Intelligent robot unmanned vehicle charging device

Abstract

The utility model provides an intelligent robot unmanned vehicle charging device, and belongs to the technical field of new energy charging equipment, and the device comprises a frame which comprises a ground rail module and a sky rail module, the ground rail module is provided with a horizontal walking motor, and the sky rail module is provided with a rotating motor; the lifting mechanism comprises a vertically-arranged stand column, one end of the stand column is connected with the ground rail module, a synchronous belt assembly is arranged in the stand column, and a connecting shaft is arranged at the other end of the stand column and connected with the output end of a rotating motor. The charging module comprises a two-shaft mechanical arm, one end of the two-shaft mechanical arm is provided with a floating mechanism, one end of the floating mechanism is provided with a charging gun head, the other end of the two-shaft mechanical arm is connected with a sliding assembly, and the sliding assembly is connected with a synchronous belt assembly and is in sliding fit with the stand column; the camera module is arranged on the gun head and used for guiding the gun head to be in butt joint with the vehicle end through the visual system, and by means of the scheme, the device is simple in structure, low in cost, wide in application range and capable of adapting to the scene that the vehicle body has the angle.

Description

Technical Field

[0001] The utility model belongs to the technical field of new energy charging equipment, and in particular relates to a charging device for an intelligent robot unmanned vehicle. Background Art

[0002] New energy vehicles have become increasingly common, so charging piles are used more and more frequently. Traditional charging piles mostly use the method of manually unplugging the charging gun to remove the charging gun from the charging pile, and then insert the removed charging gun into the vehicle's power receiving end for charging. However, the service life of the charging pile is reduced due to excessive plugging and unplugging force during operation. There are also some charging piles that can be automatically plugged in and out. The movement of the charging gun is mostly achieved by a robotic arm with six axes or more degrees of freedom to connect the charging gun to the vehicle's power receiving end, but this method is more expensive.

[0003] A two-axis adaptive charging device with application number: 202421198552.3 is another patent application of the present applicant. This application moves the charging gun to the X-axis of a coreXY structure, and connects the two ends of the charging gun mounting group to the two ends of the synchronous belt of the coreXY structure respectively. The position of the charging gun is controlled by the movement of the synchronous belt to align the charging gun with the power receiving end at the vehicle end, and then the vehicle is connected to the charging gun by moving backward to achieve charging. Although this method is low-cost, it is only applicable to setting the vehicle power receiving end at both ends of the vehicle's running direction, and its scope of use is limited. Moreover, when charging, it cannot adapt to the scene where the vehicle body is at an angle. Utility Model Content

[0004] In order to solve the above-mentioned deficiencies in the prior art, the utility model provides a charging device for an intelligent robot unmanned vehicle, which has a simple structure, low cost, and a wide range of uses and can adapt to scenarios where the vehicle body is at an angle.

[0005] In order to achieve the purpose of this utility model, the following scheme is proposed:

[0006] A charging device for an intelligent robot driverless vehicle, comprising:

[0007] The frame has a ground rail module at the bottom and a ceiling rail module at the top, and the travel directions of the ground rail module and the ceiling rail module are parallel;

[0008] The lifting mechanism comprises a vertically arranged column, the lower end of which is rotatably connected to the moving end of the ground rail module, the upper end of which is rotatably connected to the moving end of the ceiling rail module, and the upper end of the column is connected to the output end of the rotating motor of the moving end of the ceiling rail module through a connecting shaft, and a synchronous belt assembly is arranged in the column;

[0009] The charging module comprises a two-axis mechanical arm, one end of which is provided with a floating mechanism, one end of which is provided with a charging gun head, and the other end of the two-axis mechanical arm is connected to a sliding assembly, which is connected to a synchronous belt assembly and slides with a column;

[0010] The camera module is arranged on the charging gun head and is arranged toward the docking direction between the charging gun head and the vehicle end, and is used to obtain image information when the charging gun head is docked with the vehicle end.

