mounting rod, the second nut is connected to the nut mounting base, the third drive component is installed inside the sliding lifting rod, the output end of the third drive component is connected to the first lead screw, and the first lead screw is threadedly connected to the second nut.

[0022] Preferably, the sliding trolley structure includes a slide rail, movable wheels, a connector, and a drive structure. The slide table is slidably disposed inside the slide rail. At least four movable wheels are rotatably disposed at the bottom of the slide table. The mounting rod and the slide table are both connected to the connector. A drive structure is disposed between the slide table and the slide rail, and the drive structure is used to drive the slide table to move.

[0023] Preferably, the drive structure includes a drive component six, a lead screw three, a drive gear one, and a driven gear one. The drive component six is ​​mounted on a slide table one, the lead screw three is mounted inside a slide rail one, the drive gear one is connected to the output end of the drive component six, the driven gear one meshes with the drive gear one, a nut is connected to one side of the driven gear one, the nut is threadedly connected to the lead screw three, and the nut is rotatably mounted on the slide table one.

[0024] Preferably, the sensing unit includes a driving component five, a telescopic rod, a pressure plate, a lead screw two, a trigger rod, a spring, a lead screw nut, and a retaining ring. The driving component five and the telescopic rod are both located inside the mounting cover. The pressure plate is rotatably connected to the output end of the telescopic rod. The output end of the driving component five is connected to the lead screw two. The lead screw nut is threadedly connected to the lead screw two. The spring is installed inside the telescopic rod, and its end is connected to the output end of the telescopic rod. A nut placement groove is provided on one side of the pressure plate. The lead screw nut is located inside the nut placement groove, and the size of the lead screw nut is smaller than the size of the nut placement groove. The retaining ring is installed on the pressure plate, and its position corresponds to the nut placement groove. The trigger rod is installed on one side of the pressure plate. A sensing module is provided inside the mounting cover, and its position corresponds to the pressure plate. The sensing module is electrically connected to the control unit.

[0025] Preferably, the mounting cover is provided with a position adjustment structure for adjusting the position of the trigger rod. The position adjustment structure includes a movable lever, a limiting shell, and a limiting plate. The movable lever is installed on the outer surface of the telescopic rod. A connecting groove is provided on the side of the mounting cover away from the sliding clamp. The movable lever passes through the inside of the connecting groove and is slidably connected to the connecting groove. The limiting shell is installed on the top side inside the mounting cover. A part of the trigger rod is located inside the limiting shell. The limiting plate is installed on the bottom side inside the mounting cover. A limiting through groove is provided on one side of the limiting plate. The telescopic rod passes through the inside of the limiting through groove and is slidably connected to the limiting through groove.

[0026] The beneficial effects of this invention are:

[0027] 1. By coordinating the work of visual inspection equipment, linear module, attitude and position adjustment components and sensing unit through the control unit, the entire process of vehicle positioning, precise alignment, automatic insertion and removal of charging guns is automated, completely replacing the traditional method of manually inserting and removing charging guns. This effectively meets the application needs of intelligent scenarios such as smart parking lots and unattended charging stations, and greatly improves the convenience and efficiency of charging services.

[0028] 2. The charging gun fixing mechanism adopts a dual locking mechanism of elastic clamping and threaded locking to ensure that there is no relative displacement of the charging gun during movement, alignment and insertion, and strong clamping stability.

[0029] 3. By integrating various functional components through modular design, the structure is compact and the transmission path is simple, avoiding complex and redundant mechanical structure design, reducing equipment manufacturing and maintenance costs, and making it more acceptable to the market compared to existing expensive automatic charging products. Attached Figure Description

[0030] Figure 1 This is a first-view structural schematic diagram of the present invention.

[0031] Figure 2 This is a schematic diagram of the second perspective structure of the present invention.

[0032] Figure 3 This is a cross-sectional structural diagram of the present invention.

[0033] Figure 4 This is the present invention. Figure 3 A magnified structural diagram of point A in the middle.

[0034] Figure 5 This is a schematic diagram of the structure of the present invention without the mounting rod assembled.

[0035] Figure 6 This is a first-view structural schematic diagram of the mounting cover and its connecting components of the present invention.

[0036] Figure 7 This is a second-view structural schematic diagram of the mounting cover and its connecting components of the present invention.

[0037] Figure 8 This is a schematic diagram of the angle adjustment structure of the present invention.

