Automatic charging robot

Abstract

To automatically release a locked state of a charging connector by a simple structure.SOLUTION: The automatic charging robot 1 inserts a charging connector 5 into a charging port of a vehicle to perform charging, and includes a robot hand 2 for gripping the charging connector 5 when the charging connector 5 is automatically inserted into and extracted from the charging port, and the robot hand 2 includes a gripping device 21 for gripping a gripping member 7 attached to the charging connector 5, and a plunger 2 for pressing a release button 13 provided on the charging connector 5 as an operation part for releasing a locked state in which the charging connector 5 inserted into the charging port is locked.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automatic charging robot. [Background technology]

[0002] Patent Document 1 discloses that a charging system including fewer chargers than the number of parking spaces in the parking lot and fewer automatic charging robots than the number of chargers charges a large number of vehicles in the parking lot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-072625 Summary of the Invention [Problem to be solved by the invention]

[0004] A charging method in which a charging connector is connected to a vehicle's charging port requires a locking mechanism that locks the charging connector to prevent it from coming loose during charging, and a release mechanism that releases the locked state of the charging connector. When an automatic charging robot is applied to this charging method, it is conceivable that the automatic charging robot could operate the release mechanism, but Patent Document 1 does not consider a specific configuration, and there is room for further consideration.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide an automatic charging robot that can automatically unlock a charging connector with a simple structure. [Means for solving the problem]

[0006] The present invention provides an automatic charging robot that inserts a charging connector into a charging port of a vehicle to charge the vehicle, and includes a robot hand that grips the charging connector when automatically inserting and removing the charging connector into and from the charging port. The robot hand has a gripping device that grips a gripping member attached to the charging connector, and a pressing portion that presses a release button provided on the charging connector as an operation portion for releasing a locked state in which the charging connector inserted into the charging port is locked, when the gripping device is in a position where it can grip the gripping member.

[0007] According to this configuration, the charging connector can be removed from the charging port while pressing the release button with a simple structure.

[0008] The gripping device also has a pair of claw portions formed opposite each other and gripping the gripping member by pinching it from both sides of the width direction of the charging connector, and an actuator that operates the pair of claw portions so as to change the opposing distance between the pair of claw portions, and the robot hand is movable relative to the charging connector between a gripping position which is a relative position when the pair of claw portions are in a position where they can grip the gripping member, and a release position which is a relative position when the charging connector is in a position where the pair of claw portions are opposed to each other, and the pressing portion may start pressing the release button while the robot hand is moving from the release position toward the gripping position.

[0009] According to this configuration, the positional relationship between the robot hand and the charging connector changes, causing the robot hand to press the release button.

[0010] In addition, the pressing portion may be a fixed member fixed to the robot hand, and the robot hand may be in a pressing state in which the fixed member is pressing the release button whenever the claw portion is in a position where it can grasp the gripping member.

[0011] According to this configuration, the locked state of the charging connector can be released by the fixing member.

[0012] In addition, the pressing portion may be configured by a hinge mechanism that supports a pressing piece so that it can swing, and the hinge mechanism may switch between a pressable state in which the pressing piece is in a lowered state and the release button can be pressed by the pressing piece, and a non-pressable state in which the release button cannot be pressed by the pressing piece in a raised state.

[0013] According to this configuration, even when the robot hand is gripping the charging connector, the pressing piece does not necessarily press the release button.

[0014] Furthermore, when the hinge mechanism is in the pressable state, the robot hand may be in a pressed state in which the pressing piece presses the release button when the claw portion is in a position where it can grasp the gripping member, and when the hinge mechanism is in the non-pressable state, the robot hand may be in a non-pressed state in which the pressing piece does not press the release button even when the claw portion is in a position where it can grasp the gripping member.

[0015] With this configuration, even if the robot hand releases the chuck, the weight of the charging connector prevents the charging connector from coming out of the charging port.

[0016] Furthermore, the hinge mechanism may be switched between the pressable state and the non-pressable state by gravity acting on the pressing piece as the robot hand rotates on a predetermined rotation center axis.

