Electric Vehicle Charging Robot

Abstract

An electric vehicle charging robot having a charging connector that can be connected to an electric vehicle charging socket to supply power disclosed by the present invention comprises: a main body frame having a support member that extends in the vertical direction and at least its upper end is installed to be movable up and down; a SCARA-type multi-joint link section coupled to the upper side of the main body frame and each having a plurality of link arms that are movable and rotatable in the horizontal direction; and a flexible joint unit located between the end of the multi-joint link section and the charging connector.

Description

Technology Field

[0001] The present invention relates to an electric vehicle charging device, and more specifically, to an electric vehicle charging device having a multi-joint link that allows a front end for charging to move. Background Technology

[0002] When charging an electric vehicle using a wired charging method, a vehicle coupler attached to the front end of the cable is typically moved and rotated to connect to the vehicle, and the connector is connected to the vehicle's charging socket before charging begins. Robotic devices are sometimes utilized to facilitate the movement and support of the cable and the vehicle coupler. Examples of this include the devices described in Registered Patent Publication No. 10-2015796 and Registered Patent Publication No. 10-1075944.

[0003] However, unlike general robots, the robot arm of an electric vehicle charging system (hereinafter referred to as the "electric vehicle charging robot") may experience various disturbances during charging. Such disturbances include passenger boarding and alighting, loading and unloading of goods, external impacts, and vibrations. Since failure to respond appropriately to disturbances can result in damage to the electric vehicle charging robot and / or the vehicle, and in some cases even cause injury to charging workers or drivers, technology capable of responding flexibly to disturbances is required.

[0004] However, in the case of general robots, each joint has a high reduction ratio, so backdrivability is low when an external force is applied, making it difficult to respond in real time to disturbances that may occur during charging. If the reduction ratio of the robot joints is lowered to increase backdrivability, there is a problem that the motor becomes larger and the robot's external size increases.

[0005] Although virtual inverse actuation can be implemented in a robot using active control technologies such as visual servoing or impedance control in the event of disturbances, these methods suffer from low reliability, large errors, and slow response speeds, making it difficult to respond to rapid displacements in real time. Conventional SCARA (Selective Compliance Assembly Robot Arm) structures can provide inverse actuation for planar movement (i.e., direction within the xy plane) but lack inverse actuation for vertical movement (i.e., z-axis direction). Furthermore, it is impossible to respond to tilting in various directions that may occur during charging, such as rolling, pitching, and yaw.

[0006] While it is possible to add rolling, pitching, and yaw flexibility to a robot by using general elastic elements such as springs, this results in reduced rigidity, leading to a problem of degraded precision performance in general tasks. Prior art literature

[0007] Registered Patent Publication No. 10-2015796 (August 29, 2019) Registered Patent Publication No. 10-1075944 (October 21, 2011) The problem to be solved

[0008] We aim to provide an electric vehicle charging robot capable of absorbing external changes so as to prevent damage to the connected vehicle and the electric vehicle charging robot even when movement occurs in the electric vehicle, such as when passengers get on or off or when goods are loaded or unloaded, while the electric vehicle charging device is connected to the vehicle and charging electricity. means of solving the problem

[0009] An electric vehicle charging robot having a charging connector that can be connected to an electric vehicle charging socket to supply power according to an embodiment of the present invention for achieving the above objective comprises: a main body frame having a support member that extends in the vertical direction and is installed such that at least its upper end can be raised and lowered; a SCARA-type multi-joint link section coupled to the upper side of the main body frame and having a plurality of link arms each capable of moving and rotating in the horizontal direction; and a flexible joint unit located between the end of the multi-joint link section and the charging connector.

[0010] The flexible joint unit has three degrees of rotational freedom, allowing the charging connector to be easily moved to and connected to the electric vehicle charging socket.

[0011] The flexible joint unit may include a cam base having a plurality of cams formed to be indented inward; a cam disposed opposite to the cam base; and a cam follower provided to correspond to the plurality of cams.

[0012] The flexible joint unit may further include a plurality of springs, each having one end supported by the cam follower and the other end supported by the cap.

[0013] The above main body frame may further include a gravity compensation member that facilitates the lifting and lowering of the support while preventing rapid lifting and lowering.