[0011] Furthermore, the ground rail module includes a group of lower guide rails that are parallel and spaced apart, a horizontal travel connecting plate is provided at the lower end of the column, a horizontal travel motor is installed on one side of the horizontal travel connecting plate, a group of first sliders that are spaced apart are provided at the bottom of the horizontal travel connecting plate, the first sliders slide in cooperation with the lower guide rails, a rack is provided on one side of one of the lower guide rails, a gear is provided at the output end of the horizontal travel motor, the gear is meshed with the rack, and the lower end of the column is rotatably connected to the horizontal travel connecting plate.

[0012] Furthermore, the ceiling rail module includes a group of upper guide rails arranged in parallel and at intervals and a ceiling rail connecting plate. Rollers are respectively provided on the four corners of the ceiling rail connecting plate. The inner arc surface of the roller is tangent to the arc surface of the upper guide rail. The upper end of the column is rotatably connected to the ceiling rail connecting plate. The rotating motor is installed on the ceiling rail connecting plate, and the output end passes through the ceiling rail connecting plate and is connected to the connecting shaft.

[0013] Furthermore, the two-axis robotic arm includes a robotic forearm, a robotic arm is provided at one end of the robotic forearm, a rotating motor is provided between the robotic forearm and the robotic arm, a charging gun head is provided at the other end of the robotic forearm, and a sliding assembly is connected to one end of the robotic arm.

[0014] Furthermore, the floating mechanism includes a charging gun head seat, which has a frustum structure. A rectangular spring is provided on the outer periphery of the charging gun head seat, one end of the rectangular spring abuts against the large end of the charging gun head seat, and the other end of the rectangular spring abuts against one end of the mechanical arm. A sleeve seat is provided at the small end of the charging gun head seat, and a group of symmetrically arranged support ears are provided at one end of the sleeve seat, and one end of the support ears are respectively hinged to the inner wall of the mechanical arm.

[0015] Furthermore, a group of locking blocks are symmetrically provided at one end of the sleeve seat, a charging harness is provided inside the group of locking blocks, and two ends of the group of locking blocks are respectively locked to a group of supporting ears.

[0016] Furthermore, a recessed slot is provided on one side of the middle of a group of locking blocks, a group of locking blocks are symmetrically provided at one end of the sleeve seat, a group of locking blocks and a group of supporting ears are perpendicular to each other, the slot is a convex polygonal structure, and a group of locking blocks are respectively locked in the corresponding slots.

[0017] Furthermore, the sliding assembly includes a robot arm mounting plate arranged at one end of the robot arm, a servo motor is provided on one side of the robot arm mounting plate, a vertical cross plate is provided on one side of the robot arm mounting plate, a second slider is provided on one side of the cross plate at intervals, a group of vertical guide rails are provided on one side of the column at intervals, the second slider is slidably connected to the corresponding vertical guide rail, and a synchronous belt fixing frame is provided on one side of the cross plate for connecting the synchronous belt assembly.

[0018] Furthermore, a belt clamp is provided on one side of the synchronous belt fixing frame, and the synchronous belt assembly includes a synchronous belt, a driving wheel is provided at one end of the synchronous belt, and a driven wheel is provided at the other end, the driving wheel is connected to the output end of the lifting motor, and a driven wheel mounting plate is provided on one side of the driven wheel, and both sides of the driven wheel mounting plate are respectively connected to one side of the lower end of the column, and the belt clamp is used to connect the synchronous belt.

[0019] Furthermore, a waist-shaped hole is provided in the middle of the driven wheel mounting plate, a pin shaft is provided on one side of the driven wheel, one end of the pin shaft passes through the waist-shaped hole to connect to the adjustment plate, one side of the adjustment plate is slidingly matched with the driven wheel mounting plate, an adjustment seat is provided above the adjustment plate, an adjustment screw is provided in the adjustment seat, and the lower end of the adjustment screw is connected to the adjustment plate.

[0020] The beneficial effects of the utility model are:

[0021] The movement of the column is controlled separately by a horizontal walking motor and a rotating motor, which is low-cost. A floating mechanism is set on the mechanical arm to connect the floating mechanism to the charging gun head. When the vehicle is charging, if there is an angle between the charging gun head and the power receiving end of the vehicle, the floating mechanism can be used to adapt to the angle, so that the charging gun can adapt to the scene where there is an angle between the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present invention.