[0017] According to this configuration, there is no need to provide a dedicated actuator for operating the pressing piece. [Effects of the Invention]

[0018] According to the present invention, the locked state of the charging connector can be automatically released with a simple structure. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing an automatic charging robot according to the first embodiment. [Figure 2] FIG. 2 is a diagram showing the charging connector and the gripping member. [Figure 3] FIG. 3 is a diagram showing a state in which the robot hand is at the gripping position and the gripping device is not gripping the charging connector. [Figure 4] FIG. 4 is a diagram for explaining the claw portion and the gripping member. [Figure 5] FIG. 5 is a diagram showing a state in which the gripping device grips the charging connector. [Figure 6] FIG. 6 is a diagram illustrating a state in which the plunger is pressing the release button while the gripping device is gripping the charging connector. [Figure 7] FIG. 7 is a diagram illustrating a case where a charging connector inserted into a charging port of a vehicle is removed by a robot hand. [Figure 8] FIG. 8 is a diagram showing an automatic charging robot according to the second embodiment. [Figure 9] FIG. 9 is a diagram showing a state in which the pressing piece is raised. [Figure 10] FIG. 10 is a diagram for explaining how the pressing piece switches from a lowered state to an elevated state. [Figure 11] FIG. 11 is a diagram for explaining that the gripping device grips the charging connector when the pressing piece is in the raised position. [Figure 12] FIG. 12 is a diagram for explaining that the gripping device grips the charging connector when the pressing piece is in the lowered state. DETAILED DESCRIPTION OF THE INVENTION

[0020] The automatic charging robot according to the embodiment of the present invention will be specifically described below, but the present invention is not limited to the embodiment described below.

[0021] (First embodiment) FIG. 1 is a diagram showing an automatic charging robot according to a first embodiment. The automatic charging robot 1 includes a robot hand 2 and a robot arm 3. The automatic charging robot 1 is a vertically articulated robot in which the robot hand 2 is attached to the tip of the robot arm 3. For example, the automatic charging robot 1 is a robot with a six-axis mechanism. The automatic charging robot 1 can displace the position of the robot hand 2 to a desired position and change the posture of the robot hand 2 to a desired posture by operating the robot arm 3. The automatic charging robot 1 is a robot installed in a parking lot or the like. The automatic charging robot 1 is installed near a charger 4. As shown in FIG. 2, the charger 4 includes a charging connector 5 and a charging cable 6. The charger 4 is a charger (charging stand) used to charge a vehicle. The charger 4 is a charging stand installed in a parking lot or the like. The charging connector 5 is electrically connected to an external power source via the charging cable 6. The automatic charging robot 1 charges a vehicle by inserting the charging connector 5 into the vehicle's charging port. The automatic charging robot 1 automatically inserts and removes the charging connector 5 from the vehicle's charging port while the robot hand 2 holds the charging connector 5.

[0022] As shown in FIG. 2, the charging connector 5 includes an insertion portion 11, a locking mechanism 12, a release button 13, and a grip portion .

[0023] The insertion portion 11 is a cylindrical portion that is inserted into the vehicle's charging port. A terminal is provided at the tip of the insertion portion 11. The locking mechanism 12 is a mechanism that locks the charging connector 5 to the charging port when the insertion portion 11 is inserted into the charging port so that the charging connector 5 does not fall out of the charging port. The locking mechanism 12 has a locking claw provided on the insertion portion 11. The locking claw is a movable member whose tip side swings. The locking claw is operable between a state in which it protrudes from the insertion portion 11 and a state in which it is housed in the insertion portion 11. The locking mechanism 12 switches between a locked state in which the locking claw protrudes from the insertion portion 11 and an unlocked state in which the locking claw is housed in the insertion portion 11. When the locking claw protrudes from the insertion portion 11, the locking claw has an engaging surface that extends in a direction perpendicular to the direction in which the charging connector 5 is removed from the charging port and a receiving surface that extends in a direction inclined with respect to the direction in which the charging connector 5 is inserted into the charging port. The locking surface is a flat surface facing the direction in which charging connector 5 is removed with the locking claw protruding from insertion portion 11. When insertion portion 11 is inserted into the charging port, the locking claw protrudes from insertion portion 11, causing the locking surface of the locking claw to lock into the locking portion of the charging port, restricting charging connector 5 from moving in the direction of removal. The receiving surface is a surface that receives a load that is pressed by the charging port while insertion portion 11 is being inserted into the charging port, causing the locking claw to be accommodated in insertion portion 11. While charging connector 5 is inserted into the charging port, the load that the receiving surface receives from the charging port causes the locking claw to be accommodated in insertion portion 11, so that locking mechanism 12 is in the unlocked state without operating release button 13.

