Automatic charging robot and charging system

Abstract

To provide an automatic charging robot and a charging system capable of suppressing contact of a charging cable with a vehicle.SOLUTION: An automatic charging robot of the present invention includes an arm mechanism capable of gripping a charging connector connected to a charging device by a charging cable, and a control device that automatically performs control for operating the arm mechanism, and has a holding member that holds the charging cable along an arm portion of the arm mechanism.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a charging system that includes a charging device in which one or more charging cables with charging plugs are connected to the device body, and an arm mechanism that grasps any charging plug provided on the charging device and automatically inserts or removes the charging plug into or from the charging port of a vehicle located in a charging space. [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] There is a risk that the charging cable may come into contact with the vehicle when grabbing the charging plug on the charging device and inserting it into the vehicle's charging port, or when removing the charging plug from the vehicle's charging port and returning it to the charging device.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide an automatic charging robot and a charging system that can prevent a charging cable from coming into contact with a vehicle. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objectives, the automatic charging robot of the present invention comprises an arm mechanism capable of grasping a charging connector connected to a charging device by a charging cable, and a control device that automatically controls the operation of the arm mechanism, and has a holding member that holds the charging cable along the arm portion of the arm mechanism.

[0007] As a result, the automatic charging robot of the present invention can restrict the movement of the charging cable away from the arm portion within a predetermined range, reducing slack and preventing the charging cable from coming into contact with the vehicle.

[0008] In addition, the automatic charging robot of the present invention includes an arm mechanism capable of grasping a charging connector connected to a charging device by a charging cable, and a control device that automatically controls the operation of the arm mechanism, and has a hook member that can hook the charging cable onto the arm mechanism.

[0009] As a result, the automatic charging robot according to the present invention can hook the charging cable onto the hook member to reduce slack in the charging cable and prevent the charging cable from coming into contact with the vehicle.

[0010] In addition, the charging system of the present invention includes an automatic charging robot equipped with a charging device to which a charging connector is connected via a charging cable, an arm mechanism capable of gripping the charging connector, and a control device that automatically controls the operation of the arm mechanism, and is equipped with a tensioning device that applies tension to the charging cable.

[0011] As a result, the charging system according to the present invention can apply tension to the charging cable by using the tension applying device to pull the charging cable, thereby reducing slack in the charging cable and preventing the charging cable from coming into contact with the vehicle.

[0012] A charging system according to the present invention includes a charging device having a charging connector connected by a charging cable, and the automatic charging robot according to the present invention.

[0013] As a result, the charging system according to the present invention can prevent the charging cable from coming into contact with the vehicle. [Effects of the Invention]

[0014] The automatic charging robot and charging system according to the present invention have the advantage of being able to prevent the charging cable from coming into contact with the vehicle. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a charging system according to the first embodiment. [Figure 2] FIG. 2 is a perspective view showing a schematic configuration of the charging system according to the first embodiment. [Figure 3] FIG. 3 is a plan view showing a schematic configuration of the charging system according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing the overall flow of the charging method executed by the charging system according to the first embodiment. [Figure 5] FIG. 5 is a side view showing a schematic configuration of the charging system according to the first embodiment. [Figure 6] FIG. 6 is a side view showing a schematic configuration of a charging system according to the second embodiment. [Figure 7] FIG. 7 is a side view showing a main part of a schematic configuration of a charging system according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] (Embodiment 1) A first embodiment of a charging system including an automatic charging robot according to the present invention will be described below, although the present invention is not limited to this embodiment.

[0017] Fig. 1 is a block diagram showing a schematic configuration of a charging system 100 according to embodiment 1. Fig. 2 is a perspective view showing a schematic configuration of the charging system 100 according to embodiment 1. Fig. 3 is a plan view showing a schematic configuration of the charging system 100 according to embodiment 1.