[0023] Figure 1 Shown is a schematic diagram of the overall structure of the present application.

[0024] Figure 2 A schematic diagram of the connection structure between the floor rail module and the lower end of the frame of the present application is shown.

[0025] Figure 3 A schematic diagram of the connection structure between the column and the two-axis robotic arm of the present application is shown.

[0026] Figure 4 This application shows Figure 3 A local enlarged schematic diagram of point A.

[0027] Figure 5 A schematic diagram of the charging module structure of the present application is shown.

[0028] Figure 6 An exploded schematic diagram of the charging module of the present application is shown.

[0029] Figure 7 A schematic diagram of the connection structure of the column, vertical guide rail and connecting shaft of the present application is shown.

[0030] Figure 8 A schematic diagram of the connection structure between the rotating motor and the overhead rail connecting plate of the present application is shown.

[0031] Fig. 9 A schematic diagram of the connection structure between the servo motor and the mechanical arm mounting plate of the present application is shown.

[0032] Fig.10 A three-dimensional structural schematic diagram of one side of the synchronous belt assembly structure of the present application is shown.

[0033] Fig.11 A three-dimensional schematic diagram of another side of the synchronous belt assembly structure of the present application is shown.

[0034] Markings in the figure: frame-1, ground rail module-11, lower guide rail-111, rack-112, ceiling rail module-12, upper guide rail-121, horizontal travel motor-13, gear-131, rotating motor-14, lifting mechanism-2, column-21, horizontal travel connecting plate-211, first slider-212, ceiling rail connecting plate-213, roller-214, synchronous belt assembly-22, synchronous belt-221, driving wheel-222, driven wheel-223, driven wheel mounting plate-224, waist-shaped hole-2241, pin-225, adjustment plate-225, adjustment seat-227, adjustment screw-228 , connecting shaft-23, vertical guide rail-24, lifting motor-25, charging module-3, two-axis robot arm-31, robot small arm-311, robot large arm-312, rotating motor-313, floating mechanism-32, charging gun head seat-321, rectangular spring-322, sleeve seat-323, ear-324, block-325, charging gun head-33, sliding assembly-34, robot arm mounting plate-341, servo motor-342, horizontal plate-343, second slider-344, synchronous belt fixing frame-345, belt clamp-346, locking block-35, charging harness-36, camera module-4. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings, but the embodiments described in the utility model are only part of the embodiments of the utility model, rather than all the embodiments.

[0036] like Figure 1-Figure 11As shown, this embodiment provides a charging device for an intelligent robot unmanned vehicle, including a frame 1, a lifting mechanism 2 vertically arranged on the frame 1, a charging module 3 vertically arranged along the lifting mechanism 2, and a camera module 4 arranged on the charging module 3.

[0037] Specifically, Figure 1-Figure 4 , Figure 10-11 As shown, the lifting mechanism 2 includes a vertically arranged column 21, and the frame 1 includes a ground rail module 11, a ceiling rail module 12, a horizontal travel motor 13, and a rotating motor 14. The ground rail module 11 is arranged at the lower end of the frame 1, and the ceiling rail module 12 is arranged at the upper end of the frame 1. The upper end of the column 21 is connected to the ceiling rail module 12, and the lower end is connected to the ground rail module 11; the horizontal travel motor 13 is arranged on the ground rail module 11, and is used to drive the column 21 to move in the horizontal direction, thereby driving the charging module 3, the camera module 4, the ceiling rail module 12, and the rotating motor 14 to move synchronously.

[0038] A synchronous belt assembly 22 is provided in the column 21, and the charging module 3 includes a two-axis mechanical arm 31, a floating mechanism 32, a charging gun head 33, and a sliding assembly 34. The sliding assembly 34 is connected to the synchronous belt assembly 22 and is slidably connected to the column 21; the lower end of the two-axis mechanical arm 31 is connected to the sliding assembly 34, and the upper end is connected to the floating mechanism 32. The charging gun head 33 is arranged at the outer end of the floating mechanism 32, so that the floating mechanism 32 enables the charging gun head 33 to adapt to the angle deviation generated during the plugging process when charging; the charging gun head 33 adopts a national standard charging gun head, and the camera module 4 is arranged on the charging gun head 33, and the camera of the camera module 4 is facing the direction of vehicle docking, so as to obtain image information of the vehicle, and then transmit the image information to the upper machine position, and the upper machine position guides the gun head 33 to dock with the vehicle end through the visual system.