[0024] The release button 13 is an operation unit for releasing the locked state of the charging connector 5 by the locking mechanism 12. The release button 13 is provided as an operation unit for releasing the locked state of the charging connector 5 inserted into the charging port of the vehicle. The release button 13 is a button that can be pressed by a user. When the insertion portion 11 is not inserted into the charging port, the release button 13 is not pressed, causing the locking claw to protrude from the insertion portion 11. When the insertion portion 11 is inserted into the charging port and the charging connector 5 is locked, pressing the release button 13 releases the locking mechanism 12, causing the locking claw to retract into the insertion portion 11. When the release button 13 is pressed, the charging connector 5 can be removed from the charging port. The grip portion 14 is a portion that is grasped by a user. The release button 13 is located in a position where the user can press the release button 13 with the thumb of one hand while holding the grip portion 14. A gripping member 7 that is grasped by the robot hand 2 is attached to the charging connector 5. The gripping member 7 is fixed near the release button 13. The gripping member 7 is fixed to the charging connector 5 and is integrated with the charging connector 5.

[0025] The gripping member 7 has a gripping portion 15 and a connecting portion 16. The gripping portion 15 is a portion that is gripped by the robot hand 2. The gripping portion 15 is formed in a plate shape with a predetermined thickness in the width direction of the charging connector 5. The gripping portions 15 are a pair of portions that are arranged on both sides of the charging connector 5 in the width direction. The pair of gripping portions 15 are arranged on the outside of the gripping portion 14 in the width direction so as to sandwich the gripping portion 14 therebetween. The connecting portion 16 is formed in a rod shape and connects the pair of gripping portions 15. The connecting portion 16 extends between the pair of gripping portions 15 in the width direction of the charging connector 5. One of the gripping portions 15 is joined to one end of the connecting portion 16, and the other gripping portion 15 is joined to the other end of the connecting portion 16. The pair of gripping portions 15 are integrated via the connecting portion 16.

[0026] The gripping portion 15 has a flat surface 17 and a fitting hole 18. The flat surface 17 is a surface facing outward in the width direction of the charging connector 5. Because the pair of gripping portions 15 have the flat surface 17 as a side surface, the gripping member 7 has a shape similar to a rectangular workpiece. The fitting hole 18 is a hole that opens into the flat surface 17. Two fitting holes 18 are formed side by side on the flat surface 17. Two fitting holes 18 are provided in one gripping portion 15. Four fitting holes 18 are provided in the gripping member 7 as a whole. The fitting holes 18 are the parts that are chucked by the robot hand 2. The gripping member 7 is a fixed member that is chucked by the robot hand 2. When the gripping portion 15 of the gripping member 7 is gripped by the robot hand 2, the charging connector 5 is gripped by the robot hand 2. Because the flat surface 17 forms a side surface similar to that of a square workpiece, when the robot hand 2 chucks the fitting hole 18, the charging connector 5 can be prevented from rolling around the axis in the extension direction of the insertion portion 11 relative to the robot hand 2. Because two fitting holes 18 are arranged side by side, when the robot hand 2 chucks the two fitting holes 18, the tip side of the insertion portion 11 of the charging connector 5 can be prevented from pitching relative to the robot hand 2. In this description, when the term gripping member 7 is mentioned, the gripping member 7 is synonymous with the gripping portion 15.

[0027] As shown in FIG. 1, the robot hand 2 includes a gripping device 21 and a plunger 22.

[0028] The gripping device 21 is a gripper that grips the gripping member 7. The gripping device 21 has two claws 23 and an actuator 24. The two claws 23 are a pair of members arranged opposite each other. The actuator 24 operates the pair of claws 23 so as to change the distance between them. The actuator 24 is configured using a drive system such as air pressure, electricity, or hydraulics. The gripping device 21 is a parallel opening / closing type in which the pair of claws 23 slide in parallel to open and close.

[0029] As shown in Figures 3 to 5, the pair of claw portions 23 grips the gripping member 7 by sandwiching it from both sides in the width direction of the charging connector 5. Figure 3 shows that the gripping device 21 is in an open state when it is in a position where it can grip the gripping member 7. Figure 5 shows that the gripping device 21 is in a closed state when it is in a position where it can grip the gripping member 7. As shown in Figure 3, the claw portion 23 has an opposing surface 25 and a pin 26.