[0018] A charging system 100 according to the first embodiment is for simultaneously charging multiple vehicles using chargers installed in, for example, a parking lot. As shown in FIG. 1 , the charging system 100 according to the first embodiment includes a charger 1, an automatic charging robot 2, a control device 3, infrastructure equipment 4, and a vehicle 5. The charger 1, the automatic charging robot 2, the control device 3, infrastructure equipment 4, and the vehicle 5 all have communication functions and are configured to be able to communicate with each other and exchange various information via a network N. This network N is configured, for example, by an internet network, a mobile phone network, or the like.

[0019] The charger (charging stand, charging post) 1 is a charging device for supplying power to a vehicle 5 to be charged. As shown in FIGS. 2 and 3, the charger 1 is installed on a stand 6. The charger 1 is also connected to a control panel 7. This control panel 7 is connected to, for example, a transformer facility (cubicle) that transforms power from a power plant.

[0020] As shown in FIG. 1, the charger 1 includes a control unit 11, a communication unit 12, a charging connector 13, and a charging cable 14.

[0021] The control unit 11 is realized by a processor such as a CPU (Central Processing Unit) and a memory (main storage unit) such as a RAM (Random Access Memory), a ROM (Read Only Memory), etc. Based on instructions from the control device 3, the control unit 11 supplies power to the vehicle 5 to be charged.

[0022] The communication unit 12 is configured by, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, etc. The communication unit 12 exchanges information with, for example, the automatic charging robot 2 and the control device 3 through communication via the network N.

[0023] The charging connector (charging gun, charging plug) 13 is used to supply power to the vehicle 5 to be charged. When not charging, the charging connector 13 is engaged with the side of the charger 1. When charging of the vehicle 5 begins, the charging connector 13 is grasped by the fixed automatic charging robot 2 and inserted into the charging port 53 of the vehicle 5. In this state, power is supplied from the charger 1 to the vehicle 5 through the charging connector 13. Thereafter, when charging of the vehicle 5 is completed, the charging connector 13 is grasped again by the automatic charging robot 2, removed from the charging port 53 of the vehicle 5, and then engaged with the side of the charger 1.

[0024] Although FIGS. 2 and 3 show an example in which one charging connector 13 is provided for one charger 1, multiple charging connectors 13 may be provided for one charger 1.

[0025] Charging cable 14 is provided between charging connector 13 and charger 1 (charger main body). Charging cable 14 is configured with a length that allows charging connector 13 to be inserted into charging port 53 regardless of the position of charging port 53 on vehicle 5. For example, while FIG. 3 shows an example in which charging port 53 is located on the front left side of vehicle 5, depending on the vehicle model, charging port 53 may be located on the rear left side, front center, rear center, etc. of vehicle 5. Therefore, charging cable 14 is configured with a length that allows charging connector 13 to be inserted regardless of whether charging port 53 is located on the front left side, rear left side, front center, or rear center of vehicle 5.

[0026] Depending on the model of vehicle 5, the charging port 53 may be located on the front right side or the rear right side of vehicle 5. In this case, for example, in FIG. 3, the vehicles 5 in the left and right charging spaces Sp1 are parked in opposite front-to-rear directions, and charging is performed with each charging port 53 facing toward the charger 1. For example, the vehicle 5 on the right side of FIG. 3 is parked in the charging space Sp1 with the front of the vehicle facing downward and the rear of the vehicle facing upward. Similarly, the vehicle 5 on the left side is parked with the front of the vehicle facing upward and the rear of the vehicle facing downward.

[0027] The automatic charging robot 2 is configured to grip the charging connector 13 and automatically insert and remove it from the charging port 53 when charging the vehicle 5 from the charger 1.

[0028] As shown in FIG. 1, the automatic charging robot 2 includes an arm mechanism 20, a control unit 21, a communication unit 22, a camera 23, and a driving device.

