Charge connector insertion / extraction device

Abstract

To enable insertion / extraction of a charge connector to / from a charge inlet even when space between vehicles is narrow, regardless of a position of installing the charge inlet with respect to a vehicle, and an open direction of a lid of the charge inlet.SOLUTION: A charge connector according to the present disclosure comprises: an advance / retreat mechanism for advancing / retreating a connector holding part to / from a moving member, which is movable in a first direction and a second direction, in a third direction while being supported by the moving member; a support member for supporting the connector holding part so as to separate from the advance / retreat mechanism in a direction orthogonal to the third direction, while being connected to the advance / retreat mechanism so as to extend in a direction orthogonal to the third direction; a rotary mechanism for rotating the connector holding part around an axis extending in the third direction; a first turning mechanism for turning the connector holding part around an axis extending in an extension direction of the support member; and a second turning mechanism for turning the connector holding part around an axis extending in a direction orthogonal to the extension direction of the support member.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a charging connector insertion / removal device that inserts a charging connector into a charging inlet of a vehicle and removes the charging connector from the charging inlet. [Background technology]

[0002] Conventionally, there is known a power receiving device including a connector (charging connector) that is coupled to a power receiving port (charging inlet) of an electric vehicle, a connector moving unit that moves the connector in horizontal and vertical directions, a position information acquiring unit that acquires position information indicating the position of the electric vehicle, a vehicle information acquiring unit that acquires vehicle information of the electric vehicle, and a position determining unit that determines the position of the power receiving port of the electric vehicle based on the position information and the vehicle information (see, for example, Patent Document 1). In this power receiving device, the connector moving unit moves the connector in the horizontal direction to a position higher than a predetermined height, and then moves the connector in the vertical direction to align the connector with the position of the power receiving port, and couples the connector to the power receiving port. Patent Document 1 also describes that the connector moving unit rotates the connector. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6979117 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, in the conventional power receiving and supplying device, when the lid (cover) of the vehicle's charging inlet is opened upward, the tip of the charging connector needs to be sufficiently separated from the connector support part so that the connector support part, which supports the charging connector and moves it up and down, does not interfere with the open lid. For this reason, when the charging inlet is installed on the side of the vehicle and another vehicle is parked beside the vehicle or there is some obstacle, the connector support part may interfere with the other vehicle or obstacle, making it impossible to insert the charging connector into the charging inlet. In addition, in order to avoid such interference between the connector support part and the other vehicle, etc., the distance between the parked vehicles and between the vehicle and the obstacle must be sufficiently wide, and it becomes necessary to expand the range of movement of the charging connector by the connector movement part or to reduce the number of parked vehicles.

[0005] Therefore, the main objective of the present disclosure is to provide a charging connector insertion / removal device that can insert and remove a charging connector from a charging inlet, regardless of the installation position of the charging inlet relative to the vehicle or the opening direction of the lid of the charging inlet, even when the distance between the vehicles is narrow. [Means for solving the problem]

[0006] The charging connector insertion / removal device disclosed herein includes a connector holding portion that holds a charging connector, and is a charging connector insertion / removal device that inserts the charging connector into a charging inlet of a vehicle and removes the charging connector from the charging inlet, and includes a moving member that is movable in a first direction and a second direction perpendicular to the first direction, an advancing / retracting movement mechanism that is supported by the moving member and moves the connector holding portion forward and backward in a third direction perpendicular to the first and second directions relative to the moving member, a support member that is connected to the advancing / retracting movement mechanism so as to extend in a direction perpendicular to the third direction and supports the connector holding portion so as to be spaced apart from the advancing / retracting movement mechanism in a direction perpendicular to the third direction, a rotation mechanism that rotates the connector holding portion around an axis extending in the third direction, a first rotation mechanism that rotates the connector holding portion around an axis extending in the extension direction of the support member, and a second rotation mechanism that rotates the connector holding portion around an axis extending in a direction perpendicular to the extension direction of the support member.