[0030] The facing surface 25 is a flat surface facing the facing space of the claw portions 23. When the charging connector 5 is not present in the facing space between the pair of claw portions 23, the facing surface 25 faces the facing surface 25 of the other claw portion 23. When the gripping device 21 is in a position where it can grip the gripping member 7, the facing surface 25 faces the flat surface 17 of the gripping member 7, as shown in FIG. 3 .

[0031] The pin 26 is a part that fits into the fitting hole 18. The pin 26 is a cylindrical protrusion that protrudes from the opposing surface 25, and is provided at a position corresponding to the fitting hole 18. Two pins 26 are provided on one claw portion 23. Four pins 26 are provided in the entire gripping device 21.

[0032] As shown in Fig. 4, when the gripping device 21 is in a position where it can grip the gripping member 7, the pin 26 and the fitting hole 18 are positioned opposite each other. From this state, the gripping device 21 performs a closing operation, and when the pair of claws 23 slide in parallel so that the distance between them narrows, the pin 26 fits into the fitting hole 18. As shown in Fig. 5, when the pin 26 is fitted into the fitting hole 18, the gripping device 21 grips the gripping member 7, and the robot hand 2 chucks the gripping member 7. Because the gripping member 7 is integrated with the charging connector 5, when the gripping device 21 grips the gripping member 7, the robot hand 2 grips the charging connector 5.

[0033] The plunger 22 is a part that abuts against the release button 13 and is a pressing part that presses the release button 13. The plunger 22 is disposed in an orientation that allows it to press the release button 13, and is a fixed member fixed to the robot hand 2. The plunger 22 is fixed at a position corresponding to the release button 13. The plunger 22 is fixed to a case 28 via a support member 27. The support member 27 is a member that supports the plunger 22. The support member 27 and the plunger 22 have enough rigidity to press the release button 13. The case 28 is a case for the actuator 24. The support member 27 is fixed to the top of the case 28 and extends so as to protrude toward the front of the case 28. As shown in Figures 5 and 6, when the gripping device 21 grips the gripping member 7, the plunger 22 presses the release button 13.

[0034] The automatic charging robot 1 is equipped with a camera 8 attached to the robot hand 2. The camera 8 captures an image of the front side of the robot hand 2. The camera 8 is fixed to the case 28 via a base 9. The base 9 is disposed behind the support member 27 and fixed to the top of the case 28. Two cameras 8 are provided so as to capture images of the plunger 22 and the front claws 23 from the outside in the width direction of the support member 27. The two cameras 8 capture an image of an imaging range that includes the tip ends of the claws 23. The automatic charging robot 1 controls the position of the robot hand 2 based on the images captured by the cameras 8. Note that a tip claw 29 may be attached to the tip of the claw 23. The tip claw 29 is not shown in Figures 1, 3, and 5.

[0035] The robot hand 2 is movable relative to the charging connector 5 between a gripping position and a release position. The gripping position is a relative position when the claws 23 are in a position where they can grip the gripping member 7. The release position is a relative position when the charging connector 5 is not present in the opposing space between the pair of claws 23. When the relative positional relationship between the charging connector 5 and the robot hand 2 is the gripping position, the plunger 22 presses the release button 13. When the claws 23 are in a position where they can grip the gripping member 15, the robot hand 2 is always in a pressing state where the plunger 22 presses the release button 13. As shown in Figures 5 and 6, when the gripping device 21 chucks the gripping member 7, the plunger 22 is always in a state where it presses the release button 13. In other words, the automatic charging robot 1 does not perform an action to press the release button 13 when the robot hand 2 is in the gripping position. In the automatic charging robot 1, the robot hand 2 moves from the release position to the grip position, and the pressing of the release button 13 by the plunger 22 is completed.

[0036] 7 is a diagram illustrating the case of removing a charging connector inserted into a charging port. As shown in Fig. 7, charging connector 5 inserted into charging port 30 of a vehicle can be removed by robot hand 2.

[0037] First, the robot hand 2 moves from the release position toward the gripping position toward the charging connector 5 locked in the charging port 30. At this time, the robot hand 2 assumes a positional relationship in which the plunger 22 and the release button 13 face each other, and approaches the charging connector 5 toward the gripping position in a direction to press the release button 13. When the robot hand 2 is positioned at the gripping position, the plunger 22 presses the release button 13 regardless of whether the gripping device 21 has chucked the charging connector 5. While the robot hand 2 is moving from the release position toward the gripping position, the plunger 22 begins to press the release button 13. At the gripping position, with the plunger 22 pressing the release button 13, the claws 23 close, causing the gripping device 21 to chuck the gripping member 7. When the robot hand 2 removes the charging connector 5 from the charging port 30, the plunger 22 presses the release button 13 first, and then the gripping device 21 chucks the gripping member 7. When the gripping device 21 chucks the gripping member 7, the plunger 22 presses the release button 13, so if the robot hand 2 moves in this state in the direction in which the charging connector 5 is removed from the charging port 30, the charging connector 5 can be removed from the charging port 30.