[0014] The gravity compensation unit may further include a weight between the support and the mounting surface.

[0015] The gravity compensation member may further include a static load spring between the support and the installation surface.

[0016] The above charging connector may further include a camera that photographs the connection between the socket part and the charging connector so as to check the connection state between the socket part of the electric vehicle and the charging connector during charging.

[0017] The above-mentioned multi-joint link section of the SCARA type may further include a reduction gear that connects multiple link arms.

[0018] The system further includes a processor and a memory for storing program instructions executed by the processor, and the program instructions can perform an operation to control the multi-joint link when executed by the processor.

[0019] The above program commands can control the multi-joint link portion so that the charging connector is connected to the electric vehicle charging socket by referring to the image acquired by the camera.

[0020] An electric vehicle charging robot according to another embodiment of the present invention for achieving the above objective, comprising a main body frame having a charging connector that can be connected to an electric vehicle charging socket to supply power, and a support member that extends in the vertical direction and is installed such that at least its upper end can be raised and lowered, wherein the main body frame may further include a gravity compensation member that facilitates the raising and lowering of the support member while preventing rapid raising and lowering.

[0021] The gravity compensation unit may further include a weight between the support and the mounting surface.

[0022] The gravity compensation member may further include a static load spring between the support and the installation surface.

[0023] According to another embodiment of the present invention for achieving the above objective, an electric vehicle charging robot comprises a SCARA-type multi-joint link section each having a plurality of link arms capable of moving and rotating in a horizontal direction, and a charging connector that can be connected to an electric vehicle charging socket to supply power to the end of the multi-joint link section, wherein the robot comprises a flexible joint unit located between the end of the multi-joint link section and the charging connector.

[0024] The flexible joint unit has three degrees of rotational freedom, allowing the charging connector to be easily moved to and connected to the electric vehicle charging socket.

[0025] The flexible joint unit may include: a cam base having a plurality of cams formed to be indented inward; a cam disposed opposite to the cam base; and a cam follower provided to correspond to the plurality of cams.

[0026] The flexible joint unit may further include a plurality of springs, each having one end supported by the cam follower and the other end supported by the cap.

[0027] The above charging connector may further include a camera that photographs the connection between the socket part and the charging connector so as to check the connection state between the socket part of the electric vehicle and the charging connector during charging.

[0028] The device further includes a processor and a memory for storing program instructions executed by the processor, wherein the program instructions can control the multi-joint link portion so that the charging connector is connected to the electric vehicle charging socket by referring to the image acquired by the camera. Effects of the invention

[0029] According to one embodiment of the present invention, the electric vehicle charging robot flexibly responds to the movement of the vehicle, thereby enabling safe boarding and alighting of passengers and loading and unloading of goods even while charging.

[0030] Passengers can be granted the freedom to board and disembark while electric vehicles are being charged. In particular, electric vehicles used to transport goods, such as cargo trucks, can load and unload goods while the vehicle is being charged, thereby utilizing the charging time that increases in proportion to the battery size, which will greatly increase the utility of electric vehicles in the cargo sector.

[0031] In addition, by attaching a camera to the charging connector to check the connection status of the electric vehicle's charging part and the charging connector in real time, it is possible to identify and take action against connector detachment that may occur during charging, thereby preventing safety accidents and enhancing the reliability of the electric vehicle charging robot. Brief explanation of the drawing

[0032] FIG. 1 is a perspective view of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 2 is a side view of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 3 is a drawing for explaining a lifting and lowering device of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 4 is a cross-sectional view of the second to fourth joints of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 5 is a perspective view of a flexible joint unit of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 6 is a cross-sectional view of a flexible joint unit of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 7a is a diagram showing the state when no external force is applied to the flexible joint unit of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 7b is a state diagram when an external force is applied to a flexible joint unit of an electric vehicle charging robot according to one embodiment of the present invention. FIG. 8 is a configuration diagram of an electric vehicle charging robot according to one embodiment of the present invention. Specific details for implementing the invention

[0033] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail.

[0034] However, this is not intended to limit the invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0035] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0036] In the embodiments of the present application, "at least one of A and B" may mean "at least one of A or B" or "at least one of one or more combinations of A and B". Additionally, in the embodiments of the present application, "at least one of A and B" may mean "at least one of A or B" or "at least one of one or more combinations of A and B".