[0007] The charging connector inserting / removing device of the present disclosure includes a moving member movable in a first direction and a second direction perpendicular to the first direction, an advancing / retracting mechanism supported by the moving member for moving the connector holding part forward and backward in a third direction perpendicular to the first and second directions relative to the moving member, and a rotating mechanism for rotating the connector holding part around an axis extending in the third direction. The connector holding part is supported by a support member connected to the advancing / retracting mechanism so as to be spaced apart from the advancing / retracting mechanism in a direction perpendicular to the third direction. This allows the charging connector to be inserted into or removed from the charging inlet by bringing the connector holding part close to the target charging inlet using the moving member, the advancing / retracting mechanism, or the like, without interfering with the open lid of the charging inlet with the advancing / retracting mechanism or the support member, regardless of the opening direction of the lid of the charging inlet. Furthermore, the charging connector inserting / removing device of the present disclosure includes a first rotating mechanism for rotating the connector holding part around an axis extending in the extension direction of the support member, and a second rotating mechanism for rotating the connector holding part around an axis extending in a direction perpendicular to the extension direction of the support member. As a result, the charging connector inserting / removing device of the present disclosure has six mechanical degrees of freedom, and by rotating the connector holding portion by the first and second rotation mechanisms, it is possible to adjust the posture of the charging connector held by the connector holding portion to a posture corresponding to the position of the charging inlet in the vehicle and the insertion / removal direction of the charging connector relative to the charging inlet. As a result, it is possible to smoothly insert and remove the charging connector relative to the charging inlet regardless of the insertion / removal direction of the charging connector relative to the charging inlet or the opening direction of the lid of the charging inlet. In addition, according to the charging connector inserting / removing device of the present disclosure, the connector holding portion can be moved while the support member is extended along the left and right side surfaces, front, or rear of the vehicle, so that even if the distance between the vehicle to be charged and a vehicle or obstacle parked nearby is narrow, the charging connector can be inserted and removed relative to the charging inlet of the vehicle. Furthermore, the charging connector inserting / removing device of the present disclosure can be constructed at a lower cost than a vertical articulated robot or a horizontal articulated robot with six degrees of freedom. [Brief description of the drawings]

[0008] [Figure 1]1 is a schematic configuration diagram showing a parking facility to which a charging connector inserting / removing device according to the present disclosure is applied; [Diagram 2] 1 is a perspective view showing a charging connector inserting / removing device according to the present disclosure; [Diagram 3] 5 is a flowchart illustrating an example of a control procedure of the charging connector inserting / removing device according to the present disclosure. [Figure 4] 5A to 5C are explanatory diagrams illustrating examples of attitudes of a support member and a connector holding portion corresponding to the position of a charging inlet in a vehicle. [Diagram 5] 5A, 5B, and 5C are schematic diagrams illustrating the operation of the charging connector inserting / removing device of the present disclosure. [Figure 6] 1 is a perspective view showing a charging connector being inserted into or removed from a charging inlet of a vehicle by a charging connector inserting / removing device according to the present disclosure; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Next, an embodiment of the present disclosure will be described with reference to the drawings.

[0010] FIG. 1 is a schematic diagram showing a parking facility 1 to which a charging connector inserting / removing device 10 of the present disclosure is applied. The parking facility 1 shown in the figure is an automatic valet parking system, and realizes automatic entry and exit by automatically driving a vehicle V between a boarding and disembarking location (not shown) for a passenger of the vehicle V and a plurality of parking spaces 2. The parking facility 1 also includes a plurality of charging devices 3 arranged adjacent to the corresponding parking spaces 2, and a plurality of charging connectors 5 each connected to the corresponding charging device 3 via a charging cable 4. Each charging device 3 outputs AC power, or converts AC power from an AC power source such as a commercial power source into DC power and outputs the DC power. In this embodiment, each charging connector 5 is held by a mounting stand 6 arranged near the charging device 3 when not in use.