[0029] The base end of the arm mechanism 20 is installed and fixed on the stand 6. The arm mechanism 20 is provided at an arm tip 24 that is the tip end of a robot arm 201 that is an arm unit having multiple joints, and has a robot hand 241 that can grip the charging connector 13.

[0030] Control unit 21 is a control device realized by a processor such as a CPU and a memory (main storage unit) such as a RAM and a ROM. Based on instructions from control device 3, control unit 21 automatically controls the drive device to grip charging connector 13 with robot hand 241 of arm mechanism 20, and inserts and removes charging connector 13 from charging port 53. In other words, control unit 21 automatically controls the operation of arm mechanism 20 based on instructions from control device 3. Control unit 21 is also disposed, for example, within the base end of arm mechanism 20.

[0031] Furthermore, when inserting the gripped charging connector 13 into the charging port 53, the control unit 21 identifies the position of the charging port 53 and the distance to the charging port 53 (the distance between the charging connector 13 and the charging port 53) from an image captured by, for example, a camera 23 installed at the tip 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 identified by performing pattern matching based on the image of the charging port 53 captured by the camera 23. Furthermore, the distance from the charging connector 13 gripped by the automatic charging robot 2 to the charging port 53 can be identified by using a 3D (three-dimensional) camera as the camera 23 to acquire information in the depth direction.

[0032] The communication unit 22 is configured by, for example, a LAN interface board, a wireless communication circuit for wireless communication, etc. The communication unit 22 exchanges information with, for example, the charger 1 and the control device 3 through communication via the network N. The communication unit 22 is also disposed, for example, within the base end portion of the arm mechanism 20.

[0033] Camera 23 is used to capture an image of charging port 53. Camera 23 is provided at the tip of automatic charging robot 2 (arm mechanism main body). Camera 23 is configured to be able to communicate with control unit 21 via, for example, a communication cable. Furthermore, it is preferable to use a 3D camera as camera 23, which is capable of acquiring information in the depth direction.

[0034] The control device 3 controls the charger 1, the automatic charging robot 2, and the plurality of vehicles 5. The control device 3 performs, for example, charging control of the charger 1, control of the operation of the automatic charging robot 2, control of the infrastructure equipment 4, and driving control of the vehicles 5. The control device 3 is realized, for example, by a general-purpose computer such as a workstation or a personal computer, or a server located on the cloud. Note that the control device 3 may be configured with separate hardware depending on the objects to be controlled (the charger 1, the automatic charging robot 2, the infrastructure equipment 4, and the vehicles 5). Furthermore, the function of the control device 3 to control charging of the charger 1 may be performed by a control panel 7.

[0035] As shown in FIG. 1, the control device 3 includes a control unit 31 and a communication unit 32.

[0036] The control unit 31 is realized by a processor such as a CPU, and a memory (main storage unit) such as a RAM, a ROM, etc. Specific processing contents of the control unit 31 will be described below.

[0037] The control unit 31 controls the driving of the vehicle 5 based on information (e.g., location information of the vehicle 5, etc.) acquired from the infrastructure facility 4. For example, the control unit 31 accepts a charging reservation for the vehicle 5 from a user (e.g., a driver) of the vehicle 5. This charging reservation may be accepted based on information input into an information terminal carried by the user (e.g., a smartphone connected to the network N), or may be accepted based on information input into an in-vehicle terminal (e.g., a car navigation system connected to the network N) by the user.

[0038] When the vehicle 5's turn to be charged approaches, the control unit 31 uses the location information of the vehicle 5 acquired from the infrastructure 4, etc., to automatically drive the vehicle 5 from the parking space where the vehicle 5 is parked to a waiting space, and then automatically parks the vehicle 5. By moving the vehicle 5 to be charged to the waiting space in advance and leaving it waiting, the time required to switch vehicles 5 to be charged can be minimized, and the availability of the charger 1 can be improved.

