Automatic charging device for electric vehicles

Abstract

This invention relates to the field of electric vehicle charging equipment technology, specifically disclosing an automatic charging device for electric vehicles, including a charging gun mechanism, a vertical adjustment mechanism, a horizontal adjustment mechanism, and a robotic arm. The vertical adjustment mechanism includes a vertical drive assembly and at least two vertical adjustment plates. The at least two vertical adjustment plates are stacked sequentially along a first horizontal direction and slide in sequence along the vertical direction. The vertical drive assembly is used to drive the at least two vertical adjustment plates to move relative to each other in the vertical direction, so that adjacent vertical adjustment plates have both sliding and fixed states. Since the at least two vertical adjustment plates are stacked sequentially along their own thickness direction, only the thickness of the at least two vertical adjustment plates stacked sequentially along the first horizontal direction needs to be reserved next to the parking space. It occupies a small area, and the installation is completed by fixing the outermost vertical adjustment plate of the at least two vertical adjustment plates to the ground, which is simple to install.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle charging equipment technology, and more particularly to automatic charging equipment for electric vehicles. Background Technology

[0002] In recent years, against the backdrop of the global green and low-carbon transformation, the new energy vehicle industry has developed rapidly, with my country maintaining its position as the world's largest producer and seller of new energy vehicles for many consecutive years. As new energy vehicles become more widespread, the demand for charging stations is increasing daily.

[0003] However, most charging stations on the market currently rely on manual operation. The entire charging process is not only cumbersome but also poses certain safety risks, such as electric shock and short circuits, causing considerable inconvenience and potential danger to users. To improve people's travel experience, automatic charging technology for new energy vehicles has emerged.

[0004] However, automatic charging technology faces severe challenges in practical applications. Currently, the space around parking spaces is generally limited, while automatic charging equipment is usually large in size. This often leads to insufficient installation space and prevents the normal installation of automatic charging equipment, seriously hindering the promotion and application of automatic charging technology for new energy vehicles.

[0005] Therefore, there is an urgent need for automatic charging equipment for electric vehicles to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic charging device for electric vehicles, in order to solve the problem that the space around parking spaces is generally limited and the automatic charging device is usually large in size, which often makes it difficult to install the automatic charging device properly, seriously hindering the promotion and application of automatic charging technology for new energy vehicles.

[0007] The present invention provides an automatic charging device for electric vehicles, the automatic charging device for electric vehicles comprising: Charging gun mechanism; A vertical adjustment mechanism includes a vertical drive assembly and at least two vertical adjustment plates. The at least two vertical adjustment plates are stacked sequentially along a first horizontal direction and slidably engaged sequentially along a vertical direction. The vertical drive assembly is used to drive the at least two vertical adjustment plates to move relative to each other along the vertical direction, so that adjacent two vertical adjustment plates have two states: sliding and fixed. A horizontal adjustment mechanism includes a telescopic component and a horizontal drive component. The outermost of at least two vertical adjustment plates is fixedly connected to the telescopic component. The horizontal drive component drives the telescopic component to extend and retract along a second horizontal direction and has two states: a fixed length and a variable length. A robotic arm, one end of which is connected to the charging gun mechanism and the other end of which is fixed to the telescopic component; the robotic arm is capable of adjusting the position of the charging gun mechanism. The first horizontal direction is the thickness direction of the vertical adjustment plate and is perpendicular to the second horizontal direction.

[0008] As a preferred technical solution for automatic charging equipment for electric vehicles, the vertical adjustment plate is provided with n, where n≥3; The vertical drive assembly drives the vertical adjustment plate to move relative to each other along the vertical direction, and makes the distance between any two adjacent vertical adjustment plates moving relative to each other along the vertical direction the same.

[0009] As a preferred technical solution for an automatic charging device for electric vehicles, the vertical drive assembly includes: A vertical drive module includes a vertical driver, a vertical lead screw, and a vertical nut. The vertical lead screw and the vertical nut are respectively disposed on two adjacent vertical adjustment plates, and the axis of the vertical lead screw extends along the vertical direction. The vertical driver drives the vertical lead screw to rotate around the axis of the vertical lead screw, and the vertical nut is screwed to the vertical lead screw. A vertical synchronization module is provided, wherein the vertical drive module is connected to the vertical synchronization module for driving the vertical adjustment plate (which does not have the vertical drive module) to move.