[0011] In such a parking facility 1, a charging connector insertion / removal device 10 is used to insert and remove a charging connector 5 into and from a charging inlet (charging port) CI of a target vehicle (electric vehicle) V in a narrow space between adjacent vehicles V, in order to automatically charge a battery (not shown) of an electric vehicle (battery electric vehicle or plug-in hybrid vehicle) included in multiple vehicles V parked in the parking facility 1. As shown in Figures 1 and 2, the charging connector insertion / removal device 10 includes a pair of first guide rails (first guide members) 11 and a pair of second guide rails (second guide members) 12.

[0012] The pair of first guide rails 11 are disposed in the parking facility 1 so as to extend in a first direction (x-axis direction in Figs. 1 and 2) that is predetermined in the parking facility 1 and to be spaced upward from the parking surface (floor surface of the parking space 2) of the vehicle V. In this embodiment, the pair of first guide rails 11 are supported by pillars (not shown) so as to face each other at a distance on both sides in a second direction (y-axis direction in Figs. 1 and 2) perpendicular to the first direction of the multiple parking spaces 2, and are located above the multiple vehicles V parked in the parking facility 1. In addition, a first linear movement mechanism 13 is installed on each first guide rail 11. The linear movement mechanism 13 includes a first chain with ends (meshing type power transmission medium) 14 that is tensioned so as to extend in the first direction over substantially the entire length of the first guide rail 11, and a first running body 15 that is supported by the corresponding first guide rail 11 so as to be freely movable in the first direction.

[0013] The first end chain 14 is a well-known drive chain including a plurality of inner links and outer links alternately connected via bushes and pins. The first running body 15 is rotated in forward and reverse directions by a motor (not shown) and has a sprocket (not shown) that meshes with the first end chain 14. When rotated by the motor, the sprocket of the first running body 15 rolls on the first end chain 14 while sending the first end chain 14 downstream in the rotation direction. As a result, each first running body 15 moves in the first direction on the corresponding first guide rail 11 along the first end chain 14. The meshing type power transmission medium used with the first running body 15 may be a toothed belt.

[0014] As shown in FIG. 1 and FIG. 2, the corresponding ends of the pair of second guide rails 12 are fixed to each of the first running bodies 15. As a result, the pair of second guide rails 12 are supported by the pair of first guide rails 11 via the two (pair) of first running bodies 15 so as to be movable in the first direction. That is, the pair of second guide rails 12 extend parallel to each other in the second direction and are located above the vehicle V, spaced upward from the parking surface of the vehicle V (floor surface of the parking space 2). In addition, a second linear movement mechanism 16 is installed on one of the pair of second guide rails 12. The linear movement mechanism 16 includes a second chain with ends (meshing type power transmission medium) 17 tensioned so as to extend linearly in the second direction over substantially the entire length of the one second guide rail 12, and a second running body 18 supported by the one second guide rail 12 so as to be movable in the second direction.

[0015] The second end chain 17 is also a well-known drive chain including a plurality of inner links and outer links alternately connected via bushes and pins. The second running body 18 is rotated in forward and reverse directions by a motor (not shown) and has a sprocket (not shown) that meshes with the second end chain 17. When the sprocket of the second running body 18 is rotated by the motor, it rolls on the second end chain 17 while sending the second end chain 17 downstream in the rotation direction. As a result, the second running body 18 moves on the second guide rail 12 along the second end chain 17 in the second direction. The meshing type power transmission medium used together with the second running body 18 may be a toothed belt. A slider (moving member) 19 is connected to the second running body 18, and the slider 19 is supported movably by the pair of second guide rails 12. The slider 19 moves in the second direction along the pair of second guide rails 12 when the second running body 18 is operated, and moves in the first direction together with the pair of second guide rails 12 along the pair of first guide rails 11 when the two first running bodies 15 are operated.

[0016] Furthermore, as shown in FIG. 2, the charging connector insertion / removal device 10 includes a rotation mechanism 20 fixed to the underside of the slider 19, an advance / retract movement mechanism 21 supported by the rotation mechanism 20, a support member 22 connected to the advance / retract movement mechanism 21, a first rotation mechanism 23, a second rotation mechanism 24, a connector holding portion 25 as an end effector that holds the charging connector 5 in a detachable manner, and a control device 100.

