Automatic charging gun

Abstract

This invention relates to the field of automatic charging technology and discloses an automatic charging gun. A circumferential magnetic component inside the spindle housing corresponds one-to-one with a circumferential permanent magnet on the outer periphery of the suspended spindle. The opposing magnetic poles of the circumferential magnetic component and the circumferential permanent magnet are the same. By changing the current, the magnetic strength is adjusted, thereby regulating the suspension position of the suspended spindle. It possesses a certain degree of flexibility within its circumferential range, adapting to different insertion and removal angles of charging sockets and expanding its applicability. The axial magnetic component at the head end of the insertion / removal drive module selectively has the same or opposite opposing magnetic poles to the axial permanent magnet at the tail end of the spindle housing. The insertion / removal drive module can drive the spindle housing away from or towards it, moving the suspended spindle forward or backward, providing three-dimensional flexibility during insertion and removal. The flexibility can be adjusted in real time, allowing the automatic charging gun to change its posture in real time. The structure is simple, and various angle insertion and removal actions can be completed using only a uniaxially movable insertion / removal drive module, effectively reducing costs.

Description

Technical Field

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

[0002] Current electric vehicle charging stations are designed for convenient manual charging. Generally, the end face of the charging station is tilted at an angle to the side of the vehicle in at least two directions. While this is ergonomically convenient for manual charging, using an automated robotic arm to perform these actions increases the complexity of the arm's movements, typically requiring at least a six-axis robotic arm to meet the demand. This results in high costs for such robotic arms.

[0003] With the large-scale application of autonomous driving technology, the scenarios for driverless vehicles will increase in the future, and the demand for automated charging will also grow daily. Considering safety issues, automated robotic arms will inevitably replace the manual insertion and removal of charging guns. However, the cost of existing automated charging solutions is too high to meet the needs of a large-scale market. To improve this situation, the design philosophy of electric vehicles will also change. The design of charging stations should first consider the use of robotic arms to insert and remove charging guns, with manual insertion and removal of charging guns only as an emergency measure. For example, some charging stations will be designed at an angle parallel to the side of the vehicle body and perpendicular to the ground.

[0004] Therefore, there is an urgent need to design a new charging gun to adapt to the charging methods of automated robotic arms and the insertion and removal angles of different charging sockets. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic charging gun that can change its position in real time, has a simple structure, effectively reduces costs, and can adapt to different charging socket insertion and removal angles, thus expanding its application range.

[0006] To achieve this objective, the present invention adopts the following technical solution: Automatic charging gun, including: A levitation mandrel, wherein a circumferential permanent magnet is provided on the outer periphery of the levitation mandrel; A mandrel housing is provided, and a circumferential magnetic assembly is disposed on the inner side of the mandrel housing. The levitation mandrel is movably disposed within the mandrel housing. The circumferential magnetic assembly and the circumferential permanent magnet are arranged in a one-to-one correspondence. The circumferential magnetic assembly can generate magnetism by selectively conducting. When the circumferential magnetic assembly is conducting, the opposite magnetic poles of the circumferential magnetic assembly and the circumferential permanent magnet are the same, so that the outer periphery of the levitation mandrel is spaced apart from the inner side of the mandrel housing. An axial permanent magnet is disposed at the tail end of the mandrel housing. A charging gun head, wherein the charging gun head is connected to the portion of the suspended spindle exposed in the spindle housing; The plug-in / plug-out driving module has an axial magnetic component at its head end. The axial magnetic component selectively conducts to generate magnetism, and its opposite magnetic poles are selectively the same or opposite to those of the axial permanent magnet. When the opposite magnetic poles of the axial magnetic component and the axial permanent magnet are the same, the plug-in / plug-out driving module can drive the spindle housing away from the plug-in / plug-out driving module, and the spindle housing can drive the suspended spindle forward along the axial direction to insert the charging gun head into the charging socket. When the opposite magnetic poles of the axial magnetic component and the axial permanent magnet are opposite, the plug-in / plug-out driving module can drive the spindle housing closer to the plug-in / plug-out driving module, and the spindle housing can drive the suspended spindle backward along the axial direction to pull the charging gun head out of the charging socket.

