KR20220068907A - Electric Vehicle Charging Robot - Google Patents

Abstract

According to the present invention, disclosed is an electric vehicle charging robot having a charging connector which can be connected to an electric vehicle charging socket for supplying power. The robot comprises: a main frame, where at least an upper end has a support installed to ascend and descend, vertically extended, vertically extended; a SCARA type multi-joint link unit coupled to an upper side of the main body frame and having a plurality of link arms which can be respectively moved and rotated in a horizontal direction; and a flexible joint unit positioned between the bottom end of the multi-joint link unit and the charging connector.

Description

Electric Vehicle Charging Robot

The present invention relates to an electric vehicle charging device, and more particularly, to an electric vehicle charging device having a multi-joint link to move a tip for charging.

When charging an electric vehicle by an electric vehicle charging device of the Wired Charging method, the vehicle coupler attached to the front end of the cable is usually moved and rotated and fastened to the vehicle so that the connector is connected to the vehicle's charging socket. After connecting to the , it will charge. Robot devices are sometimes used to facilitate movement and support of cables and vehicle couplers. Examples of such devices are the devices described in Korean Patent Publication No. 10-2015796 and Korean Patent Publication No. 10-1075944.

However, the robot arm of the electric vehicle charging system (hereinafter, referred to as “electric vehicle charging robot”) may experience various disturbances during charging, unlike a general robot. Such disturbances include passengers getting on and off, loading and unloading goods, and external shocks and vibrations. A technology that responds flexibly to disturbances is needed because failure to adequately respond to disturbances can damage electric vehicle charging robots and/or vehicles, and in some cases even cause injury to charging workers or drivers.

However, in the case of a general robot, since each joint has a high reduction ratio, backdrivability is low when an external force is applied, making it difficult to respond to disturbances that may occur during charging in real time. If the reduction ratio of the robot joints is lowered to increase the reverse driveability, there is a problem in that the motor becomes larger and the outer shape of the robot becomes larger.

In case of disturbance, it is possible to implement virtual reverse driveability to the robot with active control technology through visual servoing technology or impedance control, but rapid displacement in real time due to low reliability, large error, and slow reaction speed difficult to respond to A typical SCARA (Selective Compliance Assembly Robot Arm) robot structure can provide reverse driveability for plane (i.e., direction within the xy-plane) motion, but no back-drive for up-and-down (i.e., z-axis direction) motion. . In addition, it is impossible to respond to inclinations in various directions that may occur during charging, that is, rolling, pitching, and yaw.

Although it is possible to add the flexibility of rolling, pitching, and yaw to the robot by using a general elastic body such as a spring, in this case, the rigidity of the robot is lowered, and there is a problem that precision performance in general operation is lowered. .

Registered Patent Publication No. 10-155796 (2019.08.29.) Registered Patent Publication No. 10-1075944 (2011.10.21.)

In the process of charging electricity by binding the electric vehicle charging device to the vehicle, even if there is movement in the electric vehicle, such as when passengers get on or off or when loading and unloading goods, it is possible to prevent damage to the connected vehicle and the electric vehicle charging robot. We want to provide an electric vehicle charging robot that can absorb external changes.

As an electric vehicle charging robot having a charging connector that can be connected to an electric vehicle charging socket in order to supply power according to an embodiment of the present invention for achieving the above object, it is extended in the vertical direction and at least its upper end can be raised and lowered a body frame having a support to be installed; a multi-joint link unit coupled to the upper side of the body frame, each having a plurality of link arms movable and rotatable in the horizontal direction; and a flexible joint unit positioned between the distal end of the articulated link and the charging connector.

The flexible joint unit may have a three-axis rotational degree of freedom so that the charging connector can be easily moved and fastened to the electric vehicle charging socket.

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

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.

The body frame may further include a gravity compensator for preventing abrupt elevation and elevation while facilitating elevation of the support.

The gravity compensator may further include a weight between the support and the installation surface.

The gravity compensator may further include a static load spring between the support and the installation surface.

The charging connector may further include a camera photographing a coupling portion between the socket unit and the charging connector so as to check a coupling state between the socket unit and the charging connector of the electric vehicle during charging.

The multi-joint link unit of the scara type may further include a speed reducer for connecting a plurality of link arms.

A processor and a memory for storing program instructions executed by the processor, wherein the program instructions are executed by the processor to control the articulated link unit.

The program commands may control the articulated link unit so that the charging connector is connected to the electric vehicle charging socket with reference to the image acquired by the camera.