[0017] The pivot mechanism 20 is an electric actuator or a fluid pressure actuator including a motor, and is disposed between the slider 19 and the advance / retract movement mechanism 21. The pivot mechanism 20 pivots the advance / retract movement mechanism 21 and the support member 22, etc., in forward and reverse directions together about an axis extending in a third direction (z-axis direction (up-down direction) in Figs. 1 and 2) perpendicular to the first and second directions. The advance / retract movement mechanism 21 is suspended and supported by the slider 19 via the pivot mechanism 20, and extends downward from the pivot mechanism 20 along the third direction. The advance / retract movement mechanism 21 includes a fluid pressure cylinder or an electric actuator, and moves the support member 22 forward and backward (up-down) in the third direction relative to the slider 19. The support member 22 is a rod material formed of metal, resin, etc., and is connected to the tip of the movable part of the advance / retract movement mechanism 21 via the first rotation mechanism 23 so as to extend in a direction perpendicular to the third direction (horizontal direction). As a result, the advance / retreat movement mechanism 21 and the support member 22 form a substantial L-shape.

[0018] The first rotation mechanism 23 is an electric actuator or a fluid pressure actuator, and is disposed between the advance / retract movement mechanism 21 and the base end of the support member 22. The first rotation mechanism 23 rotates the support member 22 in forward and reverse directions relative to the advance / retract movement mechanism 21 (slider 19) around an axis extending in the extension direction of the support member 22 perpendicular to the third direction. The second rotation mechanism 24 is an electric actuator or a fluid pressure actuator, and is fixed to the tip of the support member 22. The connector holding portion 25 is supported by the support member 22 via the second rotation mechanism 24. The second rotation mechanism 24 rotates the connector holding portion 25 in forward and reverse directions relative to the support member 22 around an axis extending in a direction perpendicular to the extension direction of the support member 22.

[0019] The connector holding unit 25 can hold the charging connector 5 held by the mounting table 6 such that the extension direction of the terminals of the charging connector 5 is parallel to the rotation axis of the second rotation mechanism 24, and can remove the charging connector 5 from the mounting table 6. The connector holding unit 25 can also deliver the held charging connector 5 to the mounting table 6. However, the connector holding unit 25 may be a fixed unit to which the charging connector 5 is fixed. The control device 100 includes a microcomputer having a CPU, ROM, RAM, an input / output interface, etc., and controls the pair of first running bodies 15, second running body 18, the rotation mechanism 20, the advance / retract movement mechanism 21, the first rotation mechanism 23, the second rotation mechanism 24, and the connector holding unit 25.

[0020] Next, the operation of the charging connector inserting / removing device 10 will be described with reference to FIGS.

[0021] 3 is a flowchart for explaining a control procedure of the charging connector insertion / removal device 10 by the control device 100 when inserting the charging connector 5 into the charging inlet CI of a vehicle V parked in the parking facility 1. When an instruction is given to charge the battery of any vehicle V parked in the parking facility 1, the control device 100 acquires the parking position of the vehicle V to be charged, the position of the charging inlet CI of the vehicle V, the opening direction (left-handed or right-handed) of the lid L (see FIG. 4) of the charging inlet CI, and the insertion / removal direction of the charging connector 5 relative to the charging inlet CI (step S100). The position of the charging inlet CI of the vehicle V, the opening direction of the lid L, and the insertion / removal direction of the charging connector 5 may be acquired from registered vehicle information of the parking facility 1 stored in a storage device or an external server (not shown), or may be acquired from image data captured by a camera installed in the parking facility 1. Furthermore, the control device 100 sets a target arrival position for the connector holding portion 25 that holds the charging connector 5, based on the parking position of the vehicle V, the position of the charging inlet CI, and the like (step S110).