[0007] As an optional technical solution for the automatic charging gun, the spindle housing has a cylindrical hole inside, and the suspended spindle has a passive forward pushing part and a passive backward pushing part. The passive forward pushing part and the passive backward pushing part are respectively movably engaged with the two ends of the cylindrical hole. When the spindle housing moves away from the plug-in drive module until the front end of the spindle housing abuts against the passive forward pushing part of the cylindrical hole, the suspended spindle is pushed forward. When the spindle housing moves closer to the plug-in drive module until the rear end of the spindle housing abuts against the passive backward pushing part of the cylindrical hole, the suspended spindle is pushed backward.

[0008] As an optional technical solution for automatic charging guns, the passive forward pushing part and the passive backward pushing part are respectively set as opposing spherical surfaces.

[0009] As an optional technical solution for automatic charging gun, the circumferential magnetic component includes a first magnetically conductive metal column and a first electromagnetic coil. The first magnetically conductive metal column is located on the inner wall of the spindle housing, and the first electromagnetic coil is wound around the outer side of the first magnetically conductive metal column. The first electromagnetic coil can be energized to conduct the circumferential magnetic component.

[0010] As an optional technical solution for automatic charging gun, multiple circumferential permanent magnets are provided, and multiple first electromagnetic coils can respectively control the magnitude of the energized current to change the magnetic strength of the circumferential magnetic component. The magnetic strength of the circumferential magnetic component is positively correlated with the spacing distance between the outer periphery of the levitation mandrel and the inner side of the mandrel housing.

[0011] As an optional technical solution for automatic charging gun, four circumferential permanent magnets are arranged at 90° intervals along the circumferential axis of the levitation spindle, and four sets of circumferential magnetic components are arranged at circumferential intervals along the inner wall of the spindle housing.

[0012] As an optional technical solution for automatic charging gun, two circumferential permanent magnets are arranged at intervals along the axial direction of the levitation mandrel, and two sets of circumferential magnetic components are arranged at intervals along the inner wall of the mandrel housing.

[0013] As an optional technical solution for automatic charging gun, the axial magnetic component includes a second magnetically conductive metal column and a second electromagnetic coil. The second magnetically conductive metal column is located at the head end of the plug-in drive module, and the second electromagnetic coil is wound around the outside of the second magnetically conductive metal column. The second electromagnetic coil can be energized to conduct the axial magnetic component, and the second electromagnetic coil can control the direction of the energized current to change the magnetic poles of the axial magnetic component.

[0014] As an optional technical solution for the automatic charging gun, the automatic charging gun also includes a charging gun housing, the tail end of the plug-in drive module is connected to the inner wall of the tail end of the charging gun housing, and the spindle housing is movably placed inside the charging gun housing.

[0015] As an optional technical solution for automatic charging guns, the spindle housing is axially slidably connected to the inside of the charging gun housing.

[0016] The beneficial effects of this invention are: The automatic charging gun provided by this invention includes a suspended mandrel, a mandrel housing, a charging gun head, and a plug-in / plug-out drive module. The charging gun head is connected to the portion of the suspended mandrel exposed in the mandrel housing. A circumferential permanent magnet is disposed on the outer periphery of the suspended mandrel, and a circumferential magnetic component is disposed on the inner side of the mandrel housing. The suspended mandrel is movably positioned within the mandrel housing. The circumferential magnetic component and the circumferential permanent magnet are arranged in a one-to-one correspondence. When the circumferential magnetic component is turned on, the opposite magnetic poles of the circumferential magnetic component and the circumferential permanent magnet are the same, so that the outer periphery of the suspended mandrel and the inner side of the mandrel housing are spaced apart. By changing the current magnitude to adjust the magnetic strength, the levitation position of the suspended mandrel can be adjusted, allowing for better control of the suspension mandrel's flexibility within its circumferential range centered on its axis. This enables the automatic charging gun to adapt to different plug-in / plug-out angles of charging sockets, expanding its applicability.