[0037] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0038] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0039] Spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used to facilitate the description of the relationship between one component and other components as illustrated in the drawings. Spatially relative terms should be understood as encompassing different orientations of components during use or operation, in addition to the orientations depicted in the drawings. For example, if a component depicted in a drawing is inverted, a component described as "below" or "beneath" of another component may be placed "above" of that component. Therefore, the exemplary term "below" may encompass both the lower and upper directions. Components may also be oriented in other directions, and accordingly, spatially relative terms may be interpreted according to the orientation.

[0040] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0041] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings. In order to facilitate an overall understanding of the present invention, the same reference numerals are used for identical components in the drawings, and redundant descriptions of identical components are omitted.

[0042] Hereinafter, an electric vehicle charging robot (1) according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

[0043] FIG. 1 is a perspective view of an electric vehicle charging robot (1) according to one embodiment of the present invention, and FIG. 2 is a side view of an electric vehicle charging robot (1) according to one embodiment of the present invention.

[0044] The electric vehicle charging robot (1) supports a charging cable (420) that supplies power for charging by connecting it to an electric vehicle (not shown) and facilitates the movement of the charging cable (420), and comprises a main body frame (100), a multi-joint link part (300) connected to and supported on the upper side of the main body frame (100), and a charging connector (400) connected to the outer end of the multi-joint link part (300) through a flexible joint unit (500).

[0045] The above main body frame (100) includes an upper housing (110) and a lower housing (120). The upper housing (110) is configured to move up and down relative to the lower housing (120) by means of a lifting / lowering device (200) installed inside the main body frame (100). The upper housing (110) and the lower housing (120) may be joined by a connecting member having a structure or material such as a bellows, for example, and thereby can absorb the displacement difference that occurs when the upper housing (110) moves up and down.

[0046] FIG. 3 is a cross-sectional view of a main body frame showing the configuration of a lifting / lowering device (200) according to one embodiment of the present invention. For convenience, the upper housing (110) and the lower housing (120) are not shown in FIG. 3. The illustrated lifting / lowering device (200) performs the function of the first joint (10) mentioned above.

[0047] A support member (210) is installed inside the main body frame (100) and extends vertically in the center. On one side of the support member (210), a ball screw (220) extending parallel to the support member (210) and a slider (230) capable of moving up and down by the ball screw (220) are installed. The slider (230) can move up and down along the ball screw (220) while being supported by a linear (LM) guide (240).

[0048] One end of the wire (250) is connected to the top of the slider (230). The wire (250) extends to the opposite side of the slider (230) relative to the support (210) via a pulley (260) rotatably installed on the top of the support (210), and the other end is fixed around the base plate (140).

[0049] A static load spring (270) is installed near the other end of the wire (250), and a counter balance (280) is installed at a point on the wire (250).

[0050] The constant load spring (270) is a long plate spring bent at a constant curvature that applies a restoring force independent of the stroke to the wire (250), thereby allowing the slider (230) and the upper housing (110) to move up and down smoothly.

[0051] Additionally, the support member (210) may be attached to or connected to the lower housing (120) or the base plate (140), and the slider (230) may be connected to the upper housing (110). Thus, the slider (230) can move up and down according to the movement of the wire (250), and the upper housing (110) can also move up and down together. The up and down movement of the upper housing (110) is accompanied by the up and down movement of all the links and joints listed above, and the charging connector (400).

[0052] The constant load spring (270) and the weight (280) constitute a gravity compensation unit that compensates for the gravity applied to the wire through the slider according to the self-weight and external force of the electric vehicle charging robot.

[0053] If gravity compensation is performed using only the constant load spring (270), the system can be made lighter, but an error in gravity compensation occurs. Conversely, if only the weight (280) is used, there is no error in gravity compensation, but there is a disadvantage that the overall weight of the system increases.

[0054] According to one embodiment of the present invention, by configuring a hybrid gravity compensation unit using a constant load spring (270) and a weight (280), the accuracy of gravity compensation is improved and the system is made smaller and lighter. In addition, such a hybrid gravity compensation unit has the advantage of enabling real-time response to disturbances of rising and falling during vehicle charging.