[0022] Next, the control device 100 moves the slider 19 from the standby position to the platform 6 close to the vehicle V to be charged, and controls the first and second rotation mechanisms 23, 24 to set the attitudes of the support member 22 and the connector holding portion 25 to attitudes corresponding to the position and insertion / removal direction of the charging inlet CI in the vehicle V (step S120). In step S120, based on the position of the charging inlet CI in the vehicle V and the opening direction of the lid L, the control device 100 determines whether to insert the charging connector 5 from the right side or the left side into the charging inlet CI (vehicle body) of the vehicle V so that the advancing / retreating movement mechanism 21, the support member 22, the connector holding portion 25, etc. do not interfere with the opened lid L, as shown in FIG. Furthermore, in step S120, the control device 100 controls the first and second rotation mechanisms 23, 24 so that the support member 22 and the connector holding portion 25 assume a posture according to the position (right or left side) of the charging connector 5 relative to the charging inlet CI (vehicle body) and the insertion / removal direction of the charging connector 5 obtained in step S100.

[0023] In the charging connector insertion / removal device 10 of the present embodiment, the first rotation mechanism 23 rotates the support member 22 relative to the advance / retract movement mechanism 21 around an axis extending in the extension direction of the support member 22, thereby making it possible to match the extension direction of the terminals of the charging connector 5 with the insertion / removal direction with respect to the charging inlet CI of the vehicle V. In addition, in step S120, as necessary, as shown in Figures 5(a), 5(b), and 5(c), the second rotation mechanism 24 is controlled to rotate the connector holding portion 25 relative to the support member 22 around an axis extending in a direction perpendicular to the extension direction of the support member 22, i.e., an axis extending in the insertion / removal direction of the charging connector 5 (see Figure 5(b)), and further the first rotation mechanism 23 is controlled to rotate the support member 22 around an axis extending in the extension direction of the support member 22 (see Figure 5(c)). This makes it possible to selectively form a posture when the charging connector 5 is inserted into the charging inlet CI (vehicle body) of the vehicle V from the right side (see FIG. 5(a)), and a posture when the charging connector 5 is inserted into the charging inlet CI (vehicle body) of the vehicle V from the left side (see FIG. 5(c)).

[0024] After the process of step S120, the control device 100 appropriately moves the slider 19 and the like, and controls the connector holding portion 25 to grip the charging connector 5 on the mounting base 6 (step S130). In this way, by adjusting the postures of the support member 22 and the connector holding portion 25 to postures corresponding to the position and insertion / removal direction of the charging inlet CI in the vehicle V and then causing the connector holding portion 25 to grip the charging connector 5, it is possible to effectively suppress disturbance of the charging cable 4. Furthermore, the control device 100 controls the first and second traveling bodies 15, 18, the rotation mechanism 20, the forward / backward movement mechanism 21, and the like so that the connector holding portion 25 moves to a target arrival position and inserts (couples) the charging connector 5 into the charging inlet CI of the vehicle V to be charged (step S140). Note that the lid L of the charging inlet CI is opened according to a predetermined procedure before the connector holding portion 25 reaches the target arrival position.

[0025] When the charging connector 5 is coupled to the charging inlet CI, the control device 100 causes the connector holding unit 25 to release the grip of the charging connector 5 (step S150). Then, the control device 100 controls the first and second running bodies 15, 18, the rotation mechanism 20, the advance / retract movement mechanism 21, etc. so as to move the slider 19 to the standby position (step S160), and ends the series of processes shown in FIG. 5. Furthermore, when charging of the battery of the vehicle V is completed, the control device 100 controls the first and second running bodies 15, 18, the rotation mechanism 20, the advance / retract movement mechanism 21, etc. so as to move the connector holding unit 25 to the target gripping position set in the same manner as in step S110. Furthermore, the control device 100 controls the first and second running bodies 15, 18, the rotation mechanism 20, the advance / retract movement mechanism 21, etc. so as to cause the connector holding unit 25 to grip the charging connector 5 and return the charging connector 5 to the mounting table 6.