[0038] Figure 9 This is a schematic diagram of the sensing unit of the present invention.

[0039] Figure 10 This is a schematic diagram of the fixed support structure of the present invention.

[0040] Figure 11 This is the present invention. Figure 10 A schematic diagram of the explosion structure.

[0041] Figure 12 This is a schematic diagram of the linear module of the present invention.

[0042] Figure 13 This is a schematic diagram of the first structure of the sliding trolley of the present invention.

[0043] Figure 14 This is the present invention. Figure 13 A schematic diagram of the explosion structure.

[0044] Figure 15 This is a schematic diagram of the driving structure of the present invention.

[0045] Figure 16 For the present invention Figure 9 A schematic diagram of the cross-sectional structure.

[0046] Figure label:

[0047] 10. Protective cover; 11. Mounting cover; 112. Through slot; 113. Connecting slot; 114. Light hole; 12. Linear module; 13. Vision inspection equipment; 14. Sliding clamp; 141. Guide slide; 142. Limiting slide; 15. Connecting seat; 16. Fixed clamp; 17. Guide slide plate; 18. Limiting block; 19. Elastic element; 110. Threaded rod; 111. Locking knob; 20. Angle adjustment structure; 21. Connecting shell; 211. Limiting slot; 22. Limiting rod; 23. Washer; 24. Screw; 25. Nut 1; 26. Drive component 2; 27. Worm gear 1; 28. Worm wheel 1; 29. ​​Dust cover; 30. Support seat; 40. Sliding lifting rod; 41. Drive component 1; 42. Mounting rod; 43. Screw 44. Nut II; 45. Lead Screw I; 46. Drive Component III; 50. Slide Rail II; 51. Slide Table II; 52. Connecting Component II; 53. Mounting Base; 54. Worm Gear II; 55. Wheel Axle; 56. Drive Wheel; 57. Driven Gear II; 58. Drive Gear II; 59. Drive Component IV; 60. Drive Component V; 61. Telescopic Rod; 62. Pressure Plate; 621. Movable Slot; 63. Lead Screw II; 64. Trigger Rod; 65. Moving Lever; 66. Limiting Housing; 67. Limiting Plate; 68. Spring; 69. Lead Screw Nut; 610. Retaining Ring; 70. Slide Rail I; 71. Slide Table I; 72. Moving Wheel; 73. Connecting Component I; 74. Drive Component VI; 75. Lead Screw III; 76. Drive Gear I; 77. Driven Gear I. Detailed Implementation

[0048] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0049] like Figures 1 to 16As shown, the automatic charging robot of the present invention includes a protective cover 10, a mounting cover 11 slidably disposed on the protective cover 10, and a linear module 12 installed inside the protective cover 10. The slider of the linear module 12 is connected to the mounting cover 11. A control unit is disposed inside the protective cover 10. Two vision inspection devices 13 electrically connected to the control unit are disposed inside the mounting cover 11. The camera of the vision inspection device 13 is located outside the mounting cover 11. A light hole 114 is opened on the mounting cover 11. A supplementary light, which is an LED light, is disposed inside the mounting cover 11. The supplementary light and the light hole 114 are connected. The positions of 4 correspond to each other so that the light can illuminate the outside of the mounting cover 11. Supplemental lighting is provided to the visual inspection device 13 through the supplementary light and light hole 114 to avoid inaccurate detection by the visual inspection device 13 in dark environments. A sensing unit is installed inside the mounting cover 11 to detect whether the charging process is complete. A fixed support structure is fixedly installed on one side of the mounting cover 11, and a sliding clamp 14 is slidably mounted on the fixed support structure. The fixed support structure is used to adjust the tilt angle of the sliding clamp 14, and the fixed support structure and the sliding clamp 14 cooperate to adjust the charging gun operator. The handle is fixed, and a double locking structure is provided between the fixed support structure and the sliding clamp 14. The double locking structure is used to double lock and fix the sliding clamp 14 to ensure the structural stability of the sliding clamp 14. A support base 30 is provided below the protective cover 10. The protective cover 10 and the support base 30 are rotatably connected, and an angle adjustment structure 20 is provided on the support base 30. The angle adjustment structure 20 is connected to the protective cover 10 and is used to adjust the tilt angle of the protective cover 10. A sliding lifting rod 40 is provided below the support base 30. A driving component 41 is installed inside the sliding lifting rod 40. The output shaft of drive component 41 is connected to support base 30. Drive component 41 is used to adjust the rotation angle of support base 30, that is, to adjust the direction of charging head of charging gun. Mounting rod 42 is slidably connected to the outer surface of sliding lifting rod 40. A height adjustment structure is provided between mounting rod 42 and sliding lifting rod 40. The height adjustment structure is used to adjust the extension length of sliding lifting rod 40 from inside mounting rod 42, that is, to adjust the height of support base 30. A sliding trolley structure is fixedly installed at the bottom of mounting rod 42. The sliding trolley structure is used to adjust the position of mounting rod 42 to move mounting rod 42 to the position of charging port.