In order to supply electric power according to another embodiment of the present invention for achieving the above object, a support including a charging connector that can be connected to an electric vehicle charging socket, extending in the vertical direction and having at least an upper end installed so as to be able to move up and down As an electric vehicle charging robot including a body frame having a body frame, the body frame may further include a gravity compensator for preventing abrupt elevation while facilitating elevation of the support.

The gravity compensator may further include a weight between the support and the installation surface.

The gravity compensator may further include a static load spring between the support and the installation surface.

According to another embodiment of the present invention for achieving the above object, each of which includes a multi-joint link portion of the SCARA method having a plurality of link arms movable and rotatable in the horizontal direction, and at the distal end of the multi-joint link portion. An electric vehicle charging robot having a charging connector that can be connected to an electric vehicle charging socket to supply power, a flexible joint unit positioned between the distal end of the articulated link part and the charging connector; includes.

The flexible joint unit may have a three-axis rotational degree of freedom so that the charging connector can be easily moved and fastened to the electric vehicle charging socket.

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

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.

The charging connector may further include a camera photographing a coupling portion between the socket unit and the charging connector so as to check a coupling state between the socket unit and the charging connector of the electric vehicle during charging.

Further comprising a processor and a memory for storing program instructions executed by the processor, wherein the program instructions refer to the image acquired by the camera, so that the charging connector is connected to the electric vehicle charging socket. The link unit can be controlled.

According to an embodiment of the present invention, since the electric vehicle charging robot flexibly responds to the movement of the vehicle, it is possible to safely get on and off the occupants and loading and unloading objects while charging.

The freedom of getting on and off the occupants can be granted while charging the electric vehicle. In particular, electric vehicles that transport goods, such as trucks, can load and unload goods while charging the vehicle, so that the charging time that increases in proportion to the size of the battery can be utilized, thereby greatly increasing the utility of electric vehicles in the cargo field. .

In addition, by attaching a camera to the charging connector so that the coupling state of the charging part of the electric vehicle and the charging connector can be checked in real time, it is possible to check and take action on the disconnection of the connector that may occur during charging, thereby preventing safety accidents and improving the electric vehicle. The reliability of the charging robot can be improved.

1 is a perspective view of an electric vehicle charging robot according to an embodiment of the present invention.
2 is a side view of an electric vehicle charging robot according to an embodiment of the present invention.
3 is a view for explaining an elevating device of an electric vehicle charging robot according to an embodiment of the present invention.
4 is a cross-sectional view of the second to fourth joints of the electric vehicle charging robot according to an embodiment of the present invention.
5 is a perspective view of a flexible joint unit of an electric vehicle charging robot according to an embodiment of the present invention.
6 is a cross-sectional view of a flexible joint unit of an electric vehicle charging robot according to an embodiment of the present invention.
7A is a state diagram in a case in which an external force does not act on the flexible joint unit of the electric vehicle charging robot according to an embodiment of the present invention.
7B is a state diagram when an external force is applied to the flexible joint unit of the electric vehicle charging robot according to an embodiment of the present invention.
8 is a block diagram of an electric vehicle charging robot according to an embodiment of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

In 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 combinations of one or more of A and B”. Also, 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 combinations of one or more of A and B”.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms including different directions of components during use or operation in addition to the directions shown in the drawings. For example, when a component shown in the drawing is turned over, a component described as “beneath” or “beneath” of another component may be placed “above” of the other component. can Accordingly, the exemplary term “below” may include both directions below and above. Components may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In explaining the present invention, in order to facilitate the overall understanding, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

Hereinafter, an electric vehicle charging robot 1 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of an electric vehicle charging robot 1 according to an embodiment of the present invention, and FIG. 2 is a side view of an electric vehicle charging robot 1 according to an embodiment of the present invention.

The electric vehicle charging robot 1 is fastened to an electric vehicle (not shown) to support the charging cable 420 supplying power for charging, and to facilitate the movement of the charging cable 420, the main body frame (100), the multi-joint link part 300 connected to and supported on the upper side of the body frame 100, and the charging connected to the outer end of the multi-joint link part 300 through the flexible joint unit 500 A connector 400 is provided.

The body frame 100 includes an upper housing 110 and a lower housing 120 . The upper housing 110 can be raised and lowered with respect to the lower housing 120 by the elevating device 200 installed inside the body frame 100 . The upper housing 110 and the lower housing 120 may be coupled by a connecting member having a structure or material such as, for example, a bellows, thereby absorbing a displacement difference generated when the upper housing 110 is raised and lowered.