[0039] Subsequently, when it is the vehicle 5's turn to be charged, the control unit 31 uses the location information of the vehicle 5 acquired from the infrastructure 4 to automatically drive the vehicle 5 from the waiting space to the charging space Sp1 and then automatically parks the vehicle 5. Then, the control unit 31 causes the automatic charging robot 2 to grasp the charging connector 13, and causes the automatic charging robot 2 to insert the grasped charging connector 13 into the charging port 53, thereby starting charging by the charger 1.

[0040] Next, when charging of the vehicle 5 is completed, the control unit 31 causes the automatic charging robot 2 to grip the charging connector 13 again and remove the gripped charging connector 13 from the charging port 53. Next, using the position information of the vehicle 5 acquired from the infrastructure facility 4, the control unit 31 causes the vehicle 5 to automatically drive from the charging space Sp1 to a waiting space, and then automatically parks the vehicle 5.

[0041] When parking the vehicle 5 in the charging space Sp1, the control unit 31 parks the vehicle 5 so that the charging port 53 faces the charger 1. For example, when charging a vehicle 5 whose charging port 53 is located on the front left side, as shown in Fig. 3 , the vehicle 5 is parked in the charging space Sp1 to the right of the charger 1 with the front of the vehicle facing upward on the paper and the rear of the vehicle facing downward on the paper so that the charging port 53 is on the left side. Conversely, the vehicle 5 is parked in the charging space Sp1 to the left of the charger 1 with the front of the vehicle facing downward on the paper so that the charging port 53 is on the right side.

[0042] Depending on the model of vehicle 5, charging port 53 may be located on the front right side or rear right side of vehicle 5, opposite to that shown in Figure 3. In this case, for example, in the example of two vehicles 5 shown in Figure 3, vehicle 5 is parked in charging space Sp1 on the right side of charger 1 with the front of the vehicle facing downward on the paper and the rear of the vehicle facing upward on the paper so that charging port 53 is on the left side. Conversely, vehicle 5 is parked in charging space Sp1 on the left side of charger 1 with the front of the vehicle facing upward on the paper so that charging port 53 is on the right side.

[0043] The control unit 31 can charge two or more vehicles 5 simultaneously using one automatic charging robot 2. In this case, the control unit 31 moves the first vehicle 5 (hereinafter referred to as "vehicle A") to a predetermined position (charging space Sp1 on the right side of the page). Next, the control unit 31 causes the automatic charging robot 2 to grasp the charging connector 13 of the first charger 1 (charger 1 on the upper side of the page). Next, the control unit 31 inserts the charging connector 13 grasped by the automatic charging robot 2 into the charging port 53 of vehicle A, causing charging of vehicle A to begin.

[0044] Next, the control unit 31 moves the second vehicle 5 (hereinafter referred to as "vehicle B") to a predetermined position (charging space Sp1 on the left side of the page). Next, the control unit 31 causes the automatic charging robot 2 to grasp the charging connector 13 of the second charger 1 (charger 1 on the lower side of the page). Next, while vehicle A is being charged, the control unit 31 inserts the charging connector 13 grasped by the automatic charging robot 2 into the charging port 53 of vehicle B, and starts charging vehicle B.

[0045] FIG. 4 is a flowchart showing the overall flow of the charging method executed by the charging system 100 according to the first embodiment.

[0046] First, the user makes a reservation for charging (step S1). This reservation for charging may be made, for example, through an information terminal carried by the user (for example, a smartphone connected to the network N) or through an in-vehicle terminal (for example, a car navigation system connected to the network N).

[0047] Next, the control device 3 acquires charging reservation information from the information terminal or the in-vehicle terminal (step S2). This reservation information includes information necessary for charging the vehicle 5 by the charger 1.