[0010] As a preferred technical solution for automatic charging equipment for electric vehicles, the vertical synchronization module includes n-2 vertical synchronization groups, with each three adjacent vertical adjustment plates corresponding to one vertical synchronization group; The vertical synchronization assembly includes a vertical gear, a vertical rack, a vertical drive wheel, a vertical driven wheel, and a vertical synchronous belt. In the three adjacent vertical adjustment plates, the first vertical adjustment plate is provided with the vertical rack, which extends along the vertical direction. The second vertical adjustment plate is provided with the vertical gear, the vertical drive wheel, and the vertical driven wheel. The vertical drive wheel and the vertical gear are coaxially fixedly connected, and the vertical gear meshes with the vertical rack on the first vertical adjustment plate. The vertical drive wheel and the vertical driven wheel are spaced apart along the vertical direction. The vertical synchronous belt is sleeved on the vertical drive wheel and the vertical driven wheel, and the vertical synchronous belt is fixedly connected to the third vertical adjustment plate. The vertical lead screw is located on the vertical adjustment plate on which the vertical rack is provided, and the vertical nut is located on the vertical adjustment plate on which the vertical gear is provided.

[0011] As a preferred technical solution for an automatic charging device for electric vehicles, the telescopic assembly includes n telescopic bodies stacked sequentially along the vertical direction, with adjacent two telescopic bodies slidingly engaged along the second horizontal direction; The horizontal drive component drives the telescopic body to move relative to each other along the second horizontal direction, and makes the distance between any two adjacent telescopic bodies moving relative to each other along the second horizontal direction the same.

[0012] As a preferred technical solution for an automatic charging device for electric vehicles, the horizontal drive assembly includes: A horizontal drive module includes a horizontal driver, a horizontal lead screw, and a horizontal nut. The horizontal lead screw and the horizontal nut are respectively disposed on two adjacent telescopic bodies, and the axis of the horizontal lead screw extends along the second horizontal direction. The horizontal driver drives the horizontal lead screw to rotate around the axis of the horizontal lead screw, and the horizontal nut is screwed to the horizontal lead screw. A horizontal synchronization module is provided, and the horizontal drive module is connected to the horizontal synchronization module to drive the telescopic body that does not have the horizontal drive module to move.

[0013] As a preferred technical solution for automatic charging equipment for electric vehicles, the horizontal synchronization module includes n-2 horizontal synchronization groups, with each three adjacent telescopic bodies corresponding to one horizontal synchronization group; The horizontal synchronization assembly includes a horizontal gear, a horizontal rack, a horizontal drive pulley, a horizontal driven pulley, and a horizontal synchronous belt. In the three adjacent telescopic bodies, the first telescopic body is provided with the horizontal rack, which extends along the second horizontal direction. The second telescopic body is provided with the horizontal gear, the horizontal drive pulley, and the horizontal driven pulley. The horizontal drive pulley and the horizontal gear are coaxially fixedly connected, and the horizontal gear meshes with the horizontal rack on the first telescopic body. The horizontal drive pulley and the horizontal driven pulley are spaced apart along the second horizontal direction. The horizontal synchronous belt is sleeved on the horizontal drive pulley and the horizontal driven pulley, and the horizontal synchronous belt is fixedly connected to the third telescopic body. The horizontal lead screw is located on the telescopic body on which the horizontal rack is provided, and the horizontal nut is located on the telescopic body on which the horizontal gear is provided.

[0014] As a preferred technical solution for an automatic charging device for electric vehicles, the robotic arm includes a first swing arm, a first driver, and a second driver. The first driver is fixed to the telescopic assembly. The rotating shaft of the first driver is fixedly connected to one end of the first swing arm. The rotating shaft of the second driver is connected to the charging gun mechanism. The other end of the first swing arm is fixedly connected to the second driver. The rotating shafts of the first driver and the second driver are both arranged along the vertical direction.

[0015] As a preferred technical solution for an automatic charging device for electric vehicles, the charging gun mechanism includes a pitch driver, a charging gun, and a camera. The pitch driver is fixedly connected to the robotic arm and is used to drive the camera to swing. The axis of the camera's swing is located in a horizontal plane, and the camera is connected to the charging gun.

[0016] As a preferred technical solution for an automatic charging device for electric vehicles, the charging gun mechanism further includes a passive motion component for connecting the pitch driver and the charging gun.

