A mechanical arm pickup control type charging gun automatic homing device

Abstract

The application discloses a kind of based on mechanical arm pickup control type charging gun automatic homing device, specifically related to charging gun automatic homing field, including mounting bracket, six-axis robot, positioning perception module, charging pile, six-axis robot is arranged in the lower surface of mounting bracket, positioning perception module is arranged in the end of six-axis robot, charging pile is arranged below mounting bracket, still include the grabbing positioning mechanism of being arranged below positioning perception module, grabbing positioning mechanism includes positioning seat, first electric push rod, moving frame, second electric push rod, clamping frame, clamping plate and charging gun, positioning seat is fixedly connected in the lower surface of positioning perception module, the step fixing of the present application is adopted " pre-clamping to accurate positioning ", solve the pain point that lightweight charging gun is easily displaced on smooth ground, positioning column is difficult to accurately insert, and full-process automation is executed, without manual intervention, so that it automatically completes the homing of abnormal position charging gun.

Description

Technical Field

[0001] This invention relates to the field of automatic charging gun return technology, and more specifically, to an automatic charging gun return device based on robotic arm pickup control. Background Technology

[0002] Currently, the charging gun return method for existing charging piles is mainly manual. This manual method relies entirely on user operation. After charging, users may not accurately return the charging gun to its seat or tighten the locking mechanism due to inconvenience or other factors, causing the charging gun to fall to the ground or other abnormal positions. This not only exposes the charging gun to the outdoor environment for a long time, causing wear on the gun head interface, cable damage, and short circuits due to rain, dust, and stone crushing, but also significantly shortens the charging gun's lifespan. In addition, manually picking up the fallen charging gun consumes a lot of manpower for maintenance personnel, increasing the operating costs of the charging station. To solve the drawbacks of manual return, an automatic charging gun return device using a robotic arm is needed.

[0003] In existing technology, when a charging gun detects the need for repositioning, the control unit activates the machine vision system to locate the charging gun on the ground or in an abnormal position. Then, it controls a robotic arm to move above the gun body. A positioning post at the end of the robotic arm is inserted into the corresponding slot of the charging gun, where a magnetic block is installed. A permanent magnet is located at the end of the positioning post, and the permanent magnet attracts and positions the charging gun with the magnetic block, assisting in precise positioning and generating a continuous attraction force to prevent loosening. After positioning, the robotic arm returns the charging gun from its abnormal position to its original location. However, in actual use, when the charging gun is placed on the ground, next to a charging station, or in other non-fixed areas, it lacks locking or limiting mechanisms. Furthermore, the gun body is often made of lightweight plastic, making it relatively light. When the positioning post of the robotic arm is inserted into the corresponding slot, due to the high smoothness of some surfaces and the light weight of the charging gun, it can be pushed and displaced, preventing the positioning post from being accurately inserted and thus affecting the robotic arm's ability to pick it up. Summary of the Invention

[0004] The present invention provides an automatic return device for charging guns based on robotic arm pickup control. The problem to be solved is that in the existing automatic return devices for charging guns, the charging guns are not locked and limited in non-fixed areas such as the ground. Moreover, the gun body is lightweight and some ground surfaces are smooth. When the positioning post is inserted into the corresponding slot, the charging gun is easily pushed and displaced, which makes it impossible for the positioning post to be inserted accurately, thus affecting the pickup by the robotic arm.

[0005] According to an embodiment of the present invention, an automatic charging gun homing device based on robotic arm pickup control includes a mounting frame, a six-axis robotic arm, a positioning sensing module, and a charging pile. The six-axis robotic arm is disposed on the lower surface of the mounting frame, the positioning sensing module is disposed at the end of the six-axis robotic arm, and the charging pile is disposed below the mounting frame.

[0006] It also includes a gripping and positioning mechanism located below the positioning and sensing module. The gripping and positioning mechanism includes a positioning seat, a first electric push rod, a moving frame, a second electric push rod, a clamping frame, a clamping plate, and a charging gun. The positioning seat is fixedly connected to the lower surface of the positioning and sensing module, the first electric push rod is fixedly connected to the side of the positioning seat, the moving frame is set on the first electric push rod, the second electric push rod is fixedly connected to the outside of the moving frame, the clamping frame is set on the second electric push rod, the clamping plate is set on one side of the clamping frame, and the charging gun is set between the clamping plates.

