Automatic charging robot

Abstract

The invention provides an automatic charging robot capable of opening and closing a charging cover of a vehicle with a simple structure. An automatic charging robot according to the present invention is provided with: an arm mechanism capable of gripping a charging connector connected to a charging device via a charging cable; and a control device that automatically controls the operation of the arm mechanism, in which the arm mechanism is provided with a rod-shaped member capable of pressing the charging cover of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to an automatic charging robot. BACKGROUND

[0002] In Patent Literature 1, there is disclosed an electric vehicle provided with a charging cover opening and closing control device that controls opening and closing of a charging cover by driving a charging cover opening and closing motor using a controller.

[0003] Patent Literature 1: Japanese Patent Application Publication No. 2020-127329

[0004] In the technology disclosed in Patent Literature 1, the number of components of various sensors and units provided in the charging cover opening and closing control device can increase in order to open and close the charging cover. SUMMARY

[0005] The present application has been achieved in view of the above-described problems, and has an object to provide an automatic charging robot capable of opening and closing a charging cover of a vehicle with a simple structure.

[0006] To solve the above-described problems and achieve the object, the automatic charging robot of the present application is provided with: an arm mechanism capable of holding a charging connector connected to a charging device through a charging cable; and a control device that automatically performs control to actuate the arm mechanism, wherein a rod-shaped member capable of pressing a charging cover of a vehicle is provided in the arm mechanism.

[0007] The automatic charging robot of the present application has an effect of being capable of opening and closing a charging cover of a vehicle with a simple structure. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 is a block diagram showing a schematic structure of a charging system according to an embodiment.

[0009] Figure 2 is a perspective view showing a schematic structure of a charging system according to an embodiment.

[0010] Figure 3 is a plan view showing a schematic structure of a charging system according to an embodiment.

[0011] Figure 4 is a side view showing a schematic structure of a charging system according to an embodiment.

[0012] Figure 5 is a view showing a structure in which a rod-shaped member that presses a charging cover is provided in an arm mechanism of an automatic charging robot. DETAILED DESCRIPTION

[0013] The following describes an embodiment of a charging system provided with an automatic charging robot according to the present application. Note that the present application is not limited to this embodiment.

[0014] Figure 1 is a block diagram showing the schematic configuration of a charging system 100 according to the embodiment. Figure 2 is a perspective view showing the schematic configuration of the charging system 100 according to the embodiment. Figure 3 is a plan view showing the schematic configuration of the charging system 100 according to the embodiment. Figure 4 is a side view showing the schematic configuration of the charging system 100 according to the embodiment.

[0015] The charging system 100 according to the embodiment is, for example, a charging device for simultaneously charging a plurality of vehicles using chargers provided in a parking lot or the like. As shown in Figure 1 , the charging system 100 according to the embodiment has chargers 1, an automatic charging robot 2, a control device 3, infrastructure 4, and vehicles 5. The chargers 1, the automatic charging robot 2, the control device 3, the infrastructure 4, and the vehicles 5 each have a communication function and are configured to be able to communicate with each other through a network N to exchange various information. The network N is constituted by, for example, an Internet line network, a mobile phone line network, or the like.

[0016] The charger (charging column, charging post) 1 is a charging device for supplying electric power to a vehicle 5 that is a charging target. As shown in Figures 2-4 , the charger 1 is provided on a pedestal 6. In addition, the charger 1 is connected to a control panel 7. The control panel 7 is connected to, for example, a transformer device (cubicle) that performs voltage conversion on electric power from a power plant or the like.

[0017] As shown in Figure 1 , the charger 1 has a control section 11, a communication section 12, a charging connector 13, and a charging cable 14.

[0018] The control section 11 is realized by, for example, a processor constituted by a CPU (Central Processing Unit) or the like and a memory (main storage section) constituted by a RAM (Random Access Memory), a ROM (Read Only Memory), or the like. The control section 11 supplies electric power to the vehicle 5 that is the charging target based on an instruction from the control device 3.

[0019] The communication section 12 is constituted by, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, or the like. The communication section 12 performs exchange of information with, for example, the automatic charging robot 2 and the control device 3 through communication via the network N.

[0020] The charging connector (charging gun, charging plug) 13 is used to supply electric power to the vehicle 5 as the charging target. The charging connector 13 is latched to the side surface of the charger 1 when not charging. Also, the charging connector 13 is held by the stationary automatic charging robot 2 and is inserted into the charging port 53 of the vehicle 5 when charging of the vehicle 5 is started. In this state, electric power is supplied from the charger 1 side to the vehicle 5 side through the charging connector 13. Then, if charging of the vehicle 5 is completed, the charging connector 13 is latched to the side surface of the charger 1 after being pulled out of the charging port 53 of the vehicle 5 again by the automatic charging robot 2.