[0017] The automatic charging device for electric vehicles provided by this invention has at least the following beneficial effects: This invention provides an automatic charging device for electric vehicles, comprising a charging gun mechanism, a vertical adjustment mechanism, a horizontal adjustment mechanism, and a robotic arm. The vertical adjustment mechanism includes a vertical drive assembly and at least two vertical adjustment plates, which are stacked sequentially along a first horizontal direction and slidably engaged sequentially along the vertical direction. The vertical drive assembly drives the at least two vertical adjustment plates to move relative to each other in the vertical direction, so that adjacent vertical adjustment plates have two states: sliding and fixed. The horizontal adjustment mechanism includes a telescopic assembly and a horizontal drive assembly. The outermost vertical adjustment plate of the at least two vertical adjustment plates is fixedly connected to the telescopic assembly. The horizontal drive assembly drives the telescopic assembly to extend and retract along a second horizontal direction, having two states: fixed length and variable length. One end of the robotic arm is connected to the charging gun mechanism, and the other end is fixedly connected to the telescopic assembly. The robotic arm is capable of adjusting the position of the charging gun mechanism. The first horizontal direction is the thickness direction of the vertical adjustment plates and is perpendicular to the second horizontal direction. When installing this automatic charging equipment for electric vehicles, since at least two vertical adjustment plates are stacked sequentially along their own thickness direction, it is only necessary to reserve the thickness of at least two vertical adjustment plates stacked sequentially along the first horizontal direction next to the parking space. It occupies a small area, and the installation is completed by fixing the outermost vertical adjustment plate of the at least two vertical adjustment plates to the ground. The installation is simple and conducive to the promotion and application of automatic charging technology for new energy vehicles. Attached Figure Description

[0018] Figure 1This is a schematic diagram of the structure of an automatic charging device for electric vehicles in an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an automatic charging device for electric vehicles in an embodiment of the present invention (with the vertical adjustment plate connected to the horizontal adjustment mechanism removed). Figure 3 This is a schematic diagram of the structure of an automatic charging device for electric vehicles in an embodiment of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the structure of an automatic charging device for electric vehicles in an embodiment of the present invention. Figure 3 ; Figure 5 This is a schematic diagram of the structure of an automatic charging device for electric vehicles in an embodiment of the present invention. Figure 4 ; Figure 6 This is a schematic diagram of the horizontal adjustment mechanism in an embodiment of the present invention.

[0019] In the picture: X, first horizontal direction; Y, second horizontal direction; Z, vertical direction; 1. Charging gun mechanism; 11. Tilt driver; 12. Charging gun; 13. Camera; 14. Passive motion component; 2. Vertical adjustment mechanism; 21. Vertical drive assembly; 211. Vertical drive module; 2111. Vertical driver; 2112. Vertical lead screw; 2113. Vertical nut; 212. Vertical synchronization module; 2121. Vertical gear; 2122. Vertical rack; 2123. Vertical drive wheel; 2124. Vertical driven wheel; 2125. Vertical timing belt; 22. Vertical adjustment plate; 3. Horizontal adjustment mechanism; 31. Telescopic assembly; 311. Telescopic body; 32. Horizontal drive assembly; 321. Horizontal drive module; 3211. Horizontal driver; 3212. Horizontal lead screw; 3213. Horizontal nut; 322. Horizontal synchronization module; 3221. Horizontal gear; 3222. Horizontal rack; 3223. Horizontal drive pulley; 3224. Horizontal driven pulley; 3225. Horizontal synchronous belt; 4. Robotic arm; 41. First swing arm; 42. First driver; 43. Second driver. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., 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 the invention and for simplifying the description, and do not 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 the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0024] like Figures 1 to 6As shown, this embodiment provides an automatic charging device for electric vehicles. The automatic charging device includes a charging gun mechanism 1, a vertical adjustment mechanism 2, a horizontal adjustment mechanism 3, and a robotic arm 4. The vertical adjustment mechanism 2 includes a vertical drive assembly 21 and at least two vertical adjustment plates 22. The at least two vertical adjustment plates 22 are stacked sequentially along a first horizontal direction X and slidably engaged sequentially along a vertical direction Z. The vertical drive assembly 21 drives the at least two vertical adjustment plates 22 to move relative to each other along the vertical direction Z, so that adjacent vertical adjustment plates 22 have both sliding and fixed functions. The device has two states. The horizontal adjustment mechanism 3 includes a telescopic component 31 and a horizontal drive component 32. The outermost vertical adjustment plate 22 of at least two vertical adjustment plates 22 is fixedly connected to the telescopic component 31. The horizontal drive component 32 drives the telescopic component 31 to extend and retract along the second horizontal direction Y, and has two states: a fixed length and a variable length. One end of the robotic arm 4 is connected to the charging gun mechanism 1, and the other end is fixedly connected to the telescopic component 31. The robotic arm 4 can adjust the position of the charging gun mechanism 1. The first horizontal direction X is the thickness direction of the vertical adjustment plate 22 and is perpendicular to the second horizontal direction Y. When installing this automatic charging device for electric vehicles, at least two vertical adjustment plates 22 are stacked sequentially along their own thickness direction. Only the thickness of at least two vertical adjustment plates 22 stacked sequentially along the first horizontal direction X needs to be reserved next to the parking space. It occupies a small area. Only the outermost one of the at least two vertical adjustment plates 22 needs to be fixed to the ground to complete the installation. The installation is simple and conducive to the promotion and application of automatic charging technology for new energy vehicles.