[0007] In a preferred embodiment, the positioning seat is fixedly connected to the lower surface of the positioning sensing module and moves synchronously with the wrist end of the six-axis robotic arm. The first electric push rod is fixed to one side of the positioning seat, the moving frame is fixedly connected to the output end of the first electric push rod, the clamping frame is fixedly connected to the output end of the second electric push rod, and the clamping frame is located on the side away from the first electric push rod, with the clamping plate disposed on the opposite side of the clamping frame.

[0008] In a preferred embodiment, two sets of second electric push rods, clamping frames, and clamping plates are provided, and the two sets of second electric push rods, clamping frames, and clamping plates are symmetrically arranged.

[0009] In a preferred embodiment, the positioning seat further includes a positioning post and a positioning block. The positioning post and the positioning block are fixedly connected to the side of the positioning seat away from the first electric push rod. Four positioning blocks are provided, and the four positioning blocks are evenly distributed on the side of the positioning seat away from the first electric push rod.

[0010] In a preferred embodiment, the charging gun further includes a positioning frame, a positioning hole, and a positioning groove. The positioning frame is fixedly connected to the side of the charging gun near the positioning post. The positioning hole and the positioning groove are opened on the side of the positioning frame away from the charging gun. There are four positioning grooves, which are evenly opened on the side of the positioning frame away from the charging gun.

[0011] In a preferred embodiment, the size of the positioning block is the same as the size of the positioning slot.

[0012] In a preferred embodiment, the clamping plate includes a rotating plate, a connecting rod, a slider, and a spring. The rotating plate is movably connected inside the clamping frame, the connecting rod is disposed inside the clamping frame, the slider is disposed inside the clamping frame, and the spring is disposed inside the clamping frame.

[0013] In a preferred embodiment, the side of the clamping plate away from the positioning frame is fixedly connected to the outside of the rotating plate, the connecting rod is rotatably connected to the side of the rotating plate away from the clamping plate, the slider is rotatably connected to the end of the connecting rod away from the rotating plate, and the spring is fixedly connected between the clamping frame and the slider. There are two sets of the connecting rod, slider, and spring, and the two sets of connecting rod, slider, and spring are symmetrically arranged.

[0014] In a preferred embodiment, a servo motor is also included, which is fixed to the outside of one of the two clamping frames.

[0015] In a preferred embodiment, the rotating shaft of the rotating plate passes through the side wall of the clamping frame and is fixedly connected to the output end of the servo motor, which is fixed to the outside of one of the clamping frames by bolts.

[0016] The beneficial effects of this invention are as follows:

[0017] This invention adopts a step-by-step fixing process from "pre-clamping to precise positioning," which solves the problems of lightweight charging guns being prone to displacement on smooth surfaces and the difficulty in accurately inserting positioning posts. Moreover, the entire process is automated and requires no manual intervention, allowing it to automatically return the charging gun to its original position in abnormal locations.

[0018] This invention utilizes the elastic linkage structure of a rotating plate and a spring to automatically adapt to the posture deviation and positioning error of the positioning frame, compensate for the coaxiality deviation between the positioning post and the positioning hole, solve the problem of scratches and damage caused by forced insertion, extend the service life of the positioning post and the positioning hole, and reduce replacement costs.

[0019] This invention shakes away accumulated water by high-frequency, small-angle oscillation, directly blocking the path of water seeping into the gun head interface, cable connector, and charging gun housing, thus ensuring the subsequent functionality and electrical safety of the charging gun. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the external structure of the six-axis robotic arm and its connected components according to the present invention;

[0023] Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A in the middle;

[0024] Figure 4 This is a top view schematic diagram of the positioning sensing module and the grasping positioning mechanism of the present invention;

[0025] Figure 5 This is a top view schematic diagram of the gripping and positioning mechanism of the present invention;

[0026] Figure 6 This is a rear-view unfolded structural diagram of the gripping and positioning mechanism of the present invention;

[0027] Figure 7 This is a schematic diagram of the front unfolded structure of the gripping and positioning mechanism of the present invention.