[0038] When the robot hand 2 inserts the charging connector 5 into the charging port 30, the process is reversed from the process described with reference to FIG. 7 . First, the robot hand 2 grips the charging connector 5 held by the connector holding portion of the charger 4. In this gripping state, the plunger 22 presses the release button 13. Then, while gripping the charging connector 5, the robot hand 2 inserts the insertion portion 11 into the charging port 30. Once the insertion of the insertion portion 11 into the charging port 30 is complete, the robot hand 2 remains stationary at the gripping position and opens the claws 23 to release the chuck of the gripping member 7 by the gripping device 21. At the gripping position, even after the chuck of the gripping member 7 is released, the plunger 22 continues to press the release button 13. After the chuck is released, the robot hand 2 moves from the gripping position toward the release position, causing the plunger 22 to move away from the release button 13, and the release button 13 is no longer pressed. In the operation after the insertion of the charging connector 5 into the charging port 30 is completed, the gripping device 21 releases the chuck of the gripping member 7 first, and then the plunger 22 is released from the release button 13 and the pressure is released.

[0039] As described above, according to the first embodiment, the release button 13 can be pressed by the plunger 22 provided on the robot hand 2, without providing an actuator for operating the release button 13 on the charging connector 5. This makes it possible to automatically release the locked state of the charging connector 5 with a simple structure.

[0040] There is no particular limitation on the type of plunger 22. The plunger 22 may be a ball plunger, a pin plunger, or the like.

[0041] Furthermore, the pressing part that presses the release button 13 may be a fixed member fixed to the robot hand 2 and is not limited to the plunger 22 .

[0042] Furthermore, the robot hand 2 is not particularly limited as to whether or not it has a tip claw 29. The tip claw 29 is a claw that comes into contact with the lid of the charging port 30 and is used when opening and closing the lid.

[0043] (Second embodiment) 8 is a diagram showing an automatic charging robot according to the second embodiment. Unlike the first embodiment, the automatic charging robot 1 according to the second embodiment is configured so that even when the robot hand 2 is gripping the charging connector 5, the robot hand 2 is not necessarily pressing the release button 13. In the description of the second embodiment, the same components as those in the first embodiment will not be described and their reference numerals will be used instead.

[0044] 8, the robot hand 2 of the second embodiment includes a hinge mechanism 41 including a pressing piece 40. The pressing section of the second embodiment includes the hinge mechanism 41 that supports the pressing piece 40 so that it can swing.

[0045] The pressing piece 40 is a part that comes into contact with the release button 13 and is a pressing portion that presses the release button 13. The pressing piece 40 is supported so as to be able to swing on the hinge mechanism 41. The pressing piece 40 can swing within a predetermined angle range with the hinge mechanism 41 as a fulcrum.

[0046] The hinge mechanism 41 is provided at the tip of the support member 27. The pressing piece 40 and the hinge mechanism 41 function as a switching mechanism. As shown in FIGS. 8 and 9, when the robot hand 2 is in the gripping posture, the hinge mechanism 41 can be in a state where the pressing piece 40 is lowered or a state where the pressing piece 40 is raised. The gripping posture is a horizontal posture in which the claw portion 23 is parallel to the horizontal direction X and the support member 27 is positioned above the claw portion 23. The hinge mechanism 41 switches between a state where the release button 13 can be pressed by the pressing piece 40 (pressable state) and a state where the release button 13 cannot be pressed by the pressing piece 40 (non-pressable state). When the hinge mechanism 41 is in the pressable state, the state of the robot hand 2 is the pressable state. When the hinge mechanism 41 is in the non-pressable state, the state of the robot hand 2 is the non-pressable state.

[0047] 8, when the robot hand 2 is in the gripping position, the pressing piece 40 is in the lowered state, and the hinge mechanism 41 is in a state where the pressing piece 40 can press the release button 13. In this state, the pressing piece 40 comes into contact with the release button 13 as the robot hand 2 is positioned at the gripping position.