[0021] Further, in Figures 2-4 , an example in which one charging connector 13 is provided for one charger 1 is shown, but a plurality of charging connectors 13 can be provided for one charger 1.

[0022] The charging cable 14 is provided between the charging connector 13 and the charger 1 (charger main body). The charging cable 14 is constituted in a length that enables the charging connector 13 to be inserted into the charging port 53 regardless of the position of the charging port 53 in the vehicle 5. For example in Figure 3 , an example in which the charging port 53 is disposed on the left front side of the vehicle 5 is shown, but depending on the vehicle type, there are cases in which the charging port 53 is disposed on the left rear side, the center front side, the center rear side, or the like of the vehicle 5. Therefore, the charging cable 14 is constituted in a length that enables the charging connector 13 to be inserted in a case in which the charging port 53 is disposed on any one of the left front side, the left rear side, the center front side, and the center rear side of the vehicle 5.

[0023] Further, depending on the vehicle type of the vehicle 5, there are cases in which the charging port 53 is disposed on the right front side or the right rear side of the vehicle 5. In this case, for example in Figure 3 , the vehicles 5 on the left and right of the charging space Sp1 are parked in opposite directions from front to back, respectively, so that the charging ports 53 are oriented in the direction of the charger 1, respectively, to charge. For example Figure 3 , the vehicle 5 on the right is parked in the charging space Sp1 with the vehicle front side oriented downward on the paper and the vehicle rear side oriented upward on the paper. Also, the vehicle 5 on the left is parked with the vehicle front side oriented upward on the paper and the vehicle rear side oriented downward on the paper.

[0024] The automatic charging robot 2 is used to hold the charging connector 13 when charging from the charger 1 to the vehicle 5 is performed. The automatic charging robot 2 is provided and fixed to the pedestal 6.

[0025] As shown in FIG. 1, the automatic charging robot 2 is provided with an arm mechanism 20, a control section 21, a communication section 22, and a camera 23. Figure 1

[0026] The base end portion of the arm mechanism 20 is provided and fixed to the base 6. The arm mechanism 20 has a robot hand 241 provided to the front end portion of the robot arm 201, i.e., the arm front end portion 24, which is capable of holding the charging connector 13.

[0027] The control section 21 is a control device realized by, for example, a processor constituted by a CPU or the like and a memory (main storage section) constituted by a RAM, a ROM, or the like. The control section 21 automatically controls the drive device based on an instruction from the control device 3, holds the charging connector 13 by the robot hand 241 of the arm mechanism 20, and performs insertion of the charging connector 13 into the charging port 53 and extraction of the charging connector 13 from the charging port 53. That is, the control section 21 automatically performs control to cause the arm mechanism 20 to act based on an instruction from the control device 3. In addition, the control section 21 is disposed, for example, in the base end portion of the arm mechanism 20.

[0028] In addition, when the held charging connector 13 is inserted into the charging port 53, the control section 21 determines the position of the charging port 53 and the distance to the charging port 53 (the distance of the charging connector 13 from the charging port 53), for example, based on an image captured by the camera 23 provided to the front end of the automatic charging robot 2. The shape of the charging port 53 of the vehicle 5 is standardized. Therefore, the position of the charging port 53 can be determined by pattern matching based on an image of the charging port 53 captured by the camera 23. In addition, the distance of the charging connector 13 held from the automatic charging robot 2 to the charging port 53 can be determined by using a 3D (three-dimensional) camera as the camera 23 to acquire information in the depth direction.

[0029] The communication section 22 is constituted by, for example, a LAN interface board, a wireless communication circuit for wireless communication, or the like. The communication section 22 performs exchange of information, for example, with the charger 1 and the control device 3 through communication via the network N.

[0030] The camera 23 is used to capture the charging port 53. The camera 23 is provided to the front end of the automatic charging robot 2 (arm mechanism main body). In addition, as the camera 23, a 3D camera capable of acquiring information in the depth direction is preferably used.

[0031] ​The control device 3 controls the charger 1, the automatic charging robot 2, and the plurality of vehicles 5. The control device 3, for example, performs charging control of the charger 1, control of the movement of the automatic charging robot 2, control of the infrastructure 4, travel control of the vehicles 5, and the like. The control device 3 is realized by, for example, a general-purpose computer such as a workstation, a personal computer, or the like, or a server configured on a cloud, or the like. Further, the control device 3 can also be configured by independent hardware for each control object (the charger 1, the automatic charging robot 2, the infrastructure 4, and the vehicles 5). In addition, the function of the control device 3 that performs charging control of the charger 1 can also be assumed by the control panel 7.