[0028] The attached figures are labeled as follows: 1. Mounting frame; 2. Six-axis robotic arm; 3. Positioning sensing module; 4. Grasping and positioning mechanism; 5. Charging pile; 41. Positioning seat; 411. Positioning column; 412. Positioning block; 42. First electric push rod; 421. Slide rail; 422. Slide rod; 43. Moving frame; 44. Second electric push rod; 45. Clamping frame; 46. Clamping plate; 461. Rotating plate; 462. Connecting rod; 463. Slider; 464. Spring; 47. Servo motor; 48. Charging gun; 481. Positioning frame; 482. Positioning hole; 483. Positioning groove. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0030] In existing automatic charging gun return devices, the charging gun lacks locking and limiting mechanisms in non-fixed areas such as the ground. Furthermore, the charging gun body is lightweight, and some surfaces are smooth. When the positioning pin is inserted into the corresponding slot, the charging gun is easily pushed and displaced, causing the positioning pin to fail to insert accurately and affecting the robotic arm's pickup. (Refer to the attached instruction manual.) Figures 1-7 This invention provides an automatic return device for a charging gun based on a robotic arm for picking up and controlling the charging gun. The device includes a mounting frame 1, a six-axis robotic arm 2, a positioning sensing module 3, and a charging pile 5. The six-axis robotic arm 2 is disposed on the lower surface of the mounting frame 1, the positioning sensing module 3 is disposed at the end of the six-axis robotic arm 2, and the charging pile 5 is disposed below the mounting frame 1.

[0031] It also includes a gripping and positioning mechanism 4 located below the positioning and sensing module 3. The gripping and positioning mechanism 4 includes a positioning seat 41, a first electric push rod 42, a moving frame 43, a second electric push rod 44, a clamping frame 45, a clamping plate 46, and a charging gun 48. The positioning seat 41 is fixedly connected to the lower surface of the positioning and sensing module 3. The first electric push rod 42 is fixedly connected to the side of the positioning seat 41. The moving frame 43 is located on the first electric push rod 42. The second electric push rod 44 is fixedly connected to the outside of the moving frame 43. The clamping frame 45 is located on the second electric push rod 44. The clamping plate 46 is located on one side of the clamping frame 45. The charging gun 48 is located between the clamping plates 46.

[0032] It should be further explained that the mounting frame 1 is a portal or cantilever structure, fixed to the ground or wall next to the charging pile 5. Its lower surface is detachably fixed to the base of the six-axis robotic arm 2 by high-strength bolts. The six-axis robotic arm 2 mainly consists of a base, upper arm, lower arm, and wrist that are hinged in sequence. Each joint is equipped with a servo motor, harmonic reducer, and absolute encoder. The base is fixed to the mounting frame 1, and the end of the wrist is detachably connected to the positioning sensing module 3 through a flange. It is necessary to ensure that the range of motion of the robotic arm completely covers the return position of the charging pile 5 and the surrounding abnormal areas on the ground. The positioning and sensing module 3 is fixed to the wrist end of the six-axis robotic arm 2 by a waterproof and shock-absorbing bracket. It moves synchronously with the wrist end to adjust its position. The positioning and sensing module 3 consists of an industrial camera, an image processing module, a distance sensor, and a laser rangefinder. The industrial camera acquires feature images of the charging gun 48 handle, and the center coordinates are identified by image processing algorithms such as template matching. The laser rangefinder obtains distance information to achieve three-dimensional spatial positioning. The composition and principle of the positioning and sensing module 3, the six-axis robotic arm 2, and the control unit for controlling movement are existing technologies and will not be described in detail here.

[0033] The positioning seat 41 is fixedly connected to the lower surface of the positioning sensing module 3 and moves synchronously with the wrist end of the six-axis robotic arm 2. The first electric push rod 42 is fixed to one side of the positioning seat 41. The moving frame 43 is fixedly connected to the output end of the first electric push rod 42. The clamping frame 45 is fixedly connected to the output end of the second electric push rod 44, and the clamping frame 45 is located on the side away from the first electric push rod 42. The clamping plate 46 is set on the opposite side of the clamping frame 45, and the clamping plate 46 is responsible for clamping and fixing the charging gun 48 to prevent movement. There are two sets of the second electric push rod 44, clamping frame 45, and clamping plate 46, and the two sets of the second electric push rod 44, clamping frame 45, and clamping plate 46 are symmetrically arranged.

[0034] The positioning seat 41 also includes a positioning post 411 and a positioning block 412. The positioning post 411 and the positioning block 412 are fixedly connected to the side of the positioning seat 41 away from the first electric push rod 42. There are four positioning blocks 412, which are evenly distributed on the side of the positioning seat 41 away from the first electric push rod 42.