[0025] The automatic charging device for electric vehicles can be installed on one side of the parking space along the width direction or on the rear side of the parking space along the length direction.

[0026] In operation, a "macro-micro" decoupled control strategy is implemented. First, macro adjustment is performed, including a vertical adjustment mechanism 2 and a horizontal adjustment mechanism 3. The vertical drive component 21 drives at least two vertical adjustment plates 22 to move relative to each other along the vertical direction Z. The horizontal drive component 32 drives the telescopic component 31 to extend and retract along the second horizontal direction Y, responsible for large-span global coarse positioning, sending the robotic arm 4 to the optimal working area and reserving a safe stroke. The adjustment of the robotic arm 4, acting as a "micro" adjustment mechanism, is responsible for local high-precision planar position compensation, posture rotation, and precise end-effector compression. The "macro-micro" decoupled control strategy effectively eliminates errors caused by vibrations during macro adjustment start-stop and structural deformation. It perfectly integrates the large stroke advantages of the vertical adjustment mechanism 2 and the horizontal adjustment mechanism 3 with the high-speed and high-precision characteristics of the robotic arm 4, significantly expanding the system's workspace and operational flexibility.

[0027] Optionally, n vertical adjustment plates 22 are provided, where n ≥ 3; the vertical drive assembly 21 drives the vertical adjustment plates 22 to move relative to each other along the vertical direction Z, and the distance between any two adjacent vertical adjustment plates 22 moving relative to each other along the vertical direction Z is the same. In this embodiment, during the adjustment process, all vertical adjustment plates 22 move synchronously, and the distance between any two adjacent vertical adjustment plates 22 moving relative to each other along the vertical direction Z is the same. In other embodiments, all vertical adjustment plates 22 can also be moved sequentially along the vertical direction Z.

[0028] Optionally, the vertical drive assembly 21 includes a vertical drive module 211 and a vertical synchronization module 212. The vertical drive module 211 includes a vertical driver 2111, a vertical lead screw 2112, and a vertical nut 2113. The vertical lead screw 2112 and the vertical nut 2113 are respectively disposed on two adjacent vertical adjustment plates 22, and the axis of the vertical lead screw 2112 extends along the vertical direction Z. The vertical driver 2111 drives the vertical lead screw 2112 to rotate around the axis of the vertical lead screw 2112, and the vertical nut 2113 is screwed to the vertical lead screw 2112. The vertical drive module 211 is connected to the vertical synchronization module 212 for transmission, so as to drive the vertical adjustment plate 22 without the vertical drive module 211 to move. In this embodiment, the vertical actuator 2111 drives the vertical lead screw 2112 to rotate around the axis of the vertical lead screw 2112, so as to realize the movement of the vertical nut 2113 on the vertical lead screw 2112, thereby realizing the sliding of the vertical adjustment plate 22 connected to the vertical nut 2113 relative to the vertical adjustment plate 22 connected to the vertical lead screw 2112 in the vertical direction Z. The vertical drive module 211 is connected to the vertical synchronization module 212, thereby driving the vertical adjustment plate 22 without the vertical drive module 211 to move, so as to realize the synchronous movement of all vertical adjustment plates 22.

[0029] Optionally, the vertical actuator 2111 can be an electric motor; in other embodiments, the vertical actuator 2111 can also be a hydraulic motor or a hand crank.

[0030] In other embodiments, the vertical drive module 211 can also be a vertical telescopic device. The vertical cylinder and the vertical telescopic rod of the vertical telescopic device are respectively fixed to two adjacent vertical adjustment plates 22. The vertical telescopic rod extends and retracts relative to the vertical cylinder, thereby realizing the relative movement of the two adjacent vertical adjustment plates 22.

[0031] The vertical telescopic device can be a pneumatic cylinder, a hydraulic cylinder, or a linear motor.

