A multi-degree-of-freedom alignment plug-in robot for automatic charging of a new energy vehicle and a working method thereof

Abstract

The application provides a multi-degree-of-freedom alignment plug-in robot for automatic charging of a new energy vehicle and a working method thereof, which comprises a Z-axis lifting module for adjusting the height of a charging gun assembly; a SCARA plane positioning module arranged on the Z-axis lifting module and used for driving the charging gun assembly to move in a horizontal plane; a deflection module arranged at the tail end of the SCARA plane positioning module and used for adjusting the deflection angle of the charging gun assembly in the horizontal direction; a pitch module arranged between the deflection module and the charging gun assembly and used for adjusting the pitch angle of the charging gun assembly relative to the axis of a vehicle charging port; a linear feed module connected with the charging gun assembly and used for driving the charging gun assembly to make linear feed movement in a plug-in direction; and a passive flexible compensation module arranged between the linear feed module and the charging gun assembly and used for compensating for the angle deviation in the process of inserting the charging gun assembly into the vehicle charging port.

Description

Technical Field

[0001] This invention proposes a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles and its working method, which relates to the technical field of automatic charging and robot insertion mechanism for new energy vehicles. Background Technology

[0002] With the continuous increase in the number of new energy vehicles, charging convenience and the level of charging automation have become important factors affecting the user experience. Current charging methods largely rely on manual handling of charging gun placement and connection. In unattended parking lots, automated parking scenarios, and smart charging stations, manual connection methods are insufficient to meet the demands of automation and continuous operation. Therefore, automated charging robots that can replace manual labor in aligning and connecting charging guns have significant application value.

[0003] Existing automatic charging devices typically employ fixed insertion mechanisms, linear propulsion mechanisms, or articulated robot mechanisms. Fixed insertion mechanisms are simple in structure, but they have high requirements for vehicle parking position and charging port orientation, making it difficult to adapt to differences in charging port height, horizontal position deviation, and angular deviation among different vehicle models. While articulated robots offer more degrees of freedom and greater adaptability, they are costly, complex to control, and require significant space, making them somewhat redundant for applications that only require aligning and inserting the charging gun.

[0004] In actual use, charging ports for new energy vehicles may have differences in height, horizontal position, left-right deflection angle, and pitch angle. If only a linear plug-in mechanism in one direction is used, the charging gun is prone to problems such as deflection, jamming, or plugging failure when approaching the charging port. If a rigid plug-in method is used, small angular errors may cause interference between the end of the charging gun and the charging port during the insertion process.

[0005] Therefore, it is necessary to design an automatic charging robot for new energy vehicles that is relatively simple in structure, low in cost, easy to control, and capable of simultaneously performing height compensation, horizontal position compensation, posture compensation, and end-effector flexibility compensation. Summary of the Invention

[0006] In view of this, in order to fill the gaps and deficiencies in the existing technology, this invention proposes a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles and its working method, so as to solve the problems of high structural cost, complex control, insufficient attitude compensation and poor end-connection reliability in existing automatic charging devices.

[0007] This invention proposes a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles and its working method, including the following:

[0008] According to a first aspect of the present invention, the present invention provides a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles, characterized in that it comprises the following:

[0009] The Z-axis lifting module is used to adjust the height of the charging gun assembly;

[0010] The SCARA planar positioning module is mounted on the Z-axis lifting module and is used to drive the charging gun assembly to move in the horizontal plane.

[0011] A deflection module, located at the end of the SCARA planar positioning module, is used to adjust the deflection angle of the charging gun assembly in the horizontal direction.

[0012] A pitch module is disposed between the deflection module and the charging gun assembly, and is used to adjust the pitch angle of the charging gun assembly relative to the axis of the vehicle charging port.

[0013] A linear feed module is connected to the charging gun assembly and is used to drive the charging gun assembly to make linear feed motion along the insertion direction;

[0014] A passive flexible compensation module is disposed between the linear feed module and the charging gun assembly, and is used to compensate for angle deviation during the process of the charging gun assembly being inserted into the vehicle charging port.