[0050] Before charging a new energy vehicle, the handle of the charging gun is fixed using a fixed support structure, a double locking structure, and a sliding clamp. The double locking structure further secures the handle. During charging, the control unit sends a command to activate drive component 41, which rotates the support base 30. This changes the direction of the charging gun's charging head, synchronously driving the vision inspection device 13 to perform a circumferential scan until the device identifies and locks onto the target vehicle. After detection, the vision inspection device 13 sends a positioning signal back to the control unit, which then stops drive component 41, completing the initial vehicle positioning. At this point, the charging gun begins charging. With the charging head facing the vehicle, the control unit adjusts the extension length of the sliding lifting rod 40 through the height adjustment structure based on the positioning data fed back by the vision detection device 13, thereby calibrating the height of the charging gun. At the same time, the sliding trolley structure drives the mounting rod 42 to move horizontally, and the drive component 41 drives the support base 30 to rotate, completing the fine adjustment of the horizontal position and angle of the charging gun. Finally, the charging head of the charging gun is precisely aligned with the car's charging port. After alignment, the control unit controls the linear module 12 to start. The linear module 12 drives the mounting cover 11 to move smoothly towards the car's charging port through the slider, and simultaneously drives the charging gun to approach the charging port and insert it into the charging port, thereby performing the charging operation.

[0051] like Figures 6-11 The fixed support structure includes a connecting seat 15 connected to the mounting cover 11. The connecting seat 15 is bolted to a fixed clamping plate 16. Both the fixed clamping plate 16 and the sliding clamping plate 14 are L-shaped. The fixed clamping plate 16 and the sliding clamping plate 14 are positioned opposite each other. The fixed clamping plate 16 is located below the sliding clamping plate 14. The side of the sliding clamping plate 14 is in contact with the side of the fixed clamping plate 16 and is slidably connected to the fixed clamping plate 16. Both the fixed clamping plate 16 and the sliding clamping plate 14 are provided with grooves. The shape of the grooves is adapted to the shape of the charging gun handle. A guide plate 17 is installed on one side of the fixed clamping plate 16. A limit block 18 is connected to the top of the guide plate 17. The length of the limit block 18 is greater than the length of the guide plate 17.

[0052] The double locking structure includes a guide groove 141 on one side of the sliding clamp 14, a limiting groove 142 on the inner wall of the guide groove 141, a guide slide plate 17 located inside the guide groove 141 and slidably connected to the guide groove 141, a limiting block 18 located inside the limiting groove 142 and slidably connected to the limiting groove 142, and an elastic element 19 fixedly connected to one side of the limiting block 18. The bottom end of the elastic element 19 is installed on the inner wall of the limiting groove 142. A threaded hole communicating with the guide groove 141 is opened on one side of the sliding clamp 14. A threaded rod 110 is threadedly connected to the inner wall of the threaded hole. A locking knob 111 is connected to the end of the threaded rod 110, and an anti-slip pad is provided between the locking knob 111 and the threaded rod 110.

[0053] When fixing the charging gun, first slide the sliding clamp 14 upward along the guide slide plate 17 to fully expose the groove of the fixing clamp 16. At this time, the elastic element 19 is in a compressed state. Then, place the charging gun handle in the groove of the fixing clamp 16, ensuring that the handle is in contact with the inner wall of the groove. Release the sliding clamp 14. Under the elastic restoring force of the elastic element 19, the sliding clamp 14 slides downward along the guide slide plate 17 until the groove of the sliding clamp 14 is in contact with the upper side of the charging gun handle, realizing the first elastic clamping fixation. Then, rotate the locking knob 111 to drive the threaded rod 110 to move axially along the threaded hole until the end of the threaded rod 110 is in close contact with the side of the guide slide plate 17. The threaded locking force rigidly fixes the sliding clamp 14 and the fixing clamp 16, forming the second mechanical locking. The double locking structure works together to stably clamp the charging gun handle between the two sets of grooves, ensuring no relative displacement during subsequent actions.