[0039] Specific operation method:

[0040] After the vehicle is parked, it communicates with the upper position of the charging device through Bluetooth pairing. The upper position identifies the position of the vehicle's power receiving end and starts to control the horizontal travel motor 13, the rotating motor 14, and the lifting motor 25 respectively and simultaneously. The horizontal travel motor 13 drives the column 21 to move horizontally, the rotating motor 14 drives the column 21 to rotate, and the lifting motor 25 drives the synchronous belt assembly 22 to drive the sliding assembly 34 to rise or fall synchronously, so that the two-axis mechanical arm 31 and the sliding assembly 34 move synchronously, and the position of the charging gun head 33 is adjusted according to the position of the vehicle's power receiving end, and then the upper position controls the camera module 4, the camera module 4 The image information of the vehicle's power receiving end is obtained by taking photos, and then the image information is transmitted to the upper machine position, which determines whether the angle formed by the side of the vehicle's power receiving end facing the charging device and the side of the charging device facing the vehicle exceeds the range of 15°. If it exceeds the range, an alarm is issued and the charging gun head 33 is retracted. If it is within the range of 15°, when there is an angle between the vehicle's power receiving end and the charging gun head 33, under the action of the floating mechanism 32 and the rotating motor 14, the rotating motor can rotate within the range of 15°, and combined with the floating mechanism 32, the charging gun head 33 can be smoothly plugged into the vehicle's power receiving end and charged.

[0041] Specifically, Figure 2 As shown, the ground rail module 11 includes a group of parallel and spaced lower rails 111, which are arranged along the length direction of the bottom of the frame 1. The lower end of the column 21 is provided with a horizontal travel connecting plate 211, and the lower end of the column 21 is connected to the horizontal travel connecting plate 211 through a lower cross roller bearing. The horizontal travel motor 13 is installed on one side of the horizontal travel connecting plate 211, and a group of spaced first sliders 212 are provided at the bottom of the horizontal travel connecting plate 211, so that the first slider 212 and the corresponding lower rail 111 are slidably matched, and a rack 112 is provided on one side of one of the lower rails 111, and the rack 112 faces the outside of the frame 1, and the output end of the horizontal travel motor 13 is vertically arranged downward, and a gear 131 is provided at its output end, and the gear 131 is meshed with the rack 112.

[0042] When in use, the horizontal travel motor 13 drives the gear 131 to rotate, so that the rack 112 pushes the gear 131 in the opposite direction, so that the first slider 212 slides along the length direction of the lower guide rail 111, and the driving column 21 moves synchronously, so that the charging gun head 33 can adapt to different horizontal positions of the vehicle's power receiving end.

[0043] Specifically, Figure 1 , Figure 8As shown, the overhead rail module 12 includes a group of upper rails 121 arranged in parallel and at intervals, the upper rails 121 are arranged at the top of the frame 1, the upper end of the column 21 is connected to the overhead rail connecting plate 213 through the upper cross roller bearing, the output end of the rotating motor 14 is provided with a coupling after passing through the overhead rail connecting plate 213, and is connected to the upper end of the connecting shaft 23 through the coupling, and the connecting shaft 23 is controlled to rotate by the rotating motor 14, so that the connecting shaft 23 drives the column 21 to rotate synchronously, when the side of the vehicle and the side of the charging device form an angle less than or equal to ±15°. Rollers 214 are respectively provided on the four corners of the overhead rail connecting plate 213, and the inner arc surface of the roller 214 is tangent to the arc surface of the upper rail 121 to reduce the friction between the upper end of the column 21 and the upper end of the frame 1, so that the column 21 has better stability when moving horizontally.