[0048] The reservation information includes, for example, information for identifying the user (e.g., a user ID), information regarding the date and time the charging reservation was sent, and information regarding the date and time the user desires to charge. The reservation information also includes other information for identifying the vehicle 5 (e.g., a vehicle number), information regarding the location of the charging port 53 of the vehicle 5, information regarding the remaining battery level (SOC: State Of Charge) of the vehicle 5, and the current location of the vehicle 5. Note that "information regarding the location of the charging port 53" is, for example, information regarding where the charging port 53 is located among the front left side, rear left side, front right side, rear right side, front center, and rear center of the vehicle 5.

[0049] Next, the control device 3 determines the order of charging of the vehicles 5 for which reservations have been accepted (step S3). In step S3, the order of charging of the vehicles 5 is determined based on, for example, the number of other vehicles 5 for which charging reservations have been accepted at the same time or around the same time, and the time until charging is completed predicted from the remaining battery power of the other vehicles 5. Also, in step S3, the control device 3 transmits information (order information) about the determined order to the vehicles 5 (and the user's information terminal and in-vehicle terminal).

[0050] Next, the user parks the vehicle 5 in a parking space in the parking lot (the parking lot where the charger 1 is installed) (step S4). Next, the user gets out of the vehicle 5, opens the charging lid 54 and the charging port cover (step S5), and leaves the parking space.

[0051] Next, the vehicle 5 automatically drives from the parking space to the waiting space based on instructions from the control device 3 (step S6). Then, when the vehicle's turn for charging arrives, the vehicle 5 automatically drives from the waiting space to the charging space Sp1 based on instructions from the control device 3 (step S7).

[0052] When the vehicle 5 stops in the charging space Sp1, the control device 3 transmits an instruction (grasp instruction) to the automatic charging robot 2 to grasp the charging connector 13 (step S8). In response to this, the automatic charging robot 2 grasps the charging connector 13 with the arm mechanism 20 (step S9) and moves the charging connector 13 to the vicinity of the charging port 53. Next, the automatic charging robot 2 detects the position of the charging port 53, for example, by pattern matching based on image information of the charging port 53 captured by the camera 23 (step S10), and inserts the charging connector 13 into the charging port 53 (step S11).

[0053] Next, the automatic charging robot 2 locks the charging connector 13 to the charging port 53 (vehicle 5) using a locking mechanism or the like to prevent the charging connector 13 from coming off the charging port 53 (step S12), releases the arm tip 24 of the arm mechanism 20 from gripping the charging connector 13, and returns to a predetermined standby position (step S13). Note that the "predetermined standby position" may be, for example, a state in which the entire arm mechanism 20 is contained within the range of the stand 6 (a state in which the arm mechanism 20 does not protrude from the stand 6), as shown in FIG. 1 . Also, in step S13, the automatic charging robot 2 transmits information regarding the current operating states of the arm mechanism 20, charging connector 13, and the like (for example, the current position of the arm mechanism 20 and whether or not the charging connector 13 is locked) to the control device 3.

[0054] Next, the control device 3 transmits information (charging start instruction information) to the charger 1 instructing the charger 1 to start charging the vehicle 5 (step S14). Next, the charger 1 starts charging the vehicle 5 (step S15). Next, when charging of the vehicle 5 is completed (step S16), the charger 1 transmits information (charging completion information) to the automatic charging robot 2 indicating that charging is completed.

[0055] Next, the automatic charging robot 2 unlocks the charging connector 13 (step S17) and removes the charging connector 13 from the charging port 53 using the arm tip 24 of the arm mechanism 20 (step S18). Next, the automatic charging robot 2 returns the removed charging connector 13 to a predetermined position on the charger 1 (for example, the side of the charger 1) (step S19), releases the grip of the charging connector 13 by the arm tip 24, and returns the arm mechanism 20 to a predetermined standby position (step S20).

[0056] Next, the vehicle 5 automatically travels from the charging space Sp1 to the waiting space (step S21) based on instructions from the control device 3. Next, the user closes the charging port cover and the charging lid 54 in the waiting space, gets into the vehicle 5 (step S22), and leaves the parking lot.