[0035] The charging gun 48 also includes a positioning frame 481, a positioning hole 482, and a positioning groove 483. The positioning frame 481 is fixedly connected to the side of the charging gun 48 near the positioning post 411. The positioning hole 482 and the positioning groove 483 are opened on the side of the positioning frame 481 away from the charging gun 48. There are four positioning grooves 483, which are evenly opened on the side of the positioning frame 481 away from the charging gun 48.

[0036] The size of the positioning block 412 is the same as the size of the positioning groove 483.

[0037] The positioning seat 41 is externally fixedly connected to a slide rail 421, and a slide rod 422 is slidably connected to the inner side of the slide rail 421. The slide rod 422 is fixedly connected to the outside of the movable frame 43, and the extension direction of the slide rail 421 is parallel to the output shaft axis of the first electric push rod 42.

[0038] It should be further explained that when the charging pile 5 detects that the charging gun 48 has not returned to its original position, the control unit immediately activates the positioning and sensing module 3. The industrial camera collects images of the surrounding ground, the area next to the charging pile, and other abnormal areas. The image processing module identifies the features of the positioning frame 481 of the charging gun 48 through a template matching algorithm. The laser rangefinder simultaneously acquires the three-dimensional distance information between the charging gun 48 and the six-axis robotic arm 2, jointly determining the precise spatial coordinates of the charging gun 48. Based on the positioning data, the control unit sends commands to the six-axis robotic arm 2, servoing its base, upper arm, forearm, and wrist joints. With the cooperation of a harmonic reducer and an absolute encoder, the motor drives the robotic arm to move along the optimal trajectory, causing the gripping and positioning mechanism 4 to accurately reach both sides of the positioning frame 481 connected to the charging gun 48. The positioning seat 41 moves with the six-axis robotic arm 2 to one side of the positioning frame 41, ensuring that the positioning pins 411 and positioning blocks 412 of the positioning seat 41 are aligned with the positioning holes 482 and positioning slots 483 of the charging gun 48. Two sets of symmetrically arranged second electric push rods 44 are simultaneously activated, pushing the clamping frame 45 closer to the positioning frame 481 on the charging gun 48. The clamping plates 46 on the opposite surfaces of the clamping frame 45... The charging gun 48 is simultaneously attached to the positioning frame 481 and clamped from both sides to achieve pre-fixation, preventing the charging gun 48 from shifting due to the smooth ground or its own light weight during subsequent positioning. Then, the first electric push rod 42 drives the moving frame 43 to push towards the positioning seat 41, causing the clamping plate 46, which has already clamped the charging gun 48, to move. This allows the positioning post 411 of the positioning seat 41 to accurately insert into the positioning hole 482 of the positioning frame 481. The four positioning blocks 412 are simultaneously embedded into the corresponding positioning slots 483. With the magnetic assistance of the positioning slots 483 and the positioning posts 411, the charging gun 48 is successfully positioned and gripped. The positioning mechanism 4 is firmly engaged, and the six-axis robotic arm 2 is controlled to move along a preset trajectory, driving the firmly fixed charging gun 48 to move above the return seat of the charging pile 5. After adjusting its posture, the charging gun 48 is inserted into the return seat on the charging pile 5, so that the charging pile 5 can be returned to its original position. Therefore, in this embodiment, the step-by-step fixing of "pre-clamping to precise positioning" is adopted, which solves the pain points of the lightweight charging pile 5 being easy to move on smooth ground and the positioning column 411 being difficult to insert accurately. Moreover, the whole process is automated and does not require manual intervention, so that the charging gun 48 in an abnormal position can be returned to its original position automatically.

[0039] In the above embodiments, such as Figures 6-7As shown, the six-axis robotic arm 2, in cooperation with the control unit and the positioning sensing module 3, can drive the gripping and positioning mechanism 4 to precisely adjust its position, accurately positioning the positioning hole 482 and the positioning post 411. However, in actual positioning, due to the different scenarios of the charging pile 5 and the complex on-site conditions, the existing positioning sensing module 3 has a slight positioning error, or the positioning frame 481 may slightly shift during clamping, causing a deviation between the actual posture and the positioning data. As the positioning post 411 gradually inserts into the positioning hole 482, it may partially press against the inner wall of the positioning hole 482. This can lead to the positioning post 411 scratching the inner wall of the positioning hole 482 and damaging the positioning post 411 when it is forcibly inserted by pushing the first electric push rod 42. This is not conducive to the long-term repeated use of the positioning post 411 and the positioning hole 482 and shortens the replacement cycle. In this embodiment, the clamping plate 46 includes a rotating plate 461, a connecting rod 462, a slider 463, and a spring 464. The rotating plate 461 is movably connected to the inside of the clamping frame 45, the connecting rod 462 is located inside the clamping frame 45, the slider 463 is located inside the clamping frame 45, and the spring 464 is located inside the clamping frame 45.