[0032] Optionally, the vertical synchronization module 212 may include n-2 vertical synchronization groups, with each set of three adjacent vertical adjustment plates 22 corresponding to one vertical synchronization group. Each vertical synchronization group includes a vertical gear 2121, a vertical rack 2122, a vertical drive wheel 2123, a vertical driven wheel 2124, and a vertical synchronization belt 2125. In the three adjacent vertical adjustment plates 22, the first vertical adjustment plate 22 is equipped with a vertical rack 2122, which extends along the vertical direction Z. The second vertical adjustment plate 22 is equipped with a vertical gear 2121, a vertical drive wheel 2123, and a vertical driven wheel 2124. Wheel 2124, vertical drive wheel 2123 and vertical gear 2121 are coaxially fixedly connected, and vertical gear 2121 meshes with vertical rack 2122 on the first vertical adjusting plate 22. Vertical drive wheel 2123 and vertical driven wheel 2124 are arranged at intervals along the vertical direction Z. Vertical synchronous belt 2125 is sleeved on vertical drive wheel 2123 and vertical driven wheel 2124, and vertical synchronous belt 2125 is fixedly connected to the third vertical adjusting plate 22. Vertical screw 2112 is located on vertical adjusting plate 22 on which vertical rack 2122 is provided, and vertical nut 2113 is located on vertical adjusting plate 22 on which vertical gear 2121 is provided. In this embodiment, the vertical lead screw 2112 is located on the vertical adjusting plate 22 on which the vertical rack 2122 is provided, and the vertical nut 2113 is located on the vertical adjusting plate 22 on which the vertical gear 2121 is provided. When the vertical nut 2113 moves on the vertical lead screw 2112, the two adjacent first vertical adjusting plates 22 and second vertical adjusting plates 22 connected to the vertical nut 2113 and the vertical lead screw 2112 move relative to each other in the vertical direction Z, thereby causing the vertical gear 2121 to move relative to the vertical rack 2112. The vertical drive wheel 2123 rotates, and the vertical driven wheel 2123 and the vertical driven wheel 2124 simultaneously support the vertical synchronous belt 2125, thereby causing the vertical synchronous belt 2125 to rotate. Since the vertical synchronous belt 2125 is fixedly connected to the third vertical adjusting plate 22, the vertical synchronous belt 2125 drives the third vertical adjusting plate 22 to move, ultimately achieving synchronous movement of the first, second, and third vertical adjusting plates 22 along the vertical direction Z. Each group of three adjacent vertical adjusting plates 22 corresponds to a vertical synchronous group, ultimately achieving movement of all vertical adjusting plates 22 along the vertical direction Z.

[0033] Optionally, the telescopic assembly 31 includes n telescopic bodies 311 stacked sequentially along the vertical direction Z, with adjacent telescopic bodies 311 slidingly engaged along the second horizontal direction Y; the horizontal drive assembly 32 drives the telescopic bodies 311 to move relative to each other along the second horizontal direction Y, ensuring that the distance between any two adjacent telescopic bodies 311 moving relative to each other along the second horizontal direction Y is the same. In this embodiment, the horizontal drive assembly 32 drives the telescopic bodies 311 to move relative to each other along the second horizontal direction Y, thereby achieving synchronous movement of all telescopic bodies 311 along the second horizontal direction Y, and thus driving the charging gun mechanism 1 to move along the second horizontal direction Y.

[0034] Optionally, the horizontal drive assembly 32 includes a horizontal drive module 321 and a horizontal synchronization module 322. The horizontal drive module 321 includes a horizontal driver 3211, a horizontal lead screw 3212, and a horizontal nut 3213. The horizontal lead screw 3212 and the horizontal nut 3213 are respectively disposed on two adjacent telescopic bodies 311, and the axis of the horizontal lead screw 3212 extends along the second horizontal direction Y. The horizontal driver 3211 drives the horizontal lead screw 3212 to rotate around the axis of the horizontal lead screw 3212, and the horizontal nut 3213 is screwed to the horizontal lead screw 3212. The horizontal drive module 321 is connected to the horizontal synchronization module 322 for transmission, so as to drive the telescopic body 311 without the horizontal drive module 321 to move. In this embodiment, the horizontal actuator 3211 drives the horizontal lead screw 3212 to rotate around the axis of the horizontal lead screw 3212, so as to realize the horizontal nut 3213 moving on the horizontal lead screw 3212, thereby realizing the sliding of the telescopic body 311 connected to the horizontal nut 3213 relative to the telescopic body 311 connected to the horizontal lead screw 3212 in the horizontal direction. The horizontal drive module 321 is connected to the horizontal synchronization module 322, thereby driving the telescopic body 311 without the horizontal drive module 321 to move, so as to realize the synchronous movement of all telescopic bodies 311.

[0035] Optionally, the horizontal actuator 3211 can be an electric motor; in other embodiments, the horizontal actuator 3211 can also be a hydraulic motor or a hand crank.

[0036] In other embodiments, the horizontal drive module 321 can also be a horizontal telescopic device. The horizontal cylinder and the horizontal telescopic rod of the horizontal telescopic device are respectively fixed to two adjacent telescopic bodies 311. The horizontal telescopic rod extends and retracts relative to the horizontal cylinder, thereby realizing the relative movement of the two adjacent telescopic bodies 311.

[0037] The horizontal telescopic device can be a pneumatic cylinder, a hydraulic cylinder, or a linear motor.