[0044] Specifically, Figure 1 , Figure 3-Figure 4 As shown, the two-axis robotic arm 31 includes a robotic small arm 311, a robotic large arm 312, and a rotating motor 313. The floating structure 32 is arranged at the upper end of the robotic small arm 311, the upper end of the robotic large arm 312 is connected to the lower end of the robotic small arm 311, and the rotating motor 313 is arranged at the connection between the robotic small arm 311 and the robotic large arm 312, and is used to control the rotation of the robotic small arm 311 relative to the robotic large arm 312, thereby controlling the rotation angle of the charging gun head 33 along the frame 1.

[0045] Specifically, Figure 3 , Figure 5-Figure 6As shown, the floating mechanism 32 includes a charging gun head seat 321, a rectangular spring 322, a sleeve seat 323, a group of ears 324, and a group of blocks 325. The charging gun head seat 321 is a truncated cone structure, the small end of which is connected to the sleeve seat 323, and the large end is connected to the charging gun head 33. The rectangular spring 322 is penetrated through the outer periphery of the charging gun head seat 321, and one end of the rectangular spring 322 abuts against the large end of the charging gun head seat 321, and the other end of the rectangular spring 322 abuts against one end of the mechanical arm 311. The lugs 324 are respectively arranged at one end of the sleeve seat 323 away from the charging gun head seat 321, and one end of a group of 324 away from the sleeve seat 323 is respectively hinged to the inner wall of the mechanical arm 311. A group of locking blocks 35 are symmetrically arranged at the lower end of the sleeve seat 323, and a charging harness 36 is arranged inside. Screws are respectively arranged at both ends of a group of locking blocks 35, and screws are respectively arranged to lock the two ends of a group of locking blocks 35 with a group of lugs 324. The charging harness 36 is tightened by locking the locking blocks 35 to prevent the charging harness 36 from loosening. A recessed card slot 351 is arranged on one side of the middle part of a group of locking blocks 35, and the card slot 351 is located on the side facing the lower end of the sleeve seat 323. A group of card blocks 325 are symmetrically arranged at the lower end of the sleeve seat 323, and a group of card blocks 325 are perpendicular to a group of lugs 324, and a group of card blocks 325 are convex polygons, such as triangles, rectangles, squares, regular pentagons, regular hexagons, etc. The outer shape structure of a group of card blocks 325 is adapted to the structure of a group of card slots 351, and a group of card blocks 325 are clamped in a corresponding group of card slots 351. When a group of locking blocks 35 locks the charging harness 36, the group of locking blocks 35 can be prevented from rotating.

[0046] The function of the rectangular spring 322 is that when there is a certain angle between the power receiving end of the vehicle and the charging gun head 33, the floating mechanism 32 can adapt. After the gun is pulled out, the charging gun head 33 is quickly returned to the original position through the action of the rectangular spring 322, ensuring the accuracy of the gun insertion and preventing the charging gun head 33 from being skewed, thereby avoiding the charging gun head 33 from being skewed and causing the gun insertion to fail.

[0047] like Figure 10-11 As shown, the synchronous belt assembly 22 includes a synchronous belt 221, a driving wheel 222, a driven wheel 223, and a driven wheel mounting plate 224. The driving wheel 222 is arranged at the upper end of the synchronous belt 221, and the driving wheel 222 is connected to the output end of the lifting motor 25. The driven wheel 223 is installed on the driven wheel mounting plate 224, and the driven wheel mounting plate 224 is connected to the column 21.

[0048] like Figure 1 , Figure 3 , Fig. 9As shown, the sliding assembly 34 includes a robot arm mounting plate 341, a servo motor 342, a cross plate 343, a group of second sliders 344, a fixing frame 345, and a belt clamp 346. The robot arm mounting plate 341 is arranged at the lower end of the robot arm 312. A group of vertical guide rails 24 are arranged at intervals on the outer side of the column 21 facing the frame 1. A group of second sliders 344 are respectively slidably connected to a group of vertical guide rails 24. One side of the cross plate 343 is connected to the second slider 344. The robot arm mounting plate 341 is vertically arranged in the middle of the other side of the cross plate 343. The lower end of the robot arm 312 is connected to one side of the robot arm mounting plate 341. The servo motor 342 is installed on the other side of the robot arm mounting plate 341, and the output end of the servo motor 342 passes through the robot arm mounting plate 341 to connect the lower end of the robot arm 312. The fixing frame 345 is located between a group of second sliders 344 and connected to the transverse plate 343 . A belt clamp 346 is provided on one side of the fixing frame 345 away from the transverse plate 343 . The belt clamp 346 is parallel to the group of second sliders 344 and is used to connect the synchronous belt 221 .