[0055] Although not shown in the drawing, a motor, a timing pulley for transmitting power from the motor, and a belt may be additionally provided on the lower side of the main body frame. In cases where the vertical stroke of the electric vehicle charging robot is large, additional gravity compensation can be implemented by utilizing the motor.

[0056] Referring again to FIG. 1, the multi-joint link section (300) comprises a first joint (not shown) provided inside the main body frame (100), a first link (310) installed extending outward from the upper side of the main body frame (100), a second link (320) coupled to the first link (310) via a second joint (20) so as to rotate and move horizontally relative to the first link (310), a third link (330) coupled to the second link (320) via a third joint (30) so as to rotate and move horizontally relative to the second link (320), a fourth link (340) coupled to the lower side of the outer end of the third link (330) via a fourth joint (40) so as to rotate around a vertical axis, a fifth joint (50) coupled to the side of the fourth link (340) and extending horizontally, and having a sixth joint (60) axially It is equipped with a rotatable fifth link (350). The multi-joint link is mechanically connected so that it can be moved by human power, and is also electrically connected so that it can be moved by a control command of the system.

[0057] FIG. 4 is a cross-sectional view of any one of the second to fourth joints (20, 30, 40).

[0058] Each joint (20, 30, 40) is equipped with a motor (600), first and second timing pulleys (610, 620), a belt (630), and a reduction gear (640), and the first to fourth links (310, 320, 330, 340) are connected through the second to fourth joints. In addition, the joints (20, 30, 40) may be equipped with an input part (540) and an output part (550) that can be coupled to the front and rear joints, respectively.

[0059] The first timing pulley (610) is positioned to receive power directly from the motor (600), for example, it may be axially coupled to the motor (600), the second timing pulley (620) may be coupled to the harmonic drive reducer (640), and the belt (630) is engaged with the first timing pulley (610) and the second timing pulley (620).

[0060] Accordingly, the power of the motor (600) transmitted to the first timing pulley (610) is transmitted to the reduction gear (640) via the belt (630) and through the second timing pulley (620).

[0061] The reduction gear (640) is a device that reduces the rotational speed of the motor and, conversely, increases the torque. For example, a harmonic drive reducer can be used as the reduction gear.

[0062] The harmonic drive reducer (640) has the advantages of being lightweight, having a high reduction ratio, and having a simple structure, as well as being free of backlash and capable of very precise control. In particular, by considering the reduction ratio between the reverse drive torque of the harmonic drive reducer (640) and the first and second timing pulleys (610, 620), the reverse drive torque of the second to fourth joints is designed to be below a threshold value, allowing the multi-joint link device (300) to respond flexibly when an external force in the left and right direction is applied.

[0063] FIG. 5 is a perspective view of a flexible joint unit according to one embodiment of the present invention, and FIG. 6 is a cross-sectional view of a flexible joint unit according to one embodiment of the present invention.

[0064] The flexible joint unit (500) comprises a cam base (540) on one side, a cap (550) positioned opposite thereto, and a bearing (570) connecting the cam base (540) and the cap (550). On the surface of the cam base (540) facing the cap (550), a plurality of cams (510) are formed by cutting them so as to be indented inward. A cam follower (520) is positioned for each of the plurality of cams (510). A plurality of springs (530) are provided in the space between the cam base (540) and the cap (550), surrounding the bearing (570). One end of each of the plurality of springs (530) is supported by the cam follower (520), and the other end is supported by the cap (550).

[0065] In one embodiment, four cams (510), cam followers (520), and springs (530) may be provided, but the present invention is not limited thereto.

[0066] FIGS. 7a and FIGS. 7b are drawings for explaining the operation of a flexible joint unit (500), where FIGS. 7a shows the case without disturbance and FIGS. 7b shows the case where disturbance acts.

[0067] Referring to FIG. 7a, in the absence of disturbance, the cam follower (520) is supported by being positioned in the groove of the cam (510) while receiving the elastic force of the spring (530), thereby maintaining high rigidity of the flexible joint unit and ensuring the precision performance of the robot.

[0068] On the other hand, when a disturbance acts as in Fig. 7b, the cam follower (520) moves out of the groove of the cam (510), thereby lowering the rigidity of the robot joint and providing flexibility, which prevents damage to the robot and vehicle.