[0040] It should be further explained that the side of the clamping plate 46 away from the positioning frame 481 is fixedly connected to the outside of the rotating plate 461, the connecting rod 462 is rotatably connected to the side of the rotating plate 461 away from the clamping plate 46, the slider 463 is rotatably connected to the end of the connecting rod 462 away from the rotating plate 461, and the spring 464 is fixedly connected between the clamping frame 45 and the slider 463. There are two sets of the connecting rod 462, slider 463, and spring 464, and the two sets of connecting rod 462, slider 463, and spring 464 are symmetrically arranged.

[0041] It should be further explained that the spring 464 is initially in a pre-tightened state. The elastic force of the springs 464 on both sides provides stability and prevents the clamping plate 46 from rotating when it is not subjected to axial rotational force. During clamping, when the two sets of second electric push rods 44 push the clamping frame 45 closer to the positioning frame 481, the clamping plate 46 first contacts and clamps with the surface of the positioning frame 481. When the first electric push rod 42 pushes the moving frame 43, causing the positioning pin 411 to be inserted into the positioning hole 482, if the insertion direction of the positioning pin 411 is not completely along the axis of the positioning hole 482, the positioning pin 411 will generate a radial component force on the inner wall of the positioning hole 482. At this time, the positioning pin 411 squeezes the inner wall of the positioning hole 482. When the clamping plate 46 on the positioning frame 481 is squeezed, it pushes the rotating plate 461 to rotate, allowing the positioning frame 481 to make slight posture adjustments, thereby driving the positioning hole 482 to coaxially correspond to the positioning post 411. This allows the positioning post 411 to elastically and adaptively compensate for coaxiality deviation, avoiding forced insertion. In this embodiment, through the elastic linkage structure of the rotating plate 461 and the spring 464, the posture deviation and positioning error of the positioning frame 481 are automatically adapted, compensating for the coaxiality deviation between the positioning post 411 and the positioning hole 482, solving the problem of scratches and damage caused by forced insertion, extending the service life of the positioning post 411 and the positioning hole 482, and reducing replacement costs.

[0042] In the above embodiments, such as Figures 6-7 As shown, in rainy weather or when there is standing water on the ground, water may accumulate on the charging gun 48. Since the charging gun 48's gun head interface, cable connector, and other parts are critical for electrical connection, if water seeps into the interface or enters the charging gun 48 housing through the cable gaps, it may cause internal circuit short circuits and reduced insulation performance, affecting the subsequent use of the charging gun 48. In this embodiment, a servo motor 47 is also included, which is fixed to the outside of one of the two clamping frames 45.

[0043] It should be further explained that the rotating shaft of the rotating plate 461 passes through the side wall of the clamping frame 45 and is fixedly connected to the output end of the servo motor 47. The servo motor 47 is fixed to the outside of one of the clamping frames 45 by bolts and can receive commands from the control unit to adjust the speed and swing angle. After the two sets of second electric push rods 44 push the clamping frame 45 closer to the positioning frame 481, and the clamping plate 46 contacts the surface of the positioning frame 481 and completes the pre-clamping, the control unit synchronously starts the servo motor 47 to drive the rotating plate 461 to reciprocate at a small angle of 5-10° and a frequency of 10-15 times / second. The movement causes the clamping plates 46 to swing synchronously at a high frequency and a small amplitude. Since the clamping plates 46 on both sides are tightly fitted and clamped to the positioning frame 481, the swinging force is transmitted to the entire charging gun 48, causing the water accumulated on the surface of the charging gun 48 to be shaken off under the action of inertia. In particular, it can remove the water attached to the gun head interface, cable connector and the surface of the positioning frame 481, and prevent water from seeping into the critical electrical parts. In this embodiment, by shaking off the water with high frequency and a small angle, the path of water seeping into the gun head interface, cable connector and the housing of the charging gun 48 is directly blocked, ensuring the subsequent use function and electrical safety of the charging gun 48.