3 is a cross-sectional view of the body frame showing the configuration of the elevating device 200 according to an embodiment of the present invention. For convenience, the upper housing 110 and the lower housing 120 are not shown in FIG. 3 . The illustrated elevating device 200 acts as the first joint 10 mentioned above.

Inside the body frame 100, the support 210 is installed to extend in the vertical direction at the center is installed. On one side of the support 210 , a ball screw 220 extending in a direction parallel to the support 210 and a slider 230 that can be raised and lowered by the ball screw 220 are installed. The slider 230 may ascend and descend along the ball screw 220 while being supported by the linear (LM) guide 240 .

One end of the wire 250 is coupled to the upper end of the slider 230 . The wire 250 extends to the opposite side of the support 210 reference slider 230 via a pulley 260 rotatably installed on the upper end of the support 210 and the other end is fixed around the base plate 140 .

A static load spring 270 is installed near the other end of the wire 250 , and a counter balance 280 is installed at any one point on the wire 250 .

The static load spring 270 is a long plate spring bent at a constant curvature, and by applying a restoring force independent of the stroke to the wire 250, the slider 230 and the upper housing 110 smoothly move up and down. .

In addition, the support 210 may be attached or fastened to the lower housing 120 or the base plate 140 , and the slider 230 may be fastened to the upper housing 110 . Accordingly, the slider 230 can be raised and lowered according to the movement of the wire 250 , and the upper housing 110 can also be raised and lowered together. Elevation of the upper housing 110 is accompanied by all the links and joints listed above, and the elevating movement of the charging connector 400 .

The static load spring 270 and the weight 280 constitute a gravity compensator 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.

If gravity compensation is performed using only the static load spring 270 alone, it is possible to reduce the weight of the system, but an error in gravity compensation occurs. Conversely, when only the weight 280 is used alone, there is no gravity compensation error, but there is a disadvantage in that the weight of the overall system increases.

According to an embodiment of the present invention, by configuring the hybrid-type gravity compensation unit using the static load spring 270 and the weight 280, the accuracy of gravity compensation is improved, and the miniaturization and weight reduction of the system are realized. In addition, the hybrid type gravity compensator has the advantage of enabling real-time response to disturbances in rising and falling during vehicle charging.

Although not shown in the drawings, a motor, a timing pulley for transmitting power of the motor, and a belt may be additionally provided under the body frame. When the vertical stroke of the electric vehicle charging robot is large, additional gravity compensation can be implemented by using a motor.

Referring back to FIG. 1 , the multi-joint link unit 300 is a first joint (not shown) provided in the body frame 100 , a first joint that extends outwardly from the upper side of the body frame 100 and is installed. 1 link 310, a second link 320 coupled to the first link 310 through the second joint 20 so as to be rotatable and movable in the horizontal direction based on the first link 310, the A third link 330 coupled to the second link 320 through a third joint 30 that enables rotation and movement in the horizontal direction based on the second link 320, the third link ( 330) is coupled through the fourth joint 40 to the lower side of the outer end of the fourth link 340 to be able to rotate around the vertical axis, the fifth joint 50 on the side of the fourth link 340 It is coupled through and extends in the horizontal direction, has a sixth joint (60) and is provided with a fifth link (350) rotatable in the axial direction. The articulated link part is not only mechanically connected to move by human force, but also electrically connected to move by a control command of the system.

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

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

The first timing pulley 610 is positioned so as to receive the power of the motor 600 directly, for example, it may be shaft-coupled to the motor 600 , and the second timing pulley 620 is a harmonic drive reducer 640 . ), the belt 630 is meshed with the first timing pulley 610 and the second timing pulley 620 .

Accordingly, the power of the motor 600 transmitted to the first timing pulley 610 is transmitted to the reducer 640 through the second timing pulley 620 via the belt 630 .

The reducer 640 is a device that reduces the rotational speed of the motor and reversely increases the torque. As the reducer, for example, a harmonic drive reducer may be used.

The harmonic drive reducer 640 has advantages in that it is light in weight, has a high reduction ratio, has a simple structure, does not have backlash, and enables very precise control. In particular, in consideration of the reverse driving torque of the harmonic drive reducer 640 and the reduction ratio between the first and second timing pulleys 610 and 620, if the reverse driving torque of the second to fourth joints is designed to be less than a threshold value, multi-joint When an external force in the left and right direction acts on the link device 300, it can respond flexibly.