[0069] The flexible joint unit (500) according to one embodiment illustrated in FIG. 5 is a mechanical device, and since no separate sensor, driving device, or controller is used, it allows for the simplification of the system. In particular, the flexible joint unit (500) firmly and elastically supports the members on both sides of the flexible joint unit (500) even when disturbances are applied due to the bearing (570), spring (530), and cam-follower structure (510, 520), and enables effective response to all-around rotational disturbances such as rolling, pitching, and yawing acting on the vehicle during the charging process.

[0070] Here, by changing the 3D cam (510) profile and the spring (530), the threshold point at which the flexible joint unit (500) operates can be changed, and by changing the design of the threshold point according to the weight of the charger and cable, it can be applied to various chargers.

[0071] In addition, by configuring the flexible joint unit (500) mechanically, it has the advantage of being able to respond to external changes without a separate driving device and control system, thereby simplifying the system.

[0072] Referring again to FIG. 1, the charging connector (400) is connected to the outer end of the fifth link (350) via a flexible joint unit (500). The charging connector (400) is equipped with a camera (410) that photographs the connection area to check the status of the charging connector (400) and the vehicle's socket during charging. Additionally, a charger cable (420) is connected to the charging connector (400) to supply power.

[0073] In addition, the charging cable holder (430) attached to the lower surface of the fourth link (340) supports the charging cable (430) by keeping it spaced apart from the ground at a predetermined height, thereby allowing the charging cable (420) to move freely regardless of obstacles that may exist on the ground, and serves to distribute the load that may be applied to the charging connector (400). In addition, it prevents the charging cable (420) from wearing out due to friction with the ground, thereby improving safety and durability.

[0074] FIG. 8 is a configuration diagram of an electric vehicle charging robot according to one embodiment of the present invention.

[0075] Referring to FIG. 8, an electric vehicle charging robot of one embodiment of the present invention includes a processor and a memory in which at least one command executed through the processor is stored, and the at least one command can control a multi-joint link portion to check the socket of the vehicle through a camera and to connect the charging connector (400) to the socket of the vehicle.

[0076] The processor (710) may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which the methods according to embodiments of the present invention are performed.

[0077] Each of the memory (720) and the storage device (760) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (720) may be composed of at least one of read-only memory (ROM) and random access memory (RAM).

[0078] In addition, the electric vehicle charging robot may include a transceiver (730) that communicates via a wireless network.

[0079] Additionally, the electric vehicle charging robot may further include an input interface device (740), an output interface device (750), a storage device (760), etc.

[0080] Additionally, the individual components of the electric vehicle charging robot can communicate with each other by being connected by a bus (770).

[0081] Although the invention has been described with reference to the above embodiments, those skilled in the art will understand that various modifications and changes can be made to the invention without departing from the spirit and scope of the invention as described in the following claims. Explanation of the symbols

[0082] 1 Robot for combining electric vehicle chargers 10 1st joint 20 2nd joint 30 3rd joint 40 4th joint 50 5th joint 60 6th joint 100 main body frame 110 Upper housing 120 Lower housing 130 Casing connection part 140 Base plate 200 Lifting / Lowering Device 210 Support 220 Ball Screw 230 Slider 240 Linear (LM) Guide 250 Wire 260 pulley 270 static load spring 280 weights 300 multi-joint linkage device 310 Link 1 320 Link 2 330 3rd link 340 4th link 350 5th link 400 charging connector 410 Camera 420 Charging Cable 430 Charging cable holder 500 Flexible joint unit 510 Cam 520 Cam Followers 530 Spring 540 Fixing part 550 output section 570 bearings 600 motors 610 1st Timing Pulley 620 2nd Timing Pulley 630 belt 640 reducer 650 output section 610 processor 620 memory 630 Transmitter / Receiver 640 Input Interface Device 650 Output Interface Device 660 Storage Device Bus 670