[0054] like Figures 5 to 8 The angle adjustment structure 20 includes a connecting shell 21 installed on the bottom side of the protective cover 10. The connecting shell 21 is U-shaped. A limiting groove 211 is opened on one side of the connecting shell 21. A limiting rod 22 is slidably arranged inside the limiting groove 211. Two gaskets 23 are sleeved on the outer surface of the limiting rod 22, and one gasket 23 is located inside the connecting shell 21. A baffle is connected to the top of the limiting rod 22. The baffle is used to block the gasket 23 located inside the connecting shell 21 to prevent the gasket 23 from separating from the limiting rod 22, thereby preventing the limiting rod 22 from separating from the connecting shell 21. A screw 24 is connected to the bottom of the limiting rod 22. A nut 25 is connected to the outer surface of the screw 24. The nut 25 is rotatably connected to the support base 30. A drive assembly is provided between the support base 30 and the nut 25. The drive assembly is used to drive the nut 25 to rotate.

[0055] The drive assembly includes a second drive member 26 mounted on a support base 30. The output end of the second drive member 26 is connected to a worm gear 27. A worm wheel 28 meshes with the outer surface of the worm gear 27. One side of the worm wheel 28 is connected to a nut 25. A screw 24 passes through the keyhole of the worm wheel 28, and the maximum diameter of the screw 24 is smaller than the diameter of the keyhole of the worm wheel 28. A through hole is provided on the support base 30, and the screw 24 passes through the through hole, and the maximum diameter of the screw 24 is smaller than the diameter of the through hole.

[0056] The control unit sends an action command to the second drive component 26. After the second drive component 26 starts, it drives the first worm gear 27 to rotate. The first worm gear 27 drives the first worm wheel 28 to rotate synchronously through meshing transmission. The nut 25, which is fixedly connected to the first worm wheel 28, rotates coaxially. Since the nut 25 and the screw 24 form a threaded engagement, and the screw 24 forms a sliding constraint with the limiting groove 211 of the connecting shell 21 through the limiting rod 22, the rotational motion of the nut 25 is converted into the axial linear motion of the screw 24. When the screw 24 moves up and down along the axis, it drives the connecting shell 21 to deflect around the rotational connection point between the protective cover 10 and the support base 30 through the limiting rod 22. This drives the protective cover 10 and the charging gun mounted on the upper part to achieve precise adjustment of the tilt angle to adapt to the tilt posture of the vehicle charging port and ensure the smoothness of the plugging process.

[0057] It should be noted that the shape of the limiting rod 22 is either a flat square or a cylinder. If the shape of the limiting rod 22 is a flat square, the width of the limiting rod 22 is the same as the width of the limiting groove 211. If the shape of the limiting rod 22 is a cylinder, the diameter of the limiting rod 22 is the same as the width of the limiting groove 211.

[0058] A dust cover 29 is installed on the support base 30, and the drive assembly is installed inside the dust cover 29, thereby avoiding the influence of external factors such as dust on the transmission of worm gear 28 and worm 27, and ensuring that the drive assembly works stably.

[0059] like Figures 3 to 5 The height adjustment structure includes a nut mounting seat 43 installed inside the mounting rod 42, a second nut 44 installed on the nut mounting seat 43, and a third drive component 46 installed inside the sliding lifting rod 40. The third drive component 46 is electrically connected to the control unit. The output end of the third drive component 46 is connected to a first lead screw 45, which is threadedly connected to the second nut 44. A lead screw through hole is provided in the middle of one side of the nut mounting seat 43, and the first lead screw 45 passes through the inside of the lead screw through hole. The maximum diameter of the first lead screw 45 is smaller than the diameter of the lead screw through hole.

[0060] Based on the positioning data fed back by the vision detection device 13, the control unit sends an action command to the drive component 46. After the drive component 46 is started, it drives the lead screw 45 to rotate around its own axis. Since the lead screw 45 is threadedly engaged with the nut 44 and the nut 44 is fixed and restricted to rotate by the nut mounting seat 43 and the mounting rod 42, the rotational motion of the lead screw 45 is converted into the axial linear motion of the sliding lifting rod 40. The sliding lifting rod 40 slides up and down along the inner wall of the mounting rod 42, synchronously driving the support seat 30 and all the upper components to rise and fall, thereby achieving precise calibration of the charging gun height and ensuring that the charging gun and the vehicle charging port are aligned in the height direction.