[0032] As shown in FIG. 1, the control device 3 includes a control section 31 and a communication section 32. Figure 1

[0033] The control section 31 is realized by, for example, a processor configured of a CPU or the like and a memory (main storage section) configured of a RAM, a ROM, or the like. Hereinafter, the specific processing content of the control section 31 will be described.

[0034] The control section 31 performs travel control of the vehicles 5 based on information (for example, position information of the vehicles 5, and the like) acquired from the infrastructure 4. For example, the control section 31 receives a charging reservation of the vehicle 5 from a user (for example, a driver) of the vehicle 5. The charging reservation can be received based on information input by the user to a possessed information terminal (for example, a smartphone or the like connected to the network N), or can also be received based on information input by the user to a vehicle-mounted terminal (for example, a car navigation or the like connected to the network N).

[0035] If the order of charging of the vehicles 5 approaches, the control section 31 causes the vehicles 5 to automatically travel from a parking space where the vehicles 5 are parked to a standby space using the position information of the vehicles 5 and the like acquired from the infrastructure 4, and then causes the vehicles 5 to automatically park. In this way, by causing the vehicles 5 that are the objects of charging to move in advance to the standby space and stand by, the exchange time of the vehicles 5 that are charged can be minimized, and the operation rate of the charger 1 can be improved.

[0036] Next, if the order of charging of the vehicles 5 comes, the control section 31 causes the vehicles 5 to automatically travel from the standby space to the charging space Sp1 using the position information of the vehicles 5 and the like acquired from the infrastructure 4, and then causes the vehicles 5 to automatically park. Then, the control section 31 causes the automatic charging robot 2 to hold the charging connector 13, and causes the automatic charging robot 2 to insert the charging connector 13 held thereby into the charging port 53, and causes the charging of the charger 1 to start.

[0037] ​Next, if the charging of the vehicle 5 is completed, the control section 31 causes the automated charging robot 2 to hold the charging connector 13 again, and causes the automated charging robot 2 to pull out the charging connector 13 held thereby from the charging port 53. Next, the control section 31 causes the vehicle 5 to automatically travel from the charging space Sp1 to the standby space after causing the vehicle 5 to automatically travel from the charging space Sp1 to the standby space using the position information of the vehicle 5 acquired from the infrastructure 4, and causes the vehicle 5 to automatically park.

[0038] The control section 31 causes the vehicle 5 to park in the charging space Sp1 with the charging port 53 oriented toward the charger 1 side when causing the vehicle 5 to park in the charging space Sp1. For example, in the case of charging the vehicle 5 in which the charging port 53 is disposed on the left side front, as shown in FIG. 6, the vehicle 5 is caused to park in the charging space Sp1 on the right side of the charger 1 with the front of the vehicle oriented toward the upper side of the paper and the rear of the vehicle oriented toward the lower side of the paper so that the charging port 53 becomes on the left side. In addition, conversely, the vehicle 5 is caused to park in the charging space Sp1 on the left side of the charger 1 with the front of the vehicle oriented toward the lower side of the paper and the rear of the vehicle oriented toward the upper side of the paper so that the charging port 53 becomes on the right side. Figure 3

[0039] Further, depending on the model of the vehicle 5, there are cases in which the charging port 53 is disposed on the right side front and the right side rear of the vehicle 5, as shown in FIG. 7. In this case, for example, in the example of two vehicles 5 shown in FIG. 7, the vehicle 5 is caused to park in the charging space Sp1 on the right side of the charger 1 with the front of the vehicle oriented toward the lower side of the paper and the rear of the vehicle oriented toward the upper side of the paper so that the charging port 53 becomes on the left side. In addition, conversely, the vehicle 5 is caused to park in the charging space Sp1 on the left side of the charger 1 with the front of the vehicle oriented toward the upper side of the paper and the rear of the vehicle oriented toward the lower side of the paper so that the charging port 53 becomes on the right side. Figure 3 Figure 3

[0040] The control section 31 can cause the automated charging robot 2 to simultaneously charge two or more vehicles 5. In this case, the control section 31 causes a first vehicle 5 (hereinafter referred to as "vehicle A") to move to a prescribed position (the charging space Sp1 on the right side of the paper). Next, the control section 31 causes the automated charging robot 2 to hold the charging connector 13 of the first charger 1 (the charger 1 on the upper side of the paper). Next, the control section 31 causes the charging connector 13 held by the automated charging robot 2 to be inserted into the charging port 53 of the vehicle A, and causes the charging of the vehicle A to begin.