[0015] The Z-axis lifting module, SCARA plane positioning module, deflection module, pitch module, linear feed module, and passive flexible compensation module work together in sequence to achieve height compensation, horizontal position compensation, horizontal deflection angle compensation, pitch angle compensation, plug-in feed, and end-effector flexible compensation of the charging gun assembly relative to the vehicle charging port.

[0016] Furthermore, the Z-axis lifting module includes a base, a lead screw, a linear guide rail, a slider, and a lifting drive motor. The lifting drive motor is used to drive the lead screw to rotate, and the slider moves vertically under the action of the lead screw and the linear guide rail.

[0017] Furthermore, the SCARA planar positioning module includes a SCARA base, a first active arm, a second active arm, a driven arm, a SCARA drive motor, and a coupling. The SCARA drive motor drives the first active arm and the second active arm to rotate through the coupling, thereby causing the driven arm to move in a horizontal plane.

[0018] Furthermore, the deflection module includes an adapter plate, a deflection drive motor, a deflection timing belt, a deflection pulley, a turntable, an upper cover, a lower cover, and a zero-position sensor. The deflection drive motor drives the deflection pulley to rotate via the deflection timing belt, and the deflection pulley drives the turntable to rotate, thereby causing the charging gun assembly to deflect left and right. The zero-position sensor is used to detect the initial position of the deflection module.

[0019] Furthermore, the pitch module includes a pitch drive motor, a pitch timing belt, a pitch pulley, a rotating shaft, a bearing, a bracket, and a swing frame. The pitch drive motor drives the pitch pulley to rotate via the pitch timing belt, and the pitch pulley drives the rotating shaft to rotate, causing the charging gun assembly connected to the swing frame to perform pitch motion around the horizontal axis.

[0020] Furthermore, the linear feed module includes an electric push rod, an outer square tube, and an inner square tube. The electric push rod is used to push the inner square tube to extend or retract relative to the outer square tube in the insertion direction. The charging gun assembly is fixed to the front end of the inner square tube.

[0021] Furthermore, the passive flexible compensation module includes a spring and a universal joint, the spring being used to provide axial cushioning and the universal joint being used to allow the charging gun assembly to swing at a small angle during insertion.

[0022] Furthermore, the Z-axis lifting module uses a closed-loop stepper motor with a brake as the lifting drive, the SCARA planar positioning module uses a closed-loop stepper motor as the planar positioning drive, and the yaw module and the pitch module use closed-loop stepper motors as attitude adjustment drives.

[0023] Furthermore, the lifting stroke of the Z-axis lifting module is 0 to 400 mm; the length of the first active arm is 200 mm, and the length of the second active arm is 300 mm; the deflection angle range of the deflection module is ±15°; the pitch angle range of the pitch module is 0° to -30°; and the feed stroke of the linear feed module is 100 mm.

[0024] According to a second aspect of the present invention, the present invention provides a working method for a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles, applied in a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles as described in any one of the present invention, characterized in that it includes the following:

[0025] First, adjust the height of the charging gun assembly using the Z-axis lifting module, so that the charging gun assembly moves to the height corresponding to the vehicle's charging port;

[0026] Then, the horizontal plane positioning is completed by the SCARA plane positioning module, so that the charging gun assembly is moved to the front of the vehicle charging port;

[0027] Then, the horizontal deflection angle and the pitch angle of the charging gun assembly are adjusted by the deflection module and the pitch module respectively, so that the pitch angle of the charging gun assembly matches the axis of the vehicle charging port.

[0028] Finally, the linear feed module pushes the charging gun assembly into the vehicle charging port. During the insertion of the charging gun assembly into the vehicle charging port, the passive flexible compensation module compensates for the small angular deviation between the charging gun assembly and the vehicle charging port. Before driving the linear feed module, coarse positioning and attitude adjustment are completed by the Z-axis lifting module, SCARA plane positioning module, deflection module and pitch module, and then the end insertion is completed by the linear feed module.