[0061] like Figures 13 to 15The sliding trolley structure includes a slide rail 70, a slide table 71 is slidably arranged inside the slide rail 70, at least four moving wheels 72 are rotatably arranged at the bottom of the slide table 71, a connector 73 is installed on the slide table 71, the connector 73 is connected to the mounting rod 42, and a drive structure is provided between the slide table 71 and the slide rail 70, the drive structure is used to drive the slide table 71 to move.

[0062] The drive structure includes a drive component 74 mounted on a slide table 71 and a lead screw 75 mounted inside a slide rail 70. The output end of the drive component 74 is connected to a drive gear 76. A driven gear 77 meshes with the outer surface of the drive gear 76. A nut (not shown) is connected to one side of the driven gear 77. The nut is threadedly connected to the lead screw 75 and is rotatably mounted on the slide table 71.

[0063] The control unit sends a displacement command to the drive component 74. After the drive component 74 is started, it drives the drive gear 76 to rotate. The drive gear 76 drives the driven gear 77 and the nut connected to it to rotate through meshing transmission. As the nut rotates and the slide table 71 can only slide inside the slide rail 70, the slide table 71 moves under the thread transmission of the screw 3 75 and the nut. At this time, the moving wheel 72 rolls with the inner wall of the slide rail 2 50. Through the connector 73, it drives the mounting rod 42 and all the upper components to move synchronously, realizing the horizontal position adjustment of the charging gun and completing the initial alignment with the vehicle charging port.

[0064] It should be noted that the installation position of slide rail 70 is located between two adjacent parking spaces, and the length direction of slide rail 70 is parallel to the length direction of the parking space. After the slide rail 70 is installed, the two sides along the length direction of slide rail 70 can be marked as left and right sides. When adjusting the direction of the charging gun, it can be described as adjusting the direction of the charging gun to the left or right so that the charging gun is inserted into the car charging port. The slide table 71 has a lead screw through channel, and lead screw 75 passes through the inside of the lead screw through channel. The maximum diameter of lead screw 75 is smaller than the diameter of lead screw through channel. Lead screw 75 passes through the gear hole of driven gear 77, and the maximum diameter of lead screw 75 is smaller than the diameter of driven gear 77 gear hole to ensure that the slide table 71 moves smoothly.

[0065] like Figures 5 to 7 , Figure 9 and Figure 16The sensing unit includes a drive component 60 and a telescopic rod 61 disposed inside the mounting cover 11. A pressure plate 62 is rotatably connected to the output end of the telescopic rod 61. A movable groove 621 is formed on one side of the pressure plate 62, which allows relative displacement between the pressure plate 62 and the telescopic rod 61. A lead screw 63 is connected to the output end of the drive component 60. A lead screw nut 69 is threaded onto the outer surface of the lead screw 63. A nut placement groove is formed on one side of the pressure plate 62. The lead screw nut 69 is located inside the nut placement groove, and its size is smaller than that of the nut placement groove. Both the lead screw nut 69 and the nut placement groove are hexagonal in shape. A trigger rod 64 is connected to one side of plate 62. A through groove 112 is provided on one side of mounting cover 11. The trigger rod 64 passes through the inside of the through groove 112. A spring 68 is installed inside the telescopic rod 61. The end of the spring 68 is connected to the output end of the telescopic rod 61. A retaining ring 610 is installed on the pressure plate 62. The retaining ring 610 is used to cover the nut placement groove. The lead screw 63 passes through the inside of the retaining ring. A sensing module (not shown in the figure) is provided inside the mounting cover 11. The sensing module is a micro switch. The sensing module is positioned corresponding to the pressure plate 62. The sensing module is electrically connected to the control unit. The sensing module is used to detect the state of the pressure plate 62.

[0066] After the charging gun is fully inserted into the vehicle's charging port, the drive unit 60 operates after a period of charging. At this time, the lead screw 63 rotates, causing the pressure plate 62 to move the trigger rod 64 downward and contact the charging gun's electronic lock. If the charging gun is still in the charging state, it is locked, and the trigger rod 64 cannot move downward. At this time, under the action of the nut placement groove and the movable groove 621, the output end of the telescopic rod 61 descends and squeezes the spring 68. When the charging operation is completed, the electronic lock of the charging gun opens. Under the reaction force of the spring 68, the pressure plate 62 rotates and drives the trigger rod 64 downward to squeeze the sensing module. At this time, the signal of the sensing module changes, that is, it senses that the charging operation is completed. The sensing module transmits the signal to the control unit, which then controls the linear module 12 to move back, thereby causing the charging gun to be withdrawn from the charging port, completing the process of pulling out the charging gun.