[0041] ​​​Next, the control section 31 moves the second vehicle 5 (hereinafter, referred to as "vehicle B") to a prescribed position (the charging space Sp1 on the left side on paper). Next, the control section 31 causes the automatic charging robot 2 to grip the charging connector 13 of the second charger 1 (the charger 1 on the lower side on paper). Next, the control section 31 inserts the charging connector 13 gripped by the automatic charging robot 2 into the charging port 53 of the vehicle B during charging of the vehicle A, and causes the charging of the vehicle B to start.

[0042] Thus, in the charging system 100 according to the embodiment, it is possible to simultaneously charge two or more vehicles 5 by one automatic charging robot 2 regardless of the position of the charging port 53 of the vehicle 5 and the type of the parking lot. As a result, it is possible to improve the turnover rate of charging.

[0043] The charging cover 54 of the vehicle 5 is attached to a cover box (vehicle body) via a hinge mechanism. The charging cover 54 is rotatable about a rotation axis of the hinge mechanism. Specifically, the charging cover 54 is rotatable between an open state in which the charging port is exposed to the outside and a closed state in which the charging port is covered (cut off) from the outside. The hinge mechanism has, for example, a biasing unit such as a spring, and the charging cover 54 is biased by the biasing unit in the opening direction. In the closed state, the charging cover 54 is engaged with a locking mechanism, and the movement of the charging cover 54 in the opening direction is restricted at the time of engagement.

[0044] Figure 5 is a view showing a structure in which the arm mechanism 20 of the automatic charging robot 2 is provided with a rod-shaped member 242 that presses the charging cover 54. In the charging system 100 according to the embodiment, as shown in Figure 5 , the arm tip portion 24 of the arm mechanism 20 of the automatic charging robot 2, more specifically, the front end of the robot hand 241 is provided with the rod-shaped member 242 that can press the charging cover 54. As shown in Figure 5 (a), the charging cover 54 is pressed (pushed) by the rod-shaped member 242 in the closed state by causing the arm mechanism 20 of the automatic charging robot 2 to operate, and thus the engagement of the locking mechanism is released. Also, as shown in Figure 5 (b), the charging cover 54 is rotated in the opening direction by the biasing of the biasing unit of the hinge mechanism by causing the arm mechanism 20 to operate so that the rod-shaped member 242 is away from the charging cover 54, and becomes the open state. In addition, the charging cover 54 is pressed by the rod-shaped member 242 in the open state by causing the automatic charging robot 2 to operate, and thus the charging cover 54 is rotated in the closing direction against the biasing of the biasing unit of the hinge mechanism, and is engaged with the locking mechanism to become the closed state.

[0045] In addition, the pressing portion 2421 of the rod-shaped member 242 that presses the charging cover 54 from the front end portion of the rod-shaped member 242, in other words, presses the charging cover 54 is made of a rubber material, a resin material, or the like. Thus, when the charging cover 54 is pressed by the rod-shaped member 242, damage to the charging cover 54 can be suppressed compared to a case where the pressing portion 2421 is made of metal.

[0046] In addition, as shown in (c) of FIG. 10, the arm mechanism 20 can be caused to operate in a manner that the charging cover 54 is caused to rotate to a state where it is widely opened by, for example, hooking the front end portion (pressing portion 2421) of the rod-shaped member 242 with the charging cover 54 that is slightly rotated from the closed state and opened. In addition, a hooking member that hooks the charging cover 54 that is slightly rotated from the closed state and opened can be provided to the arm mechanism 20. Thus, by the operation of the arm mechanism 20, the hooking member can be hooked to the charging cover 54 that is pressed by the rod-shaped member 242 in the closed state and unlocked, and the charging cover 54 can be caused to rotate to an open state. Figure 5

[0047] In a case where the charging port 53 is covered by a charging port cover that has the same structure as the charging cover 54 and is openable and closable, the charging port cover can also be openable and closable by being pressed by the rod-shaped member 242, as with the charging cover 54.

[0048] In the charging system 100 according to the embodiment described above, the rod-shaped member 242 that is a member that presses the charging cover 54 of the vehicle 5 is provided to the arm mechanism 20 of the automatic charging robot 2, and the charging cover 54 can be opened and closed by the automatic charging robot 2 with a simple structure and at a low cost.

[0049] Explanation of Reference Numerals

[0050] 1…charger; 2…automatic charging robot; 5…vehicle; 20…arm mechanism; 21…control portion; 22…communication portion; 23…camera; 24…arm front end portion; 53…charging port; 54…charging cover; 100…charging system; 201…robotic arm; 241…robotic hand; 242…rod-shaped member; 2421…pressing portion.​

Claims

1. An automatic charging robot, comprising: an arm mechanism capable of holding a charging connector connected to a charging device through a charging cable; and a control device that automatically performs control to cause the arm mechanism to act, wherein a rod-shaped member capable of pressing a charging cover of a vehicle is provided to the arm mechanism. ​ ​ ​

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