[0049] Specifically, Fig.11 As shown, a waist-shaped hole 2241 is provided in the middle of the driven wheel mounting plate 224, and a pin shaft 225 is provided on the side of the driven wheel 223 away from the column 21. One end of the pin shaft 225 passes through the waist-shaped hole 2241 to connect the adjusting plate 226. The adjusting plate 226 slides with the driven wheel mounting plate 224 on the side facing the column 21. An adjusting seat 227 is provided above the adjusting plate 226, and an adjusting screw 228 is provided in the adjusting seat 227. The lower end of the adjusting screw 228 is connected to the adjusting plate 226, so that the pin shaft 225 can be adjusted by rotating the adjusting screw 228, thereby adjusting the distance between the driven wheel 223 and the driving wheel 222 to play the role of tensioning the synchronous belt 221.

[0050] The above is only a preferred embodiment of the utility model, and does not mean that it is the only one or limit the utility model. Those skilled in the art should understand that various changes or equivalent replacements made to the utility model without departing from the scope of the utility model are within the scope of protection of the utility model.

Claims

1. An intelligent robot driverless car charging device, characterized in that: include: A frame (1) having a ground rail module (11) at the bottom and a ceiling rail module (12) at the top, wherein the travel directions of the ground rail module (11) and the ceiling rail module (12) are parallel; The lifting mechanism (2) comprises a vertically arranged column (21), the lower end of which is rotatably connected to the moving end of the ground rail module (11), and the upper end of which is rotatably connected to the moving end of the ceiling rail module (12), and the upper end of the column (21) is connected to the output end of the rotary motor (14) of the moving end of the ceiling rail module (12) via a connecting shaft (23), and a synchronous belt assembly (22) is provided in the column (21); The charging module (3) comprises a two-axis mechanical arm (31), one end of the two-axis mechanical arm (31) is provided with a floating mechanism (32), one end of the floating mechanism (32) is provided with a charging gun head (33), the other end of the two-axis mechanical arm (31) is connected to a sliding assembly (34), and the sliding assembly (34) is connected to a synchronous belt assembly (22) and is slidably matched with a column (21); The camera module (4) is arranged on the charging gun head (33) and is arranged towards the direction in which the charging gun head (33) is docked with the vehicle end, and is used to obtain a video image when the charging gun head (33) is docked with the vehicle end.

2. The intelligent robot unmanned vehicle charging device according to claim 1 is characterized in that: The ground rail module (11) comprises a group of lower guide rails (111) arranged in parallel and at intervals, a horizontal travel connecting plate (211) is provided at the lower end of the column (21), a horizontal travel motor (13) is installed on one side of the horizontal travel connecting plate (211), a group of first sliding blocks (212) arranged at intervals are provided at the bottom of the horizontal travel connecting plate (211), the first sliding blocks (212) are slidably matched with the lower guide rails (111), a rack (112) is provided on one side of one of the lower guide rails (111), a gear (131) is provided at the output end of the horizontal travel motor (13), the gear (131) is meshed with the rack (112), and the lower end of the column (21) is rotatably connected to the horizontal travel connecting plate (211).

3. The intelligent robot unmanned vehicle charging device according to claim 1, characterized in that: The ceiling rail module (12) comprises a group of upper rails (121) arranged in parallel and at intervals and a ceiling rail connecting plate (213). Rollers (214) are respectively provided at the four corners of the ceiling rail connecting plate (213). The inner arc surface of the roller (214) is tangent to the arc surface of the upper rail (121). The upper end of the column (21) is rotatably connected to the ceiling rail connecting plate (213). The rotating motor (14) is mounted on the ceiling rail connecting plate (213), and the output end passes through the ceiling rail connecting plate (213) and is connected to the connecting shaft (23).