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

The flexible joint unit 500 includes a cam base 540 on one side, a cap 550 disposed to face it, and a bearing 570 connecting the cam base 540 and the cap 550 . . A plurality of cams 510 cut to be indented are formed on the surface of the cam base 540 toward the cap 550 . A cam follower 520 is positioned for each of the plurality of cams 510 . A plurality of springs 530 are provided to surround the bearing 570 in the space between the cam base 540 and the cap 550 . One end of the plurality of springs 530 is supported by the cam follower 520 , and the other end is supported by the cap 550 .

In one embodiment, the cam 510, the cam follower 520, and the spring 530 may be provided by four, but the present invention is not limited thereto.

7A and 7B are diagrams for explaining the operation of the flexible joint unit 500. FIG. 7A shows a case in which there is no disturbance, and FIG. 7B shows a case in which the disturbance acts.

Referring to FIG. 7A , when there is no disturbance, the cam follower 520 receives the elastic force of the spring 530 and is supported by being positioned in the groove of the cam 510, so that the flexible joint unit maintains high rigidity, thereby improving the precision performance of the robot. Guaranteed.

On the other hand, when disturbance acts as shown in FIG. 7B , the cam follower 520 moves away from the groove of the cam 510 , thereby lowering the rigidity of the robot joint and providing flexibility to prevent damage to the robot and vehicle.

The flexible joint unit 500 according to an embodiment shown in FIG. 5 is a mechanical device, and since a separate sensor or driving device and controller are not used, the system can be simplified. In particular, the flexible joint unit 500 strengthens the members of both sides of the flexible joint unit 500 even when disturbance is applied due to the bearing 570, the spring 530, and the cam-follower structures 510 and 520. It is elastically supported, and it enables to effectively respond to omnidirectional rotational disturbances such as roll, pitch, and yaw acting on the vehicle during the charging process.

Here, by changing the three-dimensional cam 510 profile and the spring 530, it is possible to change the threshold point at which the flexible joint unit 500 operates, and the design of the operating critical point is changed according to the weight of the charger and the cable. It can be applied to various chargers.

In addition, as the flexible joint unit 500 is mechanically configured, it is possible to respond to external changes without a separate driving device and control system, thereby simplifying the system.

Referring back to FIG. 1 , the charging connector 400 is coupled to the outer end of the fifth link 350 through the flexible joint unit 500 . The charging connector 400 is provided with a camera 410 for photographing the overlapping portion so as to check the state of the charging connector 400 and the socket of the vehicle during charging. And a charger cable 420 is connected to the charging connector 400 to supply power.

In addition, the charging cable holder 430 attached to the lower surface of the fourth link 340 supports the charging cable 430 by being spaced apart from the ground at a predetermined height, thereby charging regardless of obstacles that may exist on the ground. It moves the cable 420 freely and serves to distribute the load that can be applied to the charging connector 400 . In addition, it is possible to improve safety and durability by preventing the charging cable 420 from being worn due to friction with the floor.

8 is a block diagram of an electric vehicle charging robot according to an embodiment of the present invention.

Referring to FIG. 8 , the electric vehicle charging robot according to an 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 is transmitted through a camera. The socket of the vehicle may be checked, and the multi-joint link unit may be controlled to couple the charging connector 400 to the socket of the vehicle.

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

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

In addition, the electric vehicle charging robot may include a transceiver 730 that performs communication through a wireless network.

In addition, the electric vehicle charging robot may further include an input interface device 740 , an output interface device 750 , a storage device 760 , and the like.

In addition, each component included in the electric vehicle charging robot may be connected by a bus 770 to communicate with each other.

Although it has been described with reference to the above embodiments, it will be understood by those skilled in the art that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. will be able

1 Electric vehicle electric charger combination robot 10 Joint 1
20 Joint 2 30 Joint 3
40 Joint 4 50 Joint 5
60 6th joint 100 Body frame
110 Upper housing 120 Lower housing
130 Casing connection 140 Base plate
200 Lifting device 210 Support
220 Ball Screw 230 Slider
240 Linear (LM) Guide 250 Wire
260 Pulley 270 Static Load Spring
280 Weight 300 Articulated Link Device
310 first link 320 second link
330 Third Link 340 Fourth Link
350 5th link 400 charging connector
410 camera 420 charging cable
430 Charging cable holder 500 Flexible joint unit
510 cam 520 cam follower
530 spring 540 fixing part
550 output
570 bearing 600 motor
610 first timing pulley 620 second timing pulley
630 Belt 640 Reducer
650 output
610 processor 620 memory
630 Transceiver 640 Input Interface Unit
650 Output Interface Unit 660 Storage Unit
670 bus