[0038] Optionally, the horizontal synchronization module 322 may include n-2 horizontal synchronization groups, with each group consisting of three adjacent telescopic bodies 311. Each horizontal synchronization group includes a horizontal gear 3221, a horizontal rack 3222, a horizontal drive pulley 3223, a horizontal driven pulley 3224, and a horizontal synchronous belt 3225. In the three adjacent telescopic bodies 311, the first telescopic body 311 is equipped with a horizontal rack 3222, which extends along the second horizontal direction Y. The second telescopic body 311 is equipped with a horizontal gear 3221, a horizontal drive pulley 3223, and a horizontal driven pulley 3224. Wheel 3224, horizontal drive wheel 3223 and horizontal gear 3221 are coaxially fixedly connected, and horizontal gear 3221 meshes with horizontal rack 3222 on the first telescopic body 311. Horizontal drive wheel 3223 and horizontal driven wheel 3224 are spaced apart along the second horizontal direction Y. Horizontal synchronous belt 3225 is sleeved on horizontal drive wheel 3223 and horizontal driven wheel 3224, and horizontal synchronous belt 3225 is fixedly connected to the third telescopic body 311. Horizontal lead screw 3212 is located on the telescopic body 311 on which horizontal rack 3222 is provided, and horizontal nut 3213 is located on the telescopic body 311 on which horizontal gear 3221 is provided. In this embodiment, the horizontal lead screw 3212 is located on the first telescopic body 311 with a horizontal rack 3222, and the horizontal nut 3213 is located on the second telescopic body 311 with a horizontal gear 3221. When the horizontal nut 3213 moves on the horizontal lead screw 3212, the two adjacent first telescopic bodies 311 and second telescopic bodies 311 connected to the horizontal nut 3213 and the horizontal lead screw 3212 move relative to each other along the second horizontal direction Y, thereby causing the horizontal gear 3221 to rotate on the horizontal rack 3222, which drives the horizontal drive wheel 3223 to rotate. The horizontal drive wheel 3223 and the horizontal driven wheel 3224 simultaneously support the horizontal synchronous belt 3225, thereby causing the horizontal synchronous belt 3225 to rotate. Since the horizontal synchronous belt 3225 is fixedly connected to the third telescopic body 311, the horizontal synchronous belt 3225 drives the third telescopic body 311 to move, ultimately realizing the synchronous movement of the first telescopic body 311, the second telescopic body 311 and the third telescopic body 311 along the second horizontal direction Y. Each group of three adjacent telescopic bodies 311 corresponds to a horizontal synchronization group, ultimately enabling all telescopic bodies 311 to move along the second horizontal direction Y.

[0039] Optionally, the robotic arm 4 includes a first swing arm 41, a first driver 42, and a second driver 43. The first driver 42 is fixed to the telescopic assembly 31. The rotating shaft of the first driver 42 is fixedly connected to one end of the first swing arm 41. The rotating shaft of the second driver 43 is connected to the charging gun mechanism 1 via a transmission connection. The other end of the first swing arm 41 is fixedly connected to the second driver 43. Both the rotating shafts of the first driver 42 and the second driver 43 are arranged along the vertical direction Z. In this embodiment, the robotic arm 4 is a micro-adjustment mechanism, which realizes precise position adjustment of the charging gun mechanism 1 so that the charging gun mechanism 1 can be smoothly inserted into the charging port. Specifically, the first driver 42 drives the first swing arm 41 to swing, thereby adjusting the relative position of the charging gun mechanism 1 with respect to the charging port. The second driver 43 adjusts the angle of the charging gun mechanism 1 with respect to the charging port, thereby enabling the charging gun mechanism 1 to be smoothly inserted into the charging port.

[0040] Optionally, the first driver 42 is disposed between the first swing arm 41 and the telescopic component 31, such that the distance between the first swing arm 41 and the telescopic component 31 in the vertical direction Z is a. The second driver 43 is disposed on the side of the first swing arm 41 close to the telescopic component 31, and the dimension of the second driver 43 and the charging gun mechanism 1 in the vertical direction Z is b, where a is greater than b, so that the second driver 43 can rotate the charging gun mechanism 1 between the first swing arm 41 and the telescopic component 31, which helps to save space.

[0041] Optionally, the charging gun mechanism 1 includes a pitch driver 11, a charging gun 12, and a camera 13. The pitch driver 11 is fixedly connected to the robotic arm 4 and is used to drive the camera 13 to swing. The axis of the camera 13's swing is located in the horizontal plane, and the camera 13 is connected to the charging gun 12. In this embodiment, the driving axis of the second driver 43 is set along the vertical direction Z. The pitch driver 11 is used to drive the camera 13 to swing. The axis of the camera 13's swing is located in the horizontal plane, which can effectively expand the swing range of the charging gun 12, achieving a wider angle coverage in both the horizontal and vertical directions. This avoids the problem of the charging gun 12 not being able to correspond to the charging port, thereby improving the reliability of charging for automatic charging equipment used in electric vehicles.