4. The intelligent robot unmanned vehicle charging device according to claim 1, characterized in that: The two-axis mechanical arm (31) comprises a mechanical small arm (311), one end of the mechanical small arm (311) is provided with a mechanical large arm (312), a rotating motor (313) is provided between the mechanical small arm (311) and the mechanical large arm (312), a charging gun head (33) is provided at the other end of the mechanical small arm (311), and a sliding assembly (34) is connected to one end of the mechanical large arm (312).

5. The intelligent robot unmanned vehicle charging device according to claim 4 is characterized in that: The floating mechanism (32) comprises a charging gun head seat (321) which is in a truncated cone structure. A rectangular spring (322) is provided on the outer periphery of the charging gun head seat (321). One end of the rectangular spring (322) abuts against the large end of the charging gun head seat (321). The other end of the rectangular spring (322) abuts against one end of a mechanical arm (311). A sleeve seat (323) is provided at the small end of the charging gun head seat (321). One end of the sleeve seat (323) is provided with a group of symmetrically arranged support ears (324). One end of the support ears (324) is respectively hinged to the inner wall of the mechanical arm (311).

6. The intelligent robot unmanned vehicle charging device according to claim 5, characterized in that: A group of locking blocks (35) are symmetrically arranged at one end of the sleeve seat (323), a charging harness (36) is arranged inside the group of locking blocks (35), and two ends of the group of locking blocks (35) are respectively locked to a group of supporting ears (324).

7. The intelligent robot unmanned vehicle charging device according to claim 6, characterized in that: A recessed slot (351) is provided on one side of the middle of a group of locking blocks (35), a group of locking blocks (325) is symmetrically provided at one end of the sleeve seat (323), the group of locking blocks (325) and the group of supporting ears (324) are perpendicular to each other, the slot (351) is a convex polygonal structure, and the group of locking blocks (325) are respectively locked in the corresponding slots (351).

8. The intelligent robot unmanned vehicle charging device according to claim 4, characterized in that: The slide assembly (34) comprises a mechanical arm mounting plate (341) arranged at one end of the mechanical arm (312); a servo motor (342) is arranged on one side of the mechanical arm mounting plate (341); a vertically arranged transverse plate (343) is arranged on one side of the mechanical arm mounting plate (341); a second slider (344) is arranged at intervals on one side of the transverse plate (343); a group of vertical guide rails (24) are arranged at intervals on one side of the column (21); the second slider (344) is slidably connected to the corresponding vertical guide rail (24); and a synchronous belt fixing frame (345) is arranged on one side of the transverse plate (343) for connecting the synchronous belt assembly (22).

9. The intelligent robot unmanned vehicle charging device according to claim 8, characterized in that: A belt clamp (346) is provided on one side of the synchronous belt fixing frame (345). The synchronous belt assembly (22) comprises a synchronous belt (221). A driving wheel (222) is provided on one end of the synchronous belt (221), and a driven wheel (223) is provided on the other end. The driving wheel (222) is connected to the output end of the lifting motor (25). A driven wheel mounting plate (224) is provided on one side of the driven wheel (223). Both sides of the driven wheel mounting plate (224) are respectively connected to one side of the lower end of the column (21). The belt clamp (346) is used to connect the synchronous belt (221).

10. The intelligent robot unmanned vehicle charging device according to claim 9, characterized in that: A waist-shaped hole (2241) is provided in the middle of the driven wheel mounting plate (224), a pin shaft (225) is provided on one side of the driven wheel (223), one end of the pin shaft (225) passes through the waist-shaped hole (2241) to connect to the adjustment plate (226), one side of the adjustment plate (226) is slidably matched with the driven wheel mounting plate (224), an adjustment seat (227) is provided above the adjustment plate (226), an adjustment screw (228) is provided in the adjustment seat (227), and the lower end of the adjustment screw (228) is connected to the adjustment plate (226).

Images