[0067] The mounting cover 11 is provided with a position adjustment structure, which is connected to the sensing unit. The position adjustment structure is used to adjust the position of the trigger rod 64. The position adjustment structure includes a movable lever 65 connected to the telescopic rod 61 and a limiting shell 66 installed on the top side inside the mounting cover 11. A part of the trigger rod 64 is located inside the limiting shell 66. A limiting plate 67 is installed on the bottom side inside the mounting cover 11. A limiting groove is opened on one side of the limiting plate 67. The telescopic rod 61 passes through the inside of the limiting groove and is slidably connected to the limiting groove. A connecting groove 113 is opened on the side of the mounting cover 11 away from the sliding clamp 14. The movable lever 65 passes through the inside of the connecting groove 113 and is slidably connected to the connecting groove 113.

[0068] Manually push the movable lever 65 to slide along the length of the connecting groove 113, causing the telescopic rod 61 and the pressure plate 62 to move synchronously, thereby driving the trigger rod 64 to move horizontally along the guide direction of the limiting shell 66 until the end of the trigger rod 64 is aligned with the preset pressing position of the charging gun electronic lock; the limiting shell 66 and the limiting plate 67 work together to ensure that the trigger rod 64 maintains linear movement during the adjustment process and avoids deviation; by fixing the movable lever 65, the positional stability of the trigger rod 64 and the position adjustment structure can be guaranteed.

[0069] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0071] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatic charging robot, characterized in that, include: The protective cover (10) contains a linear module (12) and a control unit. Mounting cover (11) is connected to the slider of linear module (12) and slidably connected to protective cover (10); A visual inspection device (13) is installed on the top side of the mounting cover (11); The connecting seat (15) is connected to the mounting cover (11). A fixed clamp (16) is connected to the connecting seat (15), and a sliding clamp (14) is slidably arranged on the fixed clamp (16). A double locking structure is provided between the fixed clamping plate (16) and the sliding clamping plate (14). The double locking structure is used to double lock and fix the sliding clamping plate (14). The support base (30) is rotatably connected to the protective cover (10); An angle adjustment structure (20) is provided on the support base (30). The angle adjustment structure (20) is connected to the protective cover (10) and is used to adjust the tilt angle of the protective cover (10). The sliding lifting rod (40) is located below the support base (30). A drive component (41) is installed inside the sliding lifting rod (40). The output shaft of the drive component (41) is connected to the support base (30). The drive component (41) is used to adjust the rotation angle of the support base (30). The mounting rod (42) is slidably connected to the sliding lifting rod (40). A height adjustment structure is provided between the mounting rod (42) and the sliding lifting rod (40). The height adjustment structure is used to adjust the height of the support base (30). The first sliding trolley structure is installed at the bottom of the mounting rod (42). The first sliding trolley structure is used to adjust the position of the mounting rod (42). A sensing unit is installed inside the mounting cover (11). The sensing unit is used to detect whether the charging work is completed. The sensing unit includes a driving component five (60), a telescopic rod (61), a pressure plate (62), a lead screw two (63), a trigger rod (64), a spring (68), a lead screw nut (69), and a retaining ring (610). The driving component five (60) and the telescopic rod (61) are both installed inside the mounting cover (11). The pressure plate (62) is rotatably connected to the output end of the telescopic rod (61). The output end of the driving component five (60) is connected to the lead screw two (63). The lead screw nut (69) is threadedly connected to the lead screw two (63). The spring (68) is threadedly connected to the lead screw two (63). 68) is installed inside the telescopic rod (61), and the end of the spring (68) is connected to the output end of the telescopic rod (61). A nut placement groove is provided on one side of the pressure plate (62). The screw nut (69) is located inside the nut placement groove, and the size of the screw nut (69) is smaller than the size of the nut placement groove. The retaining ring (610) is installed on the pressure plate (62), and the position of the retaining ring (610) corresponds to the position of the nut placement groove. The trigger rod (64) is installed on one side of the pressure plate (62). A sensing module is provided inside the mounting cover (11), and the position of the sensing module corresponds to the position of the pressure plate (62). The sensing module is electrically connected to the control unit.