[0029] The present invention has the following advantages:

[0030] 1. This invention uses a Z-axis lifting module in conjunction with a SCARA planar positioning module to adapt to differences in the height and horizontal position of the charging port in different vehicle models;

[0031] 2. This invention improves the attitude matching capability between the charging gun assembly and the vehicle charging port by compensating for the left-right angle deviation and the pitch angle deviation of the charging port through the deflection module and the pitch module, respectively.

[0032] 3. This invention completes the end insertion action through a linear feed module, with a clear insertion path and simple structure;

[0033] 4. This invention compensates for small angular deviations during the insertion process using a passive flexible compensation module, which can reduce the risk of jamming and rigid interference;

[0034] 5. Compared with a six-axis robotic arm, this invention adopts a combination mechanism of Z-axis lifting, SCARA planar positioning, attitude compensation and linear feed, which has a compact structure, lower cost and relatively simple control, making it suitable for automatic charging scenarios of new energy vehicles. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the multi-degree-of-freedom alignment and insertion robot of the present invention.

[0036] Figure 2 This is a schematic diagram of the overall front view structure of the multi-degree-of-freedom alignment and insertion robot of the present invention.

[0037] Figure 3 This is a top view schematic diagram of the overall structure of the multi-degree-of-freedom alignment and insertion robot of the present invention.

[0038] Figure 4This is a schematic diagram of the overall right-side structure of the multi-degree-of-freedom alignment and insertion robot of the present invention.

[0039] Figure 5 This is a schematic diagram of the Z-axis lifting module of the present invention.

[0040] Figure 6 This is a schematic diagram of the structure of the SCARA planar positioning module of the present invention.

[0041] Figure 7 This is a schematic diagram of the deflection module of the present invention.

[0042] Figure 8 This is a schematic diagram of the deflection module transmission structure of the present invention.

[0043] Figure 9 This is a schematic diagram of the pitch module of the present invention.

[0044] Figure 10 This is a schematic diagram of the linear feed module and passive flexible compensation module of the present invention.

[0045] Figure 11 This is a schematic diagram of the transmission structure of the linear feed module of the present invention.

[0046] In the picture:

[0047] 1-Z-axis lifting module; 2-SCARA planar positioning module; 3-Deflection module; 4-Pitch module; 5-Linear feed module; 6-Charging gun assembly; 7-Passive flexible compensation module; 8-Base; 9-Lead screw; 10-Linear guide rail; 11-Slider; 12-Lifting drive motor; 13-SCARA base; 14-First active arm; 15-Second active arm; 16-Driven arm;

[0048] 17-SCARA drive motor; 18-Coupling; 19-Adapter plate; 20-Deflection drive motor; 21-Deflection synchronous belt; 22-Deflection pulley; 23-Turntable; 24-Upper cover; 25-Lower bottom cover; 26-Zero position sensor; 27-Pitch drive motor;

[0049] 28-Pitch timing belt; 29-Pitch pulley; 30-Shaft; 31-Bearing; 32-Bracket; 33-Swing frame; 34-Electric push rod; 35-Outer square tube; 36-Inner square tube; 37-Spring; 38-Universal joint. Detailed Implementation

[0050] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0051] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0052] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] like Figures 1 to 11 As shown, this invention proposes a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles and its working method, including the following:

[0054] According to a first aspect of the present invention, the present invention provides a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles, characterized in that it comprises the following:

[0055] like Figures 1 to 4 As shown, this embodiment provides a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles, including a Z-axis lifting module 1, a SCARA planar positioning module 2, a deflection module 3, a pitch module 4, a linear feed module 5, a charging gun assembly 6, and a passive flexible compensation module 7. The Z-axis lifting module 1 serves as the vertical adjustment mechanism of the entire machine. The SCARA planar positioning module 2 is installed at the moving end of the Z-axis lifting module 1, the deflection module 3 is installed at the end of the SCARA planar positioning module 2, the pitch module 4 is installed on the deflection module 3, the linear feed module 5 is connected to the charging gun assembly 6, and the passive flexible compensation module 7 is disposed between the linear feed module 5 and the charging gun assembly 6.