[0048] 9, when the robot hand 2 is in the gripping position, the pressing piece 40 is in the raised state, and therefore the pressing piece 40 cannot press the release button 13. In this state, when the robot hand 2 is in the gripping position, the pressing piece 40 does not come into contact with the release button 13.

[0049] Based on the positional relationship between the pressing piece 40 and the hinge mechanism 41 in the gravity direction Z, the pressing piece 40 can be expressed as a state in which it is lowered and a state in which it is raised. A state in which the pressing piece 40 is lower than the hinge mechanism 41 is referred to as the pressing piece 40 lowered state. A state in which the pressing piece 40 is higher than the hinge mechanism 41 is referred to as the pressing piece 40 raised state.

[0050] 8, when the robot hand 2 is in the gripping position and the pressing piece 40 is in the lowered state, the pressing piece 40 comes into contact with the plunger 22. The function of the plunger 22 differs between the first and second embodiments. The plunger 22 in the second embodiment regulates the swinging of the pressing piece 40. In the second embodiment, when the robot hand 2 is in the gripping position, the plunger 22 does not come into contact with the release button 13, regardless of whether the robot hand 2 is in a pressable state or a non-pressable state.

[0051] Based on the positional relationship between the pressing piece 40 and the plunger 22, the pressing piece 40 can be expressed as a closed state and an open state. A state in which the pressing piece 40 abuts against the plunger 22 is referred to as a closed state of the pressing piece 40. A state in which the pressing piece 40 does not abut against the plunger 22 is referred to as an open state of the pressing piece 40. As shown in FIG. 8, when the robot hand 2 is in a gripping posture and the pressing piece 40 is in a lowered state, the pressing piece 40 abuts against the plunger 22, and this state can be expressed as a closed state of the pressing piece 40. As shown in FIG. 9, when the robot hand 2 is in a gripping posture and the pressing piece 40 is in a raised state, the pressing piece 40 does not abut against the plunger 22, and this state can be expressed as an open state of the pressing piece 40. When the pressing piece 40 is in the open state, the plunger 22 can face the release button 13, but even in this state the plunger 22 does not come into contact with the release button 13.

[0052] The automatic charging robot 1 can switch between a state in which the pressing piece 40 is lowered and a state in which the pressing piece 40 is raised, using an actuator that rotates the robot hand 2 and an actuator that operates the robot arm 3. In other words, the automatic charging robot 1 does not need a dedicated actuator for operating the pressing piece 40; it can switch the state of the robot hand 2 between a pressable state and a non-pressable state using an actuator that is standard equipment on the automatic charging robot 1.

[0053] 10 is a diagram for explaining how the pressing piece 40 switches from a lowered state to a raised state. The robot hand 2 rotates on a rotation center axis that is inclined with respect to the horizontal direction X, and the posture of the robot hand 2 can be changed so that the pressing piece 40 opens and closes due to gravity acting on the pressing piece 40, switching between a pressable state and an unpressable state. The horizontal direction X is a direction perpendicular to the gravity direction Z.

[0054] As shown in FIG. 10 , when switching the pressing piece 40 from a lowered state to a raised state, the robot hand 2 first shifts from a horizontal position in which the claws 23 are parallel to the horizontal direction X to an inclined position in which the tips of the claws 23 are inclined upward relative to the horizontal direction X. By rotating the robot hand 2 180 degrees while maintaining this inclined position, the pressing piece 40 is placed in an open state due to the action of gravity. By rotating the robot hand 2 180 degrees again while maintaining this inclined position with the pressing piece 40 in an open state, the pressing piece 40 can be placed in a raised state. Then, by the robot hand 2 assuming a horizontal position, the switching mechanism shifts the pressing piece 40 to a position higher than the hinge mechanism 41, and the robot hand 2 is placed in a non-pressing state. The robot hand 2 rotates on a predetermined rotation axis at the release position to raise the pressing piece 40, and then moves to the gripping position. At the gripping position, the gripping device 21 grips the gripping member 7.

[0055] As shown in FIG. 11 , when the automatic charging robot 1 inserts the charging connector 5 into the charging port 30, the robot hand 2 raises the pressing piece 40 and the gripping device 21 chucks the gripping member 7. In this chucked state, the robot hand 2 is in a non-pressing state in which the pressing piece 40 does not press the release button 13. With this chucked state maintained, the robot hand 2 inserts the insertion portion 11 of the charging connector 5 into the charging port 30. When the insertion of the charging connector 5 into the charging port 30 is completed, the locking mechanism 12 becomes effective, and with the charging connector 5 locked, the robot hand 2 opens the gripping device 21 to release the chuck of the gripping member 7. In the second embodiment, when the robot hand 2 inserts the charging connector 5 into the charging port 30, the locking mechanism 12 locks the charging connector 5 first, and then the gripping device 21 releases the chuck of the gripping member 7.