Claims

Claim 1 An electric vehicle charging robot having a charging connector that can be connected to an electric vehicle charging socket to supply power, comprising: a main body frame having a support member that extends in the vertical direction and is installed such that at least its upper end can be raised and lowered; a multi-joint link member coupled to the upper side of the main body frame and having a plurality of link arms each capable of moving and rotating in the horizontal direction; and a flexible joint unit positioned between the end of the multi-joint link member and the charging connector, wherein the flexible joint unit is positioned in a first position when there is no disturbance, and deviates from the first position and is positioned in a second position when a disturbance is applied, so as to correspond to at least one disturbance such as rolling, pitching, or yawing acting on the vehicle during the charging process, and comprises at least one cam and a cam follower. Claim 2 An electric vehicle charging robot according to claim 1, wherein the flexible joint unit has three degrees of rotational freedom, allowing the charging connector to be easily moved to and connected to the electric vehicle charging socket. Claim 3 An electric vehicle charging robot according to claim 1, wherein the flexible joint unit comprises: a cam base having a plurality of cams, the cam base having a plurality of cams, the plurality of cams having a plurality of cams, the plurality of cams arranged to face the cam base; and a cam follower arranged to correspond to the plurality of cams. Claim 4 An electric vehicle charging robot according to claim 1, wherein the flexible joint unit further comprises a plurality of springs, each having one end supported by the cam follower and the other end supported by the cap. Claim 5 An electric vehicle charging robot according to claim 1, wherein the main body frame further comprises a gravity compensation member that facilitates the lifting and lowering of the support while preventing rapid lifting and lowering. Claim 6 An electric vehicle charging robot according to claim 5, wherein the gravity compensation member further comprises a weight between the support and the mounting surface. Claim 7 An electric vehicle charging robot according to claim 5, wherein the gravity compensation member further includes a static load spring between the support and the mounting surface. Claim 8 An electric vehicle charging robot according to claim 1, wherein the charging connector further includes a camera that photographs the connection portion of the socket portion and the charging connector so as to verify the connection state of the socket portion and the charging connector of the electric vehicle during charging. Claim 9 An electric vehicle charging robot according to claim 1, wherein the multi-joint link portion further includes a reduction gear that connects a plurality of link arms. Claim 10 An electric vehicle charging robot according to claim 8, further comprising a processor and a memory for storing program instructions executed by the processor, wherein the program instructions execute an operation to control the multi-joint link when executed by the processor. Claim 11 An electric vehicle charging robot according to claim 10, wherein the program commands control the multi-joint link portion so that the charging connector is connected to the electric vehicle charging socket by referring to the image acquired by the camera. Claim 12 delete Claim 13 delete Claim 14 delete Claim 15 An electric vehicle charging robot comprising a multi-joint link section each having a plurality of link arms capable of moving and rotating in a horizontal direction, and a charging connector capable of being connected to an electric vehicle charging socket to supply power to the end of the multi-joint link section, wherein the robot comprises a flexible joint unit positioned between the end of the multi-joint link section and the charging connector; wherein the flexible joint unit comprises at least one cam and a cam follower, wherein the flexible joint unit is positioned at a first position when there is no disturbance, and deviates from the first position and is positioned at a second position when a disturbance is applied, so as to correspond to at least one disturbance such as rolling, pitching, or yawing acting on the vehicle during the charging process. Claim 16 An electric vehicle charging robot according to claim 15, wherein the flexible joint unit has three degrees of rotational freedom, allowing the charging connector to be easily moved to and connected to the electric vehicle charging socket. Claim 17 An electric vehicle charging robot according to claim 15, wherein the flexible joint unit comprises: a cam base having a plurality of cams, the cam base having a plurality of cams, the plurality of cams having a plurality of cams, the plurality of cams arranged to face the cam base; and a cam follower arranged to correspond to the plurality of cams. Claim 18 An electric vehicle charging robot according to claim 15, wherein the flexible joint unit further comprises a plurality of springs, each having one end supported by the cam follower and the other end supported by the cap. Claim 19 An electric vehicle charging robot according to claim 15, wherein the charging connector further includes a camera that photographs the connection portion of the socket portion and the charging connector so as to verify the connection state of the socket portion and the charging connector of the electric vehicle during charging. Claim 20 An electric vehicle charging robot according to claim 19, further comprising a processor and a memory for storing program instructions executed by the processor, wherein the program instructions control the multi-joint link portion so that the charging connector is connected to the electric vehicle charging socket by referring to an image acquired by the camera.

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