[0057] Although not shown in Fig. 4, when the vehicle 5 is traveling automatically in steps S6, S7, and S21, the automatic traveling is realized by constant communication between the control device 3 and the vehicle 5. In this case, the control device 3 identifies the location of the vehicle 5 based on information acquired from the infrastructure facility 4, for example, and sequentially transmits to the vehicle 5 the locations of the waiting space and charging space Sp1, as well as the traveling route to the waiting space and charging space Sp1. In this way, the control device 3 controls the traveling of the vehicle 5 within the parking lot.

[0058] In the charging system 100 according to the first embodiment described above, a single fixed arm mechanism 20 is used to operate a plurality of charging connectors 13, and a plurality of vehicles 5 are simultaneously charged. In this case, since the arm mechanism 20 itself cannot move, the plurality of vehicles 5 can be simultaneously charged by moving the vehicle 5 while the charging connector 13 is inserted and charging is being performed.

[0059] As described above, the charging system 100 according to the first embodiment can charge two or more vehicles 5 simultaneously with a simple configuration, regardless of the location of the charging port 53 of the vehicle 5 or the type of parking lot, thereby increasing the charging turnover rate. As a result, it is possible to shorten the time that users have to wait for charging, and to improve profitability when developing a business of charging vehicles 5. Furthermore, by using the automatic driving and automatic parking of the vehicle 5 to charge the vehicle 5, it is not necessary for the user to wait for charging, and convenience for the user is improved.

[0060] FIG. 5 is a side view showing a schematic configuration of the charging system 100 according to the first embodiment.

[0061] In the charging system 100 according to the first embodiment, as shown in FIG. 5 , the automatic charging robot 2 has a plurality of restraint bands 25, which are holding members that hold and restrain the charging cable 14 along the robot arm 201 of the arm mechanism 20. The restraint bands 25 are made of, for example, metal or resin, and hold and restrain the charging cable 14 to the robot arm 201 by clamping the charging cable 14 around the outer periphery of the robot arm 201 and tightening the bands in a circular shape. Note that the restraint bands 25 are not limited to holding and restraining the robot arm 201 and the charging cable 14 in close contact with each other while clamping the charging cable 14 around the outer periphery of the robot arm 201. For example, even if there is a gap between the robot arm 201 and the charging cable 14, the restraint bands 25 may hold and restrain the charging cable 14 so as to restrict movement of the charging cable 14 away from the robot arm 201 within a predetermined range.

[0062] In charging system 100 according to the first embodiment, charging cable 14 is held and restrained by a plurality of restraint bands 25 so that charging cable 14 is aligned with robot arm 201 of arm mechanism 20 of automatic charging robot 2. As a result, when performing an action such as gripping charging connector 13 and inserting it into charging port 53, or removing charging connector 13 from charging port 53 and returning charging connector 13 to a predetermined position such as the side of charger 1, movement of charging cable 14 away from robot arm 201 is restricted within a predetermined range, reducing slack and preventing charging cable 14 from coming into contact with vehicle 5.

[0063] (Embodiment 2) Hereinafter, a charging system including an automatic charging robot according to a second embodiment of the present invention will be described. Note that in this embodiment, the same configuration as in the first embodiment will not be described as appropriate.

[0064] FIG. 6 is a side view showing a schematic configuration of a charging system 100 according to the second embodiment.

[0065] In the charging system 100 according to the second embodiment, as shown in FIG. 6 , a tensioning device 8 that applies tension to a charging cable 14 is provided on the opposite side of the charger 1 from the automatic charging robot 2. The tensioning device 8 is composed of an upside-down L-shaped support 80 that is installed and fixed on the base 6, an annular tensioner 81 that pulls the charging cable 14 to apply tension, and a holding member 82 that holds the tensioner 81 so that it hangs from the support 80. One end of the charging cable 14 is connected to the charger 1, and the other end is connected to a charging connector 13 via the tensioner 81. The charging connector 13 is detachably held in a holder 151 of a connector stand 15 that is provided on the base 6 below the tensioner 81.