[0026] As described above, the charging connector inserting / removing device 10 includes the slider 19 movable in a first direction (x-axis direction) and a second direction (y-axis direction) perpendicular to the first direction, an advancing / retreating movement mechanism 21 supported by the slider 19 and adapted to move the support member 22 and the connector holding portion 25 forward and backward in a third direction (z-axis direction) perpendicular to the first and second directions relative to the slider 19, and a rotating mechanism 20 adapted to rotate the support member 22 and the connector holding portion 25 about an axis extending in the third direction. The connector holding portion 25 is supported by the support member 22 connected to the advancing / retreating movement mechanism 21 so as to be spaced apart from the advancing / retreating movement mechanism 21 in a direction perpendicular to the third direction.

[0027] 4, regardless of the opening direction of the lid L of the charging inlet CI, the connector holding portion 25 can be brought close to the target charging inlet CI by the slider 19 and the advancing / retracting mechanism 21, etc., without causing interference between the opened lid L and the advancing / retracting mechanism 21, the support member 22, etc., and the like. That is, according to the charging connector insertion / removal device 10, even when the lid L of the charging inlet CI of the vehicle V opens upward as shown in FIG. 6, it is possible to insert / remove the charging connector 5 into / from the charging inlet CI without causing interference between the advancing / retracting mechanism 21, which is suspended and supported by the slider 19, and the lid L.

[0028] Furthermore, charging connector insertion / removal device 10 includes a first rotation mechanism 23 that rotates support member 22 and connector holding portion 25 around an axis extending in the extension direction of support member 22, and a second rotation mechanism 24 that rotates connector holding portion 25 around an axis extending in a direction perpendicular to the extension direction of support member 22. As a result, charging connector insertion / removal device 10 has six mechanical degrees of freedom, and by rotating connector holding portion 25 with first and second rotation mechanisms 23, 24, it is possible to adjust the posture of charging connector 5 held by connector holding portion 25 to a posture corresponding to the position of charging inlet CI in vehicle V and the insertion / removal direction of charging connector 5 with respect to charging inlet CI.

[0029] As a result, the charging connector 5 can be smoothly inserted and removed from the charging inlet CI regardless of the insertion and removal direction of the charging connector 5 relative to the charging inlet CI or the opening direction of the lid L of the charging inlet CI. In addition, according to the charging connector insertion and removal device 10 of the present disclosure, the connector holding part 25 can be moved while the advancing and retreating movement mechanism 21 and the support member 22, which are substantially L-shaped, are extended along the left and right side surfaces, the front part, or the rear part of the vehicle V. In addition, the charging connector 5 can be inserted and removed from the charging inlet CI without retracting or separating from the vehicle V while maintaining the posture of the advancing and retreating movement mechanism 21 and the support member 22. Therefore, even if the distance between the vehicle V to be charged and a vehicle or an obstacle parked nearby is narrow, the charging connector 5 can be inserted and removed from the charging inlet CI of the vehicle V. Furthermore, the charging connector insertion and removal device 10 configured as described above can be constructed at a lower cost than a vertical articulated robot or a horizontal articulated robot with six degrees of freedom.

[0030] Furthermore, the rotation mechanism 20 of the charging connector inserting / removing device 10 is disposed between the slider 19 and the advancing / retreating movement mechanism 21, and rotates the advancing / retreating movement mechanism 21 and the support member 22 together around an axis extending in the third direction. This makes it easier for the approximately L-shaped advancing / retreating movement mechanism 21 and the support member 22 to rotate with the rotation mechanism 20 as a starting point, so that the charging connector 5 can be smoothly (flexibly) inserted into and removed from the charging inlet CI by the rotation action of the rotation mechanism 20.

[0031] Furthermore, in the charging connector inserting / removing device 10, the first rotation mechanism 23 is disposed between the advancing / retreating movement mechanism 21 and the support member 22, and rotates the support member 22 around an axis extending in the extension direction of the support member 22. The second rotation mechanism 24 is disposed between the support member 22 and the connector holding portion 25, and rotates the connector holding portion 25 around an axis extending in a direction perpendicular to the extension direction of the support member 22. This makes it possible to rotate the support member 22 and the connector holding portion 25 relative to the advancing / retreating movement mechanism 21 by the first rotation mechanism 23, and rotate the connector holding portion 25 relative to the support member 22 by the second rotation mechanism 24, while suppressing an increase in size and a decrease in strength of the charging connector inserting / removing device 10.