[0056] like Figure 5 As shown, the Z-axis lifting module 1 includes a base 8, a lead screw 9, a linear guide rail 10, a slider 11, and a lifting drive motor 12. The lifting drive motor 12 is preferably a 57 closed-loop stepper motor with a brake. The lifting drive motor 12 drives the lead screw 9 to rotate, and the slider 11 moves vertically up and down under the combined action of the lead screw 9 and the linear guide rail 10. The SCARA planar positioning module 2 is mounted on the slider 11 or on a mounting plate connected to the slider 11. Therefore, the Z-axis lifting module 1 can drive the SCARA planar positioning module 2, the deflection module 3, the pitch module 4, the linear feed module 5, and the charging gun assembly 6 to lift as a whole. In this embodiment, the lifting stroke of the Z-axis lifting module 1 is 0 to 400 mm.

[0057] like Figure 6As shown, the SCARA planar positioning module 2 includes a SCARA base 13, a first active arm 14, a second active arm 15, a driven arm 16, SCARA drive motors 17, and a coupling 18. The SCARA base 13 is connected to the Z-axis lifting module 1. The two SCARA drive motors 17 drive the first active arm 14 and the second active arm 15 to rotate via the coupling 18. The movement of the first active arm 14 and the second active arm 15 drives the driven arm 16 to move, causing the deflection module 3 and the charging gun assembly 6 mounted at the end to move in the horizontal plane. The length of the first active arm 14 can be 200 mm, and the length of the second active arm 15 can be 300 mm. This SCARA planar positioning module 2 enables large-range positioning in the horizontal plane with lower cost and less control complexity.

[0058] like Figure 7 and Figure 8 As shown, the deflection module 3 includes an adapter plate 19, a deflection drive motor 20, a deflection timing belt 21, a deflection pulley 22, a turntable 23, an upper cover 24, a lower cover 25, and a zero-position sensor 26. The deflection drive motor 20 can be a 42 closed-loop stepper motor. The deflection drive motor 20 drives the deflection timing belt 21 to move, the deflection timing belt 21 drives the deflection pulley 22 to rotate, and the deflection pulley 22 drives the turntable 23 to rotate relative to the lower cover 25. The upper cover 24 is used to cover and support the upper structure of the deflection module 3. The turntable 23 is connected to the upper structure through the adapter plate 19, thereby driving the charging gun assembly 6 to deflect left and right relative to the SCARA planar positioning module 2. The zero-position sensor 26 is used to detect the initial position of the deflection module 3, facilitating the deflection module 3 to return to zero. In this embodiment, the deflection angle range of the deflection module 3 is ±15°.

[0059] like Figure 9 As shown, the pitch module 4 includes a pitch drive motor 27, a pitch timing belt 28, a pitch pulley 29, a rotating shaft 30, a bearing 31, a bracket 32, and a swing frame 33. The pitch drive motor 27 can be a 42 closed-loop stepper motor. The pitch drive motor 27 drives the pitch pulley 29, which is fixed on the rotating shaft 30, to rotate via the pitch timing belt 28. The rotating shaft 30 is supported on the bracket 32 ​​via the bearing 31. The swing frame 33 is connected to the rotating shaft 30 and rotates with the rotating shaft 30, thereby driving the charging gun assembly 6 to perform pitch movement around the horizontal axis. In this embodiment, the pitch angle range of the pitch module 4 is 0° to -30° to adapt to the differences in the angle between the charging port axis and the horizontal plane of different vehicles.

[0060] like Figure 10 and Figure 11As shown, the linear feed module 5 includes an electric push rod 34, an outer square tube 35, and an inner square tube 36. The electric push rod 34 is mounted on the outer square tube 35 or a support structure connected to the outer square tube 35. The output end of the electric push rod 34 pushes the inner square tube 36 to move linearly relative to the outer square tube 35 along the insertion direction. The front end of the inner square tube 36 is fixedly connected to the charging gun assembly 6, thereby pushing the charging gun assembly 6 towards the vehicle charging port. In this embodiment, the feed stroke of the linear feed module 5 is 100 mm, used to complete the end insertion action.