[0066] In charging system 100 according to the second embodiment, tension is applied to charging cable 14 by tensioning device 8 (tensioner 81) so that the excess length of charging cable 14 does not become longer than necessary. As a result, in charging system 100 according to the second embodiment, slack in charging cable 14 is reduced and contact of charging cable 14 with vehicle 5 can be prevented during actions such as gripping charging connector 13 and inserting it into charging port 53, or removing charging connector 13 from charging port 53 and returning charging connector 13 to a predetermined position, such as the side of charger 1.

[0067] (Embodiment 3) Hereinafter, a third embodiment of a charging system including an automatic charging robot according to the present invention will be described. Note that in this embodiment, the same configurations as those in the first and second embodiments will not be described as appropriate.

[0068] FIG. 7 is a side view showing a main part of a schematic configuration of a charging system 100 according to the third embodiment.

[0069] 7, in the charging system 100 according to the third embodiment, a hook member 26 capable of hooking the charging cable 14 is provided on the robot arm 201 of the arm mechanism 20 of the automatic charging robot 2. In the charging system 100 according to the third embodiment, as shown in FIG. 7(a), the charging connector 13 is detachably held in the holder 151 of the connector stand 15, so that the charging cable 14 hangs down from the charger 1 in a specified shape that can be hooked by the hook member 26 of the arm mechanism 20.

[0070] 7(b), before the robot hand 241 provided at the arm tip 24 of the arm mechanism 20 grasps the charging connector 13, the control unit 21 of the automatic charging robot 2 controls the drive device to move the robot arm 201 of the arm mechanism 20 so that the charging cable 14 is hooked onto the hook member 26. Furthermore, for example, after the charging connector 13 is returned to the holder 151 of the connector stand 15, the control unit 21 of the automatic charging robot 2 controls the drive device to move the robot arm 201 of the arm mechanism 20 so that the charging cable 14 is released from the hook member 26.

[0071] As a result, in the charging system 100 of embodiment 3, when performing actions such as grasping the charging connector 13 and inserting it into the charging port 53, or removing the charging connector 13 from the charging port 53 and returning the charging connector 13 to the holder 151 of the connector stand 15, the slack in the charging cable 14 can be reduced, thereby preventing the charging cable 14 from coming into contact with the vehicle 5. [Explanation of symbols]

[0072] 1 charger 2. Automatic charging robot 3. Control device 5 vehicles 6 Mounting stand 8 Tensioning device 11 Control section 12 Communications Department 13 Charging connector 14 Charging cable 15 Connector stand 20 Arm mechanism 21 Control Unit 22 Communications Department 23 Camera 24 Arm tip 25 Restraint Band 26 Hook member 53 Charging port 54 Charging lid 80 pillars 81 Tensioner 82 Retaining member 100 Charging System 151 Holder 201 Robot Arm 241 Robot Hand

Claims

1. an arm mechanism capable of gripping a charging connector connected to the charging device by a charging cable; a control device that automatically controls the operation of the arm mechanism; Equipped with a holding member for holding the charging cable along the arm portion of the arm mechanism; Automatic charging robot.

2. an arm mechanism capable of gripping a charging connector connected to the charging device by a charging cable; a control device that automatically controls the operation of the arm mechanism; Equipped with a hook member that can hook the charging cable onto the arm mechanism; Automatic charging robot.

3. a charging device to which the charging connector is connected via a charging cable; an automatic charging robot including an arm mechanism capable of gripping the charging connector and a control device that automatically controls the operation of the arm mechanism; Equipped with A tensioning device is provided to apply tension to the charging cable. Charging system.

4. a charging device to which the charging connector is connected via a charging cable; The automatic charging robot according to claim 1 or 2; A charging system comprising:

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