[0017] An axial permanent magnet is located at the tail end of the spindle housing, and an axial magnetic component is located at the head end of the insertion / removal drive module. When the opposite magnetic poles of the axial magnetic component and the axial permanent magnet are the same, the insertion / removal drive module can drive the spindle housing away from the module, and the suspended spindle moves forward axially to insert the charging gun head into the charging socket. When the opposite magnetic poles of the axial magnetic component and the axial permanent magnet are opposite, the insertion / removal drive module can drive the spindle housing closer to the module, and the suspended spindle moves backward axially to pull the charging gun head out of the charging socket. This automatic charging gun exhibits three-dimensional flexibility during insertion and removal, and its flexibility can be adjusted in real time to accommodate situations such as vehicle tilt. The automatic charging gun can change its posture in real time without damaging the rigid robotic arm that drives it. The structure is simple, and various angle insertion and removal actions can be completed using only a single-axial-moving insertion / removal drive module, effectively reducing costs and adapting to automated robotic arm charging methods. Attached Figure Description

[0018] Figure 1 This is a cross-sectional structural diagram of the automatic charging gun provided in a specific embodiment of the present invention.

[0019] In the picture: 100. Suspended mandrel; 101. Passive forward thrust section; 102. Passive rearward thrust section; 110. Circumferential permanent magnet; 200. Mandrel housing; 201. Cylindrical hole; 210. Circumferential magnetic assembly; 211. First magnetically conductive metal cylinder; 212. First electromagnetic coil; 220. Axial permanent magnet; 300. Charging gun head; 400. Plug-in drive module; 410. Axial magnetic assembly; 411. Second magnetically conductive metal column; 412. Second electromagnetic coil; 500. Charging gun housing. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0021] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0024] like Figure 1 As shown, this invention discloses an automatic charging gun, including a suspended spindle 100, a spindle housing 200, a charging gun head 300, and a plug-in / plug-out drive module 400. The charging gun head 300 is connected to the portion of the suspended spindle 100 exposed in the spindle housing 200. A circumferential permanent magnet 110 is disposed on the outer periphery of the suspended spindle 100, and a circumferential magnetic component 210 is disposed on the inner side of the spindle housing 200. The suspended spindle 100 is movably placed inside the spindle housing 200. The circumferential magnetic component 210 and the circumferential permanent magnet 110 are arranged in a one-to-one correspondence. The circumferential magnetic component 210 selectively conducts energy to generate magnetism. When the circumferential magnetic component 210 is conducting, the opposite magnetic poles of the circumferential magnetic component 210 and the circumferential permanent magnet 110 are the same, so that the outer periphery of the suspended spindle 100 and the inner side of the spindle housing 200 are spaced apart.

[0025] In this embodiment, four circumferential permanent magnets 110 are arranged at 90° intervals along the circumference of the suspension spindle 100, and four sets of circumferential magnetic components 210 are arranged at circumferential intervals along the inner wall of the spindle housing 200. The outer periphery of the suspension spindle 100 is spaced apart from the inner side of the spindle housing 200, which can better control the suspension spindle 100 to have a certain degree of flexibility within a 360° range centered on its axis, so that the automatic charging gun can adapt to the insertion and removal angles of different charging sockets and expand the scope of application.

[0026] Furthermore, two circumferential permanent magnets 110 are spaced apart along the axial direction of the levitation mandrel 100, and two sets of circumferential magnetic components 210 are spaced apart along the axial direction of the inner wall of the mandrel housing 200. The circumferential permanent magnets 110 and circumferential magnetic components 210 are respectively provided at the head end and tail end of the mandrel housing 200, which can better control the levitation state of the levitation mandrel 100 and avoid excessive offset at one end of the levitation mandrel 100, which would cause the levitation mandrel 100 to jam or wear against the mandrel housing 200.