[0061] The passive flexible compensation module 7 includes a spring 37 and a universal joint 38. The spring 37 is located at the axial connection position of the charging gun assembly 6 to provide axial buffering during insertion. The universal joint 38 is located between the charging gun assembly 6 and the linear feed module 5 to allow the charging gun assembly 6 to oscillate within a small range. When there is a small angular error between the charging gun assembly 6 and the vehicle charging port, the passive flexible compensation module 7 can absorb this error, reducing the risk of rigid interference and insertion jamming.

[0062] In this embodiment, the overall dimensions of the machine can be 480 mm × 280 mm × 680 mm, and the charging gun assembly 6 can adopt a general new energy vehicle charging gun structure. The Z-axis lifting module 1 can use a 57 closed-loop stepper motor with a brake as the driving component, the SCARA planar positioning module 2 can use a 57 closed-loop stepper motor as the driving component, the deflection module 3 and the pitch module 4 can use a 42 closed-loop stepper motor as the driving component, and the linear feed module 5 can use an electric push rod 34 as the driving component. The Z-axis lifting module 1 is driven by a lead screw 9, the boom of the SCARA planar positioning module 2 is driven by a coupling 18, the deflection module 3 is driven by a deflection synchronous belt 21, and the pitch module 4 is driven by a pitch synchronous belt 28.

[0063] The working process of this invention is as follows:

[0064] First, based on the approximate height of the vehicle's charging port, the Z-axis lifting module 1 is controlled to move, raising and lowering the charging gun assembly 6 to a height corresponding to the vehicle's charging port. Then, the SCARA planar positioning module 2 is controlled to move the charging gun assembly 6 to the front of the vehicle's charging port. Subsequently, the deflection module 3 is controlled to rotate, matching the horizontal deflection angle of the charging gun assembly 6 with the direction of the vehicle's charging port; the pitch module 4 is controlled to rotate, matching the pitch angle of the charging gun assembly 6 with the axis of the vehicle's charging port. After completing the height, horizontal position, and attitude adjustments, the linear feed module 5 is activated, and the electric push rod 34 pushes the inner square tube 36 forward, which in turn moves the charging gun assembly 6 towards the vehicle's charging port along the insertion direction. During the insertion of the charging gun assembly 6 into the vehicle's charging port, the passive flexible compensation module 7 compensates for small-angle errors through the spring 37 and the universal joint 38, making the insertion process smoother.

[0065] Through the above structure and working process, this invention achieves graded alignment and insertion of charging guns for new energy vehicles without employing a six-axis robotic arm. It utilizes a Z-axis lifting module 1, a SCARA planar positioning module 2, a deflection module 3, a pitch module 4, a linear feed module 5, and a passive flexible compensation module 7. This structure offers advantages such as low cost, relatively simple control, compact design, and strong adaptability, making it suitable for automatic charging scenarios for new energy vehicles.

[0066] The above are preferred embodiments of the present invention. Any changes made to the technical solution of the present invention that do not exceed the scope of the technical solution of the present invention shall fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles, characterized in that, Includes the following: The Z-axis lifting module is used to adjust the height of the charging gun assembly; The SCARA planar positioning module is mounted on the Z-axis lifting module and is used to drive the charging gun assembly to move in the horizontal plane. A deflection module, located at the end of the SCARA planar positioning module, is used to adjust the deflection angle of the charging gun assembly in the horizontal direction. A pitch module is disposed between the deflection module and the charging gun assembly, and is used to adjust the pitch angle of the charging gun assembly relative to the axis of the vehicle charging port. A linear feed module is connected to the charging gun assembly and is used to drive the charging gun assembly to make linear feed motion along the insertion direction; A passive flexible compensation module is disposed between the linear feed module and the charging gun assembly, and is used to compensate for angle deviation during the process of the charging gun assembly being inserted into the vehicle charging port. The Z-axis lifting module, SCARA plane positioning module, deflection module, pitch module, linear feed module, and passive flexible compensation module work together in sequence to achieve height compensation, horizontal position compensation, horizontal deflection angle compensation, pitch angle compensation, plug-in feed, and end-effector flexible compensation of the charging gun assembly relative to the vehicle charging port.