[0044] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic return device for a charging gun based on a robotic arm pickup control, comprising a mounting frame (1), a six-axis robotic arm (2), a positioning sensing module (3), a charging pile (5), and a charging gun (48), wherein the six-axis robotic arm (2) is disposed on the lower surface of the mounting frame (1), the positioning sensing module (3) is disposed at the end of the six-axis robotic arm (2), and the charging pile (5) is disposed below the mounting frame (1); Its features are, It also includes a gripping and positioning mechanism (4) located below the positioning sensing module (3). The gripping and positioning mechanism (4) includes a positioning seat (41), a first electric push rod (42), a moving frame (43), a second electric push rod (44), a clamping frame (45), and a clamping plate (46). The positioning seat (41) is fixedly connected to the lower surface of the positioning sensing module (3). The first electric push rod (42) is fixedly connected to the side of the positioning seat (41). The moving frame (43) is located on the first electric push rod (42). The second electric push rod (44) is fixedly connected to the outside of the moving frame (43). The clamping frame (45) is located on the second electric push rod (44). The clamping plate (46) is located on one side of the clamping frame (45). The charging gun (48) is located between the clamping plates (46). The charging gun (48) also includes a positioning frame (481), a positioning hole (482), and a positioning groove (483). The positioning frame (481) is fixedly connected to the side of the charging gun (48) near the positioning post (411). The positioning hole (482) and the positioning groove (483) are opened on the side of the positioning frame (481) away from the charging gun (48). There are four positioning grooves (483), and the four positioning grooves (483) are evenly opened on the side of the positioning frame (481) away from the charging gun (48). The clamping plate (46) includes a rotating plate (461), a connecting rod (462), a slider (463), and a spring (464). The rotating plate (461) is movably connected inside the clamping frame (45), the connecting rod (462) is located inside the clamping frame (45), the slider (463) is located inside the clamping frame (45), and the spring (464) is located inside the clamping frame (45). The side of the clamping plate (46) away from the positioning frame (481) is fixedly connected to the outside of the rotating plate (461). The connecting rod (462) is rotatably connected to the side of the rotating plate (461) away from the clamping plate (46). The slider (463) is rotatably connected to the end of the connecting rod (462) away from the rotating plate (461). The spring (464) is fixedly connected between the clamping frame (45) and the slider (463). There are two sets of the connecting rod (462), slider (463), and spring (464), and the two sets of connecting rod (462), slider (463), and spring (464) are symmetrically arranged.

2. The automatic return device for a charging gun based on a robotic arm pickup control as described in claim 1, characterized in that, The positioning seat (41) is fixedly connected to the lower surface of the positioning sensing module (3) and moves synchronously with the wrist end of the six-axis robotic arm (2). The first electric push rod (42) is fixed to one side of the positioning seat (41). The moving frame (43) is fixedly connected to the output end of the first electric push rod (42). The clamping frame (45) is fixedly connected to the output end of the second electric push rod (44). The clamping frame (45) is located on the side away from the first electric push rod (42). The clamping plate (46) is set on the opposite side of the clamping frame (45). There are two sets of the second electric push rod (44), clamping frame (45), and clamping plate (46). The two sets of the second electric push rod (44), clamping frame (45), and clamping plate (46) are symmetrically arranged.

3. The automatic return device for a charging gun based on a robotic arm pickup control according to claim 2, characterized in that, The positioning seat (41) also includes a positioning post (411) and a positioning block (412). The positioning post (411) and the positioning block (412) are both fixedly connected to the side of the positioning seat (41) away from the first electric push rod (42). There are four positioning blocks (412), and the four positioning blocks (412) are evenly distributed on the side of the positioning seat (41) away from the first electric push rod (42).

4. The automatic return device for a charging gun based on a robotic arm pickup control as described in claim 3, characterized in that, The size of the positioning block (412) is the same as the size of the positioning groove (483).

5. The automatic return device for a charging gun based on a robotic arm pickup control according to claim 4, characterized in that, It also includes a servo motor (47) fixed to the outside of one of the two clamping frames (45).

6. The automatic return device for a charging gun based on a robotic arm pickup control according to claim 5, characterized in that, The rotating shaft of the rotating plate (461) passes through the side wall of the clamping frame (45) and is fixedly connected to the output end of the servo motor (47). The servo motor (47) is fixed to the outside of one of the clamping frames (45) by bolts.

7. The automatic return device for a charging gun based on a robotic arm pickup control according to claim 1, characterized in that, The positioning seat (41) is fixedly connected to the outside of the slide rail (421), and the slide rail (421) is slidably connected to the inside of the slide rod (422), which is fixedly connected to the outside of the movable frame (43).

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