[0027] Specifically, the circumferential magnetic component 210 includes a first magnetically conductive metal column 211 and a first electromagnetic coil 212. The first magnetically conductive metal column 211 is located on the inner wall of the spindle housing 200, and the first electromagnetic coil 212 is wound around the outer side of the first magnetically conductive metal column 211. The first electromagnetic coil 212 can be energized to conduct the circumferential magnetic component 210. The current direction of the first electromagnetic coil 212 is fixed, and the magnitude of the current is changed to adjust the magnitude of the magnetism, thereby adjusting the levitation position of the levitation spindle 100. A certain amount of gap is provided between the end face of the first magnetically conductive metal column 211 and the outer cylindrical surface of the levitation spindle 100. Therefore, during the insertion of the automatic charging gun, the automatic charging gun has considerable flexibility within a 360° range centered on its axis. Even after the charging gun is inserted, the current through the first electromagnetic coil 212 is set to zero to meet the requirement of maximum flexibility. Multiple circumferential permanent magnets 110 are provided, and multiple first electromagnetic coils 212 can control the magnitude of the current to change the magnetic strength of the circumferential magnetic component 210. The magnetic strength of the circumferential magnetic component 210 is positively correlated with the distance between the outer periphery of the levitation mandrel 100 and the inner side of the mandrel housing 200. The greater the magnetic strength of the circumferential magnetic component 210, the greater the levitation deflection angle of the levitation mandrel 100 in the corresponding direction. Therefore, the distance between the levitation mandrel 100 and the inner side of the mandrel housing 200 at this position is greater.

[0028] In this embodiment, an axial permanent magnet 220 is provided at the tail end of the spindle housing 200, and an axial magnetic component 410 is provided at the head end of the insertion / removal drive module 400. The axial magnetic component 410 selectively conducts to generate magnetism, and the opposite magnetic poles of the axial magnetic component 410 and the axial permanent magnet 220 are selectively the same or opposite. When the opposite magnetic poles of the axial magnetic component 410 and the axial permanent magnet 220 are the same, the insertion / removal drive module 400 can drive the spindle housing 200 away from the insertion / removal drive module 400, and the spindle housing 200 can drive the suspended spindle 100 to move forward along the axial direction so that the charging gun head 300 is inserted into the charging socket. When the opposite magnetic poles of the axial magnetic component 410 and the axial permanent magnet 220 are opposite, the insertion / removal drive module 400 can drive the spindle housing 200 closer to the insertion / removal drive module 400, and the spindle housing 200 can drive the suspended spindle 100 to move backward along the axial direction so that the charging gun head 300 is pulled out from the charging socket. This automatic charging gun exhibits three-dimensional flexibility during insertion and removal, and its flexibility can be adjusted in real time to accommodate situations such as vehicle tilt. The automatic charging gun can change its posture in real time without damaging the rigid robotic arm that drives it. The structure is simple, relying solely on the insertion and removal drive module 400, which can move uniaxially, to complete insertion and removal actions at various angles. This effectively reduces costs and adapts to the charging methods of automated robotic arms. Through the cooperation of the automatic charging gun and high-precision automatic parking, it quickly and efficiently meets the needs of automatic charging.

[0029] Similarly, the axial magnetic component 410 includes a second magnetically conductive metal pillar 411 and a second electromagnetic coil 412. The second magnetically conductive metal pillar 411 is located at the head end of the plug-in drive module 400, and the second electromagnetic coil 412 is wound around the outside of the second magnetically conductive metal pillar 411. The second electromagnetic coil 412 can be energized to conduct the axial magnetic component 410, and the direction of the energized current can be controlled to change the magnetic poles of the axial magnetic component 410. By adjusting the magnitude of the current passing through the second electromagnetic coil 412, the flexibility of the levitation mandrel 100 along the axial direction can also be changed.

[0030] For example, silicon steel can be selected as the material for the first magnetically conductive metal pillar 211 and the second magnetically conductive metal pillar 411. It has characteristics such as high permeability, low coercivity, and large resistivity, thus resulting in low hysteresis loss and eddy current loss, which can improve magnetic induction performance. The N poles of the circumferential permanent magnets 110 are all disposed on one side of the outer circumferential surface of the suspension mandrel 100, and the S poles of the circumferential permanent magnets 110 are all disposed on the side facing the axis of the suspension mandrel 100. Four circumferential permanent magnets 110 are evenly distributed on the circumference of the suspension mandrel 100 at the head and tail ends of the mandrel housing 200, with one circumferential permanent magnet 110 disposed every 90°. The first magnetically conductive metal pillar 211 corresponds one-to-one with the circumferential permanent magnets 110. The axial permanent magnet 220 is disposed on one side of the outer end face of the rear flange of the mandrel housing 200, with the N pole facing the outer side of the rear flange and the S pole facing the inner side of the rear flange.