[0042] Optionally, the charging gun mechanism 1 further includes a passive motion component 14, which connects the pitch driver 11 and the charging gun 12. In this embodiment, when connecting the pitch driver 11 and the charging gun 12, the passive motion component 14 can buffer and protect the pitch driver 11 and the charging gun 12, preventing damage caused by impact forces, while ensuring a stable connection between the two, reducing loosening and shaking, and enabling the charging gun 12 to move accurately according to instructions. In addition, it provides a certain degree of flexibility, allowing the charging gun 12 to be finely adjusted within a certain range to adapt to the differences in the position and angle of the charging interface of different vehicles, without requiring additional power input, which helps to improve the energy utilization efficiency of the charging system.

[0043] Optionally, the automatic charging device for electric vehicles also includes an end-effector torque sensor, which monitors contact resistance in real time and uses an admittance control algorithm to convert force feedback into a pose correction. This correction is compensated by the rotation and pitch actuators 11 of the robotic arm 4, achieving high-frequency, low-latency attitude fine-tuning and active yielding. This strategy avoids system oscillations caused by the large inertia and slow response of the lead screw mechanism, ensuring the stability of the force control process and extremely high assembly yield; macro-adjustment is triggered only when the deviation exceeds the compensation limit of the robotic arm 4, achieving "macro-micro" decoupled control.

[0044] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic charging device for an electric vehicle, characterized by, include: Charging gun mechanism (1); The vertical adjustment mechanism (2) includes a vertical drive assembly (21) and at least two vertical adjustment plates (22). The at least two vertical adjustment plates (22) are stacked sequentially along a first horizontal direction (X) and slidably engaged sequentially along a vertical direction (Z). The vertical drive assembly (21) is used to drive the at least two vertical adjustment plates (22) to move relative to each other along the vertical direction (Z) so that adjacent two vertical adjustment plates (22) have two states: sliding and fixed. The horizontal adjustment mechanism (3) includes a telescopic assembly (31) and a horizontal drive assembly (32). The outermost of at least two vertical adjustment plates (22) is fixedly connected to the telescopic assembly (31). The horizontal drive assembly (32) drives the telescopic assembly (31) to extend and retract along a second horizontal direction (Y) and has two states: a fixed length and a variable length. A robotic arm (4) is connected at one end to the charging gun mechanism (1) and at the other end to the telescopic assembly (31). The robotic arm (4) can adjust the position of the charging gun mechanism (1). The first horizontal direction (X) is the thickness direction of the vertical adjustment plate (22) and is perpendicular to the second horizontal direction (Y).

2. The automatic charging device for an electric vehicle according to claim 1, wherein The vertical adjustment plate (22) is provided in n units, where n≥3; The vertical drive assembly (21) drives the vertical adjustment plate (22) to move relative to each other along the vertical direction (Z), and makes the distance between any two adjacent vertical adjustment plates (22) moving relative to each other along the vertical direction (Z) the same.

3. The automatic charging apparatus for an electric vehicle according to claim 2, wherein The vertical drive assembly (21) includes: The vertical drive module (211) includes a vertical driver (2111), a vertical lead screw (2112), and a vertical nut (2113). The vertical lead screw (2112) and the vertical nut (2113) are respectively disposed on two adjacent vertical adjustment plates (22), and the axis of the vertical lead screw (2112) extends along the vertical direction (Z). The vertical driver (2111) drives the vertical lead screw (2112) to rotate around the axis of the vertical lead screw (2112). The vertical nut (2113) is screwed to the vertical lead screw (2112). The vertical synchronization module (212) is connected to the vertical drive module (211) in a transmission manner to drive the vertical adjustment plate (22) without the vertical drive module (211) to move.