2. The automatic charging robot according to claim 1, characterized in that, The double locking structure includes a guide groove (141), a limiting groove (142), a limiting block (18), an elastic element (19), a threaded rod (110), and a locking knob (111). The guide groove (141) is opened on one side of the sliding clamp (14), and a guide slide plate (17) is slidably connected inside the guide groove (141). The limiting groove (142) is opened on the inner wall of the guide groove (141), and a limiting block (18) connected to the guide slide plate (17) is slidably connected inside the limiting groove (142). One end of the elastic element (19) is connected to the limiting block (18), and the other end of the elastic element (19) is connected to the inner wall of the limiting groove (142). A threaded hole communicating with the guide groove (141) is opened on one side of the sliding clamp (14), and the threaded rod (110) is threadedly connected to the threaded hole. The locking knob (111) is installed at the end of the threaded rod (110).

3. The automatic charging robot according to claim 1, characterized in that, The angle adjustment structure (20) includes a connecting shell (21), a limiting rod (22), a gasket (23), a screw (24), a nut (25), and a drive assembly. The connecting shell (21) is installed on the bottom side of the protective cover (10). A limiting groove (211) is opened on one side of the connecting shell (21). The limiting rod (22) is slidably disposed inside the limiting groove (211). One end of the screw (24) is connected to the limiting rod (22). The screw (24) is threadedly connected to the nut (25), and the nut (25) is rotatably disposed on the support base (30). The drive assembly is disposed between the support base (30) and the nut (25). The drive assembly is used to drive the nut (25) to rotate.

4. The automatic charging robot according to claim 3, characterized in that, The drive assembly includes a second drive component (26), a first worm gear (27), and a first worm wheel (28). The second drive component (26) is mounted on a support base (30). The output end of the second drive component (26) is connected to the first worm gear (27). The first worm wheel (28) is connected to the first nut (25), and the first worm wheel (28) meshes with the first worm gear (27).

5. The automatic charging robot according to claim 1, characterized in that, The height adjustment structure includes a nut mounting base (43), a second nut (44), a first lead screw (45), and a third drive component (46). The nut mounting base (43) is fixedly installed inside the mounting rod (42). The second nut (44) is connected to the nut mounting base (43). The third drive component (46) is installed inside the sliding lifting rod (40). The output end of the third drive component (46) is connected to the first lead screw (45). The first lead screw (45) is threadedly connected to the second nut (44).

6. The automatic charging robot according to claim 1, characterized in that, The sliding trolley structure includes a slide rail (70), moving wheels (72), a connector (73), and a drive structure. The slide table (71) is slidably disposed inside the slide rail (70). At least four moving wheels (72) are rotatably disposed at the bottom of the slide table (71). The mounting rod (42) and the slide table (71) are both connected to the connector (73). The drive structure is disposed between the slide table (71) and the slide rail (70), and the drive structure is used to drive the slide table (71) to move.

7. The automatic charging robot according to claim 6, characterized in that, The drive structure includes a drive component six (74), a lead screw three (75), a drive gear one (76), and a driven gear one (77). The drive component six (74) is mounted on a slide table one (71), the lead screw three (75) is mounted inside a slide rail one (70), the drive gear one (76) is connected to the output end of the drive component six (74), the driven gear one (77) meshes with the drive gear one (76), a nut is connected to one side of the driven gear one (77), the nut is threadedly connected to the lead screw three (75), and the nut is rotatably mounted on the slide table one (71).

8. The automatic charging robot according to claim 7, characterized in that, The mounting cover (11) is provided with a position adjustment structure, which is used to adjust the position of the trigger rod (64). The position adjustment structure includes a movable lever (65), a limiting shell (66), and a limiting plate (67). The movable lever (65) is installed on the outer surface of the telescopic rod (61). A connecting groove (113) is provided on the side of the mounting cover (11) away from the sliding clamp (14). The movable lever (65) passes through the inside of the connecting groove (113) and is slidably connected to the connecting groove (113). The limiting shell (66) is installed on the top side inside the mounting cover (11). A part of the trigger rod (64) is located inside the limiting shell (66). The limiting plate (67) is installed on the bottom side inside the mounting cover (11). A limiting through groove is provided on one side of the limiting plate (67). The telescopic rod (61) passes through the inside of the limiting through groove and is slidably connected to the limiting through groove.

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