Claims (20)

An electric vehicle charging robot having a charging connector that can be connected to an electric vehicle charging socket to supply power,
a body frame extending in the vertical direction and having at least an upper end of which is installed to be elevating;
a multi-joint link unit coupled to the upper side of the body frame, each having a plurality of link arms movable and rotatable in the horizontal direction; and
Containing a flexible joint unit located between the distal end of the articulated link portion and the charging connector,
Electric vehicle charging robot. The method according to claim 1,
The flexible joint unit,
It has a three-axis rotation degree of freedom so that the charging connector can be easily moved and fastened to the electric vehicle charging socket,
Electric vehicle charging robot. 3. The method according to claim 2,
The flexible joint unit,
a cam base having a plurality of cams formed to be indented;
a cam disposed to face the cam base; and
Including; a cam follower provided to correspond to the plurality of cams
Electric vehicle charging robot. 4. The method according to claim 3,
The flexible joint unit,
Further comprising a plurality of springs each having one end supported by the cam follower and the other end supported by the cap,
Electric vehicle charging robot. The method according to claim 1,
The body frame,
Further comprising a gravity compensator to prevent abrupt elevation while facilitating the elevation of the support,
Electric vehicle charging robot. 6. The method of claim 5,
The gravity compensator,
Further comprising a weight between the support and the installation surface,
Electric vehicle charging robot. 6. The method of claim 5,
The gravity compensator,
Further comprising a static load spring between the support and the installation surface
Electric vehicle charging robot. The method according to claim 1,
The charging connector is
Further comprising a camera photographing the coupling portion of the socket portion and the charging connector so as to check the coupling state of the socket portion and the charging connector of the electric vehicle during charging,
Electric vehicle charging robot. The method according to claim 1,
The multi-joint link part of the scara method,
Further comprising a reducer for connecting a plurality of link arms,
Electric vehicle charging robot. 9. The method of claim 8,
processor and
Further comprising a memory for storing program instructions executed by the processor;
When the program instructions are executed by the processor to execute the operation of controlling the articulated link unit,
Electric vehicle charging robot. 11. The method of claim 10,
The program instructions are
Controlling the multi-joint link unit so that the charging connector is connected to the electric vehicle charging socket with reference to the image obtained by the camera,
Electric vehicle charging robot. As an electric vehicle charging robot comprising a charging connector that can be connected to an electric vehicle charging socket to supply power, the electric vehicle charging robot including a main body frame extending in the vertical direction and having at least an upper end of which is installed to be elevating,
The body frame further comprises a gravity compensator to prevent abrupt elevation while facilitating the elevation of the support.
Electric vehicle charging robot. 13. The method of claim 12,
The gravity compensator,
Further comprising a weight between the support and the installation surface,
Electric vehicle charging robot. 14. The method of claim 13,
The gravity compensator,
Further comprising a static load spring between the support and the installation surface
Electric vehicle charging robot. A charging connector including a SCARA type articulated link part having a plurality of link arms each capable of moving and rotating in the horizontal direction, and capable of being connected to an electric vehicle charging socket to supply power to an end of the articulated link part As an electric vehicle charging robot having a,
A flexible joint unit positioned between the distal end of the articulated link and the charging connector; Containing,
Electric vehicle charging robot. 16. The method of claim 15,
The flexible joint unit,
It has a three-axis rotation degree of freedom so that the charging connector can be easily moved and fastened to the electric vehicle charging socket,
Electric vehicle charging robot. 17. The method of claim 16,
The flexible joint unit,
a cam base having a plurality of cams formed to be indented;
a cam disposed to face the cam base; and
Including; a cam follower provided to correspond to the plurality of cams
Electric vehicle charging robot. 18. The method of claim 17,
The flexible joint unit,
Further comprising a plurality of springs each having one end supported by the cam follower and the other end supported by the cap,
Electric vehicle charging robot. 16. The method of claim 15,
The charging connector is
Further comprising a camera photographing the coupling portion of the socket portion and the charging connector so as to check the coupling state of the socket portion and the charging connector of the electric vehicle during charging,
Electric vehicle charging robot. 20. The method of claim 19,
processor and
Further comprising a memory for storing program instructions executed by the processor;
The program instructions are
Controlling the multi-joint link unit so that the charging connector is connected to the electric vehicle charging socket with reference to the image obtained by the camera,
Electric vehicle charging robot.

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