[0031] Before the automatic charging gun is inserted, the first electromagnetic coil 212 is energized, the current direction and magnitude are set, and the side of the first magnetic metal column 211 facing the suspension mandrel 100 is the N pole. At the same time, the second electromagnetic coil 412 is energized, and the side of the second magnetic metal column 411 facing the axial permanent magnet 220 is the N pole. Therefore, the suspension mandrel 100 can be suspended at the center of the mandrel housing 200.

[0032] Specifically, the spindle housing 200 can be configured as a cylindrical housing, with a cylindrical hole 201 inside. The suspended spindle 100 is provided with a passive forward pushing part 101 and a passive backward pushing part 102, which are respectively movably engaged at both ends of the cylindrical hole 201. When the spindle housing 200 moves away from the plug-in drive module 400 until the front end of the spindle housing 200 abuts against the passive forward pushing part 101, the suspended spindle 100 is pushed forward. When the spindle housing 200 moves closer to the plug-in drive module 400 until the rear end of the spindle housing 200 abuts against the passive backward pushing part 102, the suspended spindle 100 is pushed backward. For example, the passive forward pushing part 101 and the passive backward pushing part 102 are respectively configured as opposing spherical surfaces.

[0033] When the drive module 400 moves toward the axial permanent magnet 220, and the current flowing through the second electromagnetic coil 412 reaches its maximum, the second magnetic metal column 411 and the opposite side of the axial permanent magnet 220 are of the same pole. This pushes the spindle housing 200 through the cylindrical hole 201 to contact the spherical surface of the passive push part 101 on the suspended spindle 100, causing the suspended spindle 100 and the charging gun head 300 to move together, thereby realizing the insertion movement. When the gun is pulled out, by changing the direction of the current flowing through the second electromagnetic coil 412 and maximizing the current flowing through the second electromagnetic coil 412, the magnetic poles of the second magnetic metal column 411 and the opposite side of the axial permanent magnet 220 are reversed. At the same time, the drive module 400 moves in the opposite direction to the insertion direction of the automatic charging gun, causing the spindle housing 200 to contact the spherical surface of the passive push part 102 on the suspended spindle 100 through the cylindrical hole 201, pulling the automatic charging gun out.

[0034] It is understood that the automatic charging gun also includes a charging gun housing 500. The tail end of the plug-in drive module 400 is connected to the inner wall of the tail end of the charging gun housing 500. The spindle housing 200 is slidably placed inside the charging gun housing 500 along the axis. Only the suspended spindle 100 produces an angle change to change the insertion posture of the charging gun head 300. The charging gun housing 500 effectively protects the overall structure of the automatic charging gun and meets the drive of the single-axis robotic arm to adapt to the automatic charging method.

[0035] 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 will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. 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 gun, characterized in that, include: A levitation mandrel (100) is provided with a circumferential permanent magnet (110) on its outer periphery. A mandrel housing (200) is provided with a circumferential magnetic component (210) on its inner side. The suspended mandrel (100) is movably placed inside the mandrel housing (200). The circumferential magnetic component (210) and the circumferential permanent magnet (110) are arranged in a one-to-one correspondence. The circumferential magnetic component (210) can selectively conduct to generate magnetism. When the circumferential magnetic component (210) is turned on, the magnetic poles on opposite sides of the circumferential magnetic component (210) and the circumferential permanent magnet (110) are the same, so that the outer periphery of the suspended mandrel (100) is spaced apart from the inner side of the mandrel housing (200). An axial permanent magnet (220) is provided at the tail end of the mandrel housing (200). A charging gun head (300) is connected to the portion of the suspended spindle (100) exposed in the spindle housing (200); A plug-in drive module (400) is provided with an axial magnetic component (410) at its head end. The axial magnetic component (410) selectively conducts to generate magnetism, and the opposite magnetic poles of the axial magnetic component (410) and the axial permanent magnet (220) are selectively the same or opposite. When the opposite magnetic poles of the axial magnetic component (410) and the axial permanent magnet (220) are the same, the plug-in drive module (400) can drive the spindle housing (200) away from the plug-in drive module (400). 0), the spindle housing (200) can drive the suspended spindle (100) to move forward along the axial direction so that the charging gun head (300) can be inserted into the charging socket; when the opposite magnetic poles of the axial magnetic component (410) and the axial permanent magnet (220) are opposite, the insertion and removal drive module (400) can drive the spindle housing (200) to approach the insertion and removal drive module (400), and the spindle housing (200) can drive the suspended spindle (100) to move backward along the axial direction so that the charging gun head (300) can be pulled out from the charging socket.