[0032] The charging connector inserting / removing device 10 also includes a pair of first guide rails 11 arranged on the parking facility 1 so as to extend in a first direction and be spaced upward from the parking surface, and a pair of second guide rails 12 supported by the pair of first guide rails 11 so as to extend in a second direction and be spaced upward from the parking surface. The forward / backward movement mechanism 21 is supported so as to extend downward, and the slider 19 moves in the second direction along the pair of second guide rails 12 and moves in the first direction together with the pair of second guide rails 12 along the pair of first guide rails 11. This makes it possible to move the single slider 19 to any one of a plurality of vehicles V parked in the parking facility 1 with a narrow parking interval, and to insert / remove the charging connector 5 into / from the charging inlet CI of the vehicle V. However, in the charging connector inserting / removing device 10, the slider 19 may be movably supported by a single second guide rail 12.

[0033] The present disclosure is not limited to the above embodiment, and various modifications can be made within the scope of the present disclosure. Furthermore, the above embodiment is merely a specific form of the invention described in the Summary of the Invention, and does not limit the elements of the invention described in the Summary of the Invention. [Industrial Applicability]

[0034] The invention of the present disclosure can be used in the manufacturing industry of charging connector inserting and removing devices, etc. [Explanation of symbols]

[0035] 1 Parking facility, 5 Charging connector, 10 Charging connector insertion / removal device, 11 First guide rail, 12 Second guide rail, 19 Slider (moving member), 20 Rotation mechanism, 21 Forward / backward movement mechanism, 22 Support member, 23 First rotation mechanism, 24 Second rotation mechanism, 25 Connector holding portion, 100 Control device, CI Charging inlet, L Lid, V Vehicle (electric vehicle).

Claims

1. A charging connector insertion / removal device including a connector holding portion that holds a charging connector, the charging connector being inserted into a charging inlet of a vehicle and being removed from the charging inlet, a moving member movable in a first direction and a second direction perpendicular to the first direction; an advancing / retracting mechanism supported by the movable member and configured to move the connector holding portion back and forth relative to the movable member in a third direction perpendicular to the first and second directions; a support member that is connected to the advance / retract movement mechanism so as to extend in a direction perpendicular to the third direction and that supports the connector holding portion so as to be spaced apart from the advance / retract movement mechanism in the direction perpendicular to the third direction; a rotation mechanism that rotates the connector holding portion about an axis extending in the third direction; a first rotation mechanism that rotates the connector holding portion around an axis that extends in an extension direction of the support member; a second rotation mechanism that rotates the connector holding portion around an axis that extends in a direction perpendicular to the extension direction of the support member; A charging connector insertion / removal device is provided.

2. The charging connector inserting / removing device according to claim 1, The rotation mechanism is disposed between the moving member and the advancing / retreating mechanism, and rotates the advancing / retreating mechanism and the support member together about an axis extending in the third direction.

3. The charging connector inserting / removing device according to claim 2, the first rotation mechanism is disposed between the advance / retreat movement mechanism and the support member, and rotates the support member around an axis extending in the extension direction; The second rotation mechanism is disposed between the support member and the connector holding portion, and rotates the connector holding portion around an axis extending in a direction perpendicular to the extension direction of the support member.

4. The charging connector inserting / removing device according to any one of claims 1 to 3, A first guide member is disposed on the parking facility so as to extend in the first direction and be spaced upward from the parking surface; a second guide member extending in the second direction and supported by the first guide member so as to be spaced upward from the parking surface; the forward / backward movement mechanism is supported by the moving member so as to extend downward, The moving member moves in the second direction along the second guide member, and moves in the first direction along the first guide member integrally with the second guide member.

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