2. The multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The Z-axis lifting module includes a base, a lead screw, a linear guide rail, a slider, and a lifting drive motor. The lifting drive motor is used to drive the lead screw to rotate, and the slider moves vertically under the action of the lead screw and the linear guide rail.

3. The multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The SCARA planar positioning module includes a SCARA base, a first active arm, a second active arm, a driven arm, a SCARA drive motor, and a coupling. The SCARA drive motor drives the first and second active arms to rotate through the coupling, thereby causing the driven arm to move in a horizontal plane.

4. The multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The deflection module includes an adapter plate, a deflection drive motor, a deflection timing belt, a deflection pulley, a turntable, an upper cover, a lower cover, and a zero-position sensor. The deflection drive motor drives the deflection pulley to rotate via the deflection timing belt, and the deflection pulley drives the turntable to rotate, thereby causing the charging gun assembly to deflect left and right. The zero-position sensor is used to detect the initial position of the deflection module.

5. A multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The pitch module includes a pitch drive motor, a pitch timing belt, a pitch pulley, a rotating shaft, bearings, a bracket, and a swing frame. The pitch drive motor drives the pitch pulley to rotate via the pitch timing belt, and the pitch pulley drives the rotating shaft to rotate, causing the charging gun assembly connected to the swing frame to perform pitch motion around the horizontal axis.

6. The multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The linear feed module includes an electric push rod, an outer square tube, and an inner square tube. The electric push rod is used to push the inner square tube to extend or retract relative to the outer square tube in the insertion direction. The charging gun assembly is fixed to the front end of the inner square tube.

7. A multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The passive flexible compensation module includes a spring and a universal joint. The spring provides axial cushioning, and the universal joint allows the charging gun assembly to swing at a small angle during insertion.

8. A multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The Z-axis lifting module uses a closed-loop stepper motor with a brake as the lifting drive, the SCARA planar positioning module uses a closed-loop stepper motor as the planar positioning drive, and the yaw module and the pitch module use closed-loop stepper motors as attitude adjustment drives.

9. A multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles according to claim 1, characterized in that, The Z-axis lifting module has a lifting stroke of 0 to 400 mm; the first active arm has a length of 200 mm, and the second active arm has a length of 300 mm; the deflection module has a deflection angle range of ±15°; the pitch module has a pitch angle range of 0° to -30°; and the linear feed module has a feed stroke of 100 mm.

10. A working method for a multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles, applied in the multi-degree-of-freedom alignment and insertion robot for automatic charging of new energy vehicles as described in any one of claims 1 to 9, characterized in that, Includes the following: First, adjust the height of the charging gun assembly using the Z-axis lifting module to move the charging gun assembly to the height corresponding to the vehicle's charging port; Then, the horizontal plane positioning is completed by the SCARA plane positioning module, so that the charging gun assembly is moved to the front of the vehicle charging port; Then, the horizontal deflection angle and the pitch angle of the charging gun assembly are adjusted by the deflection module and the pitch module respectively, so that the pitch angle of the charging gun assembly matches the axis of the vehicle charging port. Finally, the linear feed module pushes the charging gun assembly into the vehicle charging port. During the insertion of the charging gun assembly into the vehicle charging port, the passive flexible compensation module compensates for the small angular deviation between the charging gun assembly and the vehicle charging port. Before driving the linear feed module, coarse positioning and attitude adjustment are completed by the Z-axis lifting module, SCARA plane positioning module, deflection module and pitch module, and then the end insertion is completed by the linear feed module.

Images