[0056] As shown in Figure 12, when the robotic hand 2 removes the charging connector 5 connected to the charging port 30, the robotic hand 2 rotates to lower the pressing piece 40 due to the action of gravity, and then moves from the release position toward the gripping position. When the robotic hand 2 is positioned at the gripping position with the pressing piece 40 lowered, the robotic hand 2 is in a pressing state with the pressing piece 40 pressing the release button 13. With the pressing piece 40 pressing the release button 13, the gripping device 21 chucks the gripping member 7. If the robotic hand 2 moves in this state in the direction that will remove the charging connector 5 from the charging port 30, the charging connector 5 can be removed from the charging port 30.

[0057] As described above, according to the second embodiment, when removing the charging connector 5 from the charging port 30, the pressing piece 40 is in a lowered state, and the release button 13 can be pressed. When inserting the charging connector 5 into the charging port 30, the robot hand 2 is rotated, and the pressing piece 40 is raised by the action of gravity, and the release button 13 does not need to be pressed. When the charging connector 5 is inserted into the charging port 30 in this state, the charging connector 5 is locked by the locking mechanism 12, and therefore the weight of the charging connector 5 or the charging cable 6 will not cause the charging connector 5 to come out even when the zipper is released. [Explanation of symbols]

[0058] 1. Automatic charging robot 2. Robot Hand 3. Robotic Arm 4 charger 5 Charging connector 6 charging cables 7. Gripping member 11 Insertion section 12 Locking mechanism 13 Cancel button 15 Gripping part 18 Mating hole 21 Gripping device 22 Plunger 23 Claw 24 Actuators 26-pin 27 Support member 28 cases 30 charging port 40 Pressing piece 41 Hinge mechanism

Claims

1. An automatic charging robot that charges by inserting a charging connector into a charging port of a vehicle, a robot hand that holds the charging connector when automatically inserting or removing the charging connector into or from the charging port; The robot hand a gripping device that grips a gripping member attached to the charging connector; a pressing portion that presses a release button provided on the charging connector as an operation portion for releasing a locked state in which the charging connector inserted into the charging port is locked, when the gripping device is in a position where it can grip the gripping member. An automatic charging robot.

2. The gripping device a pair of claws formed to face each other and configured to hold the gripping member by sandwiching the gripping member from both sides in a width direction of the charging connector; an actuator that operates the pair of claw portions so as to change the opposing distance between the pair of claw portions, the robot hand is capable of moving relative to the charging connector between a gripping position, which is a relative position when the pair of claw portions are at positions where they can grip the gripping member, and a release position, which is a relative position when the charging connector is not present in a space where the pair of claw portions face each other; The pressing unit starts pressing the release button while the robot hand is moving from the release position toward the gripping position.

2. The automatic charging robot according to claim 1.

3. the pressing unit is a fixed member fixed to the robot hand, When the claw portion of the robot hand is in a position where it can grip the gripping member, the robot hand is always in a pressing state in which the fixing member is pressing the release button.

3. The automatic charging robot according to claim 2.

4. The pressing portion is configured by a hinge mechanism that supports a pressing piece so that the pressing piece can swing, The hinge mechanism switches between a pressable state in which the pressing piece is in a lowered state and the release button can be pressed by the pressing piece, and a non-pressable state in which the pressing piece is in a raised state and the release button cannot be pressed by the pressing piece.

3. The automatic charging robot according to claim 2.

5. The robot hand When the hinge mechanism is in the pressable state, the claw portion is in a position where it can grip the grip member, and the pressing piece is in a pressing state where it presses the release button, When the hinge mechanism is in the non-pressurizable state, the pressing piece is in a non-pressurizing state in which it does not press the release button even when the claw portion is in a position where it can grip the grip member.

5. The automatic charging robot according to claim 4.

6. The hinge mechanism switches between the pressable state and the non-pressable state due to gravity acting on the pressing piece as the robot hand rotates on a predetermined rotation center axis.

6. The automatic charging robot according to claim 4 or 5.

Images