2. The automatic charging gun according to claim 1, characterized in that, The spindle housing (200) has a cylindrical hole (201) inside. The suspended spindle (100) has a passive forward push part (101) and a passive backward push part (102). The passive forward push part (101) and the passive backward push part (102) are respectively movably engaged at both ends of the cylindrical hole (201). When the spindle housing (200) moves away from the plug-in drive module (400) to the point where the spindle housing (200) is located at the front end of the cylindrical hole (201) and abuts against the passive forward push part (101), the suspended spindle (100) is pushed forward. When the spindle housing (200) moves close to the plug-in drive module (400) to the point where the spindle housing (200) is located at the rear end of the cylindrical hole (201) and abuts against the passive backward push part (102), the suspended spindle (100) is pushed backward.

3. The automatic charging gun according to claim 2, characterized in that, The passive forward push part (101) and the passive backward push part (102) are respectively configured as opposing spherical surfaces.

4. The automatic charging gun according to claim 1, characterized in that, The circumferential magnetic component (210) includes a first magnetically conductive metal column (211) and a first electromagnetic coil (212). The first magnetically conductive metal column (211) is located on the inner wall of the mandrel housing (200), and the first electromagnetic coil (212) is wound around the outer side of the first magnetically conductive metal column (211). The first electromagnetic coil (212) can be energized to conduct the circumferential magnetic component (210).

5. The automatic charging gun according to claim 4, characterized in that, The circumferential permanent magnet (110) is provided in multiple ways. The multiple first electromagnetic coils (212) can control the magnitude of the current to change the magnetic magnitude of the circumferential magnetic component (210). The magnetic magnitude of the circumferential magnetic component (210) is positively correlated with the distance between the outer periphery of the levitation mandrel (100) and the inner side of the mandrel housing (200).

6. The automatic charging gun according to claim 1, characterized in that, Four circumferential permanent magnets (110) are arranged at 90° intervals along the circumferential space of the levitation mandrel (100), and four sets of circumferential magnetic components (210) are arranged at circumferential intervals along the inner wall of the mandrel housing (200).

7. The automatic charging gun according to claim 1, characterized in that, Two circumferential permanent magnets (110) are spaced apart along the axial direction of the levitation mandrel (100), and two sets of circumferential magnetic components (210) are spaced apart along the axial direction of the inner wall of the mandrel housing (200).

8. The automatic charging gun according to claim 1, characterized in that, The axial magnetic component (410) includes a second magnetically conductive metal column (411) and a second electromagnetic coil (412). The second magnetically conductive metal column (411) is located at the head end of the plug-in drive module (400). The second electromagnetic coil (412) is wound around the outside of the second magnetically conductive metal column (411). The second electromagnetic coil (412) can be energized to conduct the axial magnetic component (410). The second electromagnetic coil (412) can control the direction of the energized current to change the magnetic poles of the axial magnetic component (410).

9. The automatic charging gun according to claim 1, characterized in that, The automatic charging gun also includes a charging gun housing (500), the tail end of the plug-in drive module (400) is connected to the inner wall of the tail end of the charging gun housing (500), and the spindle housing (200) is movably placed inside the charging gun housing (500).

10. The automatic charging gun according to claim 9, characterized in that, The spindle housing (200) is axially slidably connected to the interior of the charging gun housing (500).

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