4. The automatic charging apparatus for an electric vehicle according to claim 3, wherein The vertical synchronization module (212) includes n-2 vertical synchronization groups, and each three adjacent vertical adjustment plates (22) correspond to one vertical synchronization group; The vertical synchronization assembly includes a vertical gear (2121), a vertical rack (2122), a vertical drive wheel (2123), a vertical driven wheel (2124), and a vertical synchronous belt (2125). In the three adjacent vertical adjusting plates (22), the first vertical adjusting plate (22) is provided with the vertical rack (2122), and the vertical rack (2122) extends along the vertical direction (Z). The second vertical adjusting plate (22) is provided with the vertical gear (2121), the vertical drive wheel (2123), and the vertical driven wheel (2124). 4) The vertical drive wheel (2123) and the vertical gear (2121) are coaxially fixedly connected, and the vertical gear (2121) meshes with the vertical rack (2122) on the first vertical adjustment plate (22). The vertical drive wheel (2123) and the vertical driven wheel (2124) are spaced apart along the vertical direction (Z). The vertical synchronous belt (2125) is sleeved on the vertical drive wheel (2123) and the vertical driven wheel (2124), and the vertical synchronous belt (2125) is fixedly connected to the third vertical adjustment plate (22). The vertical lead screw (2112) is located on the vertical adjustment plate (22) on which the vertical rack (2122) is provided, and the vertical nut (2113) is located on the vertical adjustment plate (22) on which the vertical gear (2121) is provided.

5. The automatic charging apparatus for an electric vehicle according to claim 1, wherein The telescopic assembly (31) includes n telescopic bodies (311) stacked sequentially along the vertical direction (Z), and two adjacent telescopic bodies (311) slide in cooperation along the second horizontal direction (Y); The horizontal drive assembly (32) drives the telescopic body (311) to move relative to each other along the second horizontal direction (Y), and makes the distance between any two adjacent telescopic bodies (311) moving relative to each other along the second horizontal direction (Y) the same.

6. The automatic charging apparatus for an electric vehicle according to claim 5, wherein The horizontal drive component (32) includes: The horizontal drive module (321) includes a horizontal driver (3211), a horizontal lead screw (3212), and a horizontal nut (3213). The horizontal lead screw (3212) and the horizontal nut (3213) are respectively disposed on two adjacent telescopic bodies (311), and the axis of the horizontal lead screw (3212) extends along the second horizontal direction (Y). The horizontal driver (3211) drives the horizontal lead screw (3212) to rotate around the axis of the horizontal lead screw (3212). The horizontal nut (3213) is screwed to the horizontal lead screw (3212). A horizontal synchronization module (322) is connected to the horizontal drive module (321) for driving the telescopic body (311) without the horizontal drive module (321) to move.

7. The automatic charging apparatus for an electric vehicle according to claim 6, wherein The horizontal synchronization module (322) includes n-2 horizontal synchronization groups, and each three adjacent telescopic bodies (311) correspond to one horizontal synchronization group; The horizontal synchronization assembly includes a horizontal gear (3221), a horizontal rack (3222), a horizontal drive pulley (3223), a horizontal driven pulley (3224), and a horizontal synchronous belt (3225). In the three adjacent telescopic bodies (311), the first telescopic body (311) is provided with the horizontal rack (3222), and the horizontal rack (3222) extends along the second horizontal direction (Y). The second telescopic body (311) is provided with the horizontal gear (3221), the horizontal drive pulley (3223), and the horizontal driven pulley (3224). 4) The horizontal drive wheel (3223) and the horizontal gear (3221) are coaxially fixedly connected, and the horizontal gear (3221) meshes with the horizontal rack (3222) on the first telescopic body (311). The horizontal drive wheel (3223) and the horizontal driven wheel (3224) are spaced apart along the second horizontal direction (Y). The horizontal synchronous belt (3225) is sleeved on the horizontal drive wheel (3223) and the horizontal driven wheel (3224), and the horizontal synchronous belt (3225) is fixedly connected to the third telescopic body (311). The horizontal lead screw (3212) is located on the telescopic body (311) on which the horizontal rack (3222) is provided, and the horizontal nut (3213) is located on the telescopic body (311) on which the horizontal gear (3221) is provided.

8. The automatic charging apparatus for an electric vehicle according to claim 1, wherein The robotic arm (4) includes a first swing arm (41), a first driver (42), and a second driver (43). The first driver (42) is fixed to the telescopic assembly (31). The shaft of the first driver (42) is fixed to one end of the first swing arm (41). The shaft of the second driver (43) is connected to the charging gun mechanism (1). The other end of the first swing arm (41) is fixed to the second driver (43). The shafts of the first driver (42) and the second driver (43) are both arranged along the vertical direction (Z).

9. The automatic charging apparatus for an electric vehicle according to claim 1, wherein The charging gun mechanism (1) includes a pitch driver (11), a charging gun (12) and a camera (13). The pitch driver (11) is fixed to the robotic arm (4). The pitch driver (11) is used to drive the camera (13) to swing. The axis of the camera (13) swing is located in the horizontal plane. The camera (13) is connected to the charging gun (12).

10. The automatic charging apparatus for an electric vehicle according to claim 9, wherein The charging gun mechanism (1) further includes a passive motion component (14) for connecting the pitch driver (11) and the charging gun (12).

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