KR20230143297A - Cable support structure for charging of electric vehicle and electric vehicle charging apparatus including the same - Google Patents

Abstract

The present invention relates to an electric vehicle charging cable support structure and an electric vehicle charging device including the same. When a charger is connected to the charging terminal of an electric vehicle using an electric vehicle charging robot, external force caused by the movement of the charging cable is buffered to recharge the charger. It can be connected to the charging terminal of an electric vehicle at the correct location and prevents malfunction when connecting the charger, improving safety and convenience when charging an electric vehicle.

Description

Cable support structure for charging electric vehicles and electric vehicle charging device including the same {CABLE SUPPORT STRUCTURE FOR CHARGING OF ELECTRIC VEHICLE AND ELECTRIC VEHICLE CHARGING APPARATUS INCLUDING THE SAME}

The present invention relates to an electric vehicle charging cable support structure and an electric vehicle charging device including the same. More specifically, an electric vehicle charging cable support structure capable of preventing malfunction due to external force of the charging cable when connecting a charger to an electric vehicle, and This invention relates to an electric vehicle charging device including this.

The importance of using alternative energy is emerging due to environmental pollution problems caused by excessive use of fossil fuels, increase in automobiles and population, and expansion of industrial facilities.

In addition, since automobiles, which are a means of transportation, are driven by internal combustion engines using fossil fuel oil, the development and demand for electric vehicles to replace existing internal combustion engine vehicles has been gradually increasing in recent years.

Since electric vehicles are configured to drive the power system using electricity stored in the battery, they are equipped with a battery that can supply the electricity necessary for vehicle operation, and are driven by frequently charging the battery mounted on the vehicle.

Instead of gas stations for internal combustion engine vehicles, electric vehicles park at electric vehicle charging stations and then use wired chargers to charge their batteries.

However, the conventional electric vehicle charging device includes a wired charger equipped with a charging body and a charging terminal connected to the charging body with a charging cable, so that the user holds the wired charger with his or her hand, connects the wired charger to the charging terminal of the electric vehicle, and disconnects it after charging. There was a hassle that had to be done.

In addition, wired chargers equipped with charging terminals are used by the elderly and female drivers due to the increase in volume and weight of the charging device (e.g. charging gun and cable, etc.) as the charging capacity increases (e.g., 50kW class → 100kW class). There is an inconvenient problem.

In addition, charging an electric vehicle has the disadvantage that it takes significantly longer to charge compared to the time it takes to refuel at a gas station, and it takes a lot of additional time for the user to hold the charger of the wired charger, connect it to the charging terminal of the electric vehicle, and disconnect it after charging. , it was inconvenient for users to constantly check the charging status.

Accordingly, an unmanned electric vehicle charging device that uses an electric vehicle charging robot to charge a vehicle unmanned has been proposed, such as Korean Patent Registration No. 1410272, “Electric Vehicle Charging Robot.”

However, the conventional unmanned electric vehicle charging device had difficulty in connecting the wired charger to the correct position due to the load of the charging cable when holding the wired charger with a robot and connecting it to the charging terminal of the electric vehicle.

In other words, in a conventional unmanned electric vehicle charging device, an external force is generated as the charging cable shakes while the wired charger is held and moved by a robot. Accidents occurred in which the electric vehicle was not correctly connected to the charging terminal, and it took a long time to connect the wired charger to the charging terminal of the electric vehicle.

Korean Patent Registration No. 1410272 “Electric vehicle charging robot” (registered on June 16, 2014)

The purpose of the present invention is to buffer the external force caused by the movement of the charging cable when connecting a charger to the charging terminal of an electric vehicle using an electric vehicle charging robot, so that the charger can be connected to the charging terminal of an electric vehicle in an accurate position, The object is to provide a cable support structure for electric vehicle charging that prevents malfunction when connecting a charger, and an electric vehicle charging device including the same.

Another object of the present invention is to provide an electric vehicle charging cable support structure that can stably charge a plurality of electric vehicles using a single electric vehicle charging robot and an electric vehicle charging device including the same.

In order to achieve the object of the present invention described above, an embodiment of the cable support structure for charging an electric vehicle according to the present invention includes a charging key including a charging cable and a charger connected to the charging cable and connected to the charging terminal of the electric vehicle. It includes a first cable holder part and a second cable holder part held at positions spaced apart from each other, and a cable external force buffering part that connects the first cable holder part and the second cable holder part and buffers external force caused by movement of the charging cable. It is characterized in that it is separably coupled to an electric vehicle charging robot that connects the charger to the charging terminal of the electric vehicle.

In the present invention, the first cable holder part is mounted on the connection portion of the charger and the charging cable connected to the charging terminal of the electric vehicle, the second cable holder part is mounted on the charging cable, and the first cable A jig coupling portion that is detachably coupled to the electric vehicle charging robot may be protruding from the holder portion.

In the present invention, one end of the cable external force buffer is rotatably connected to the first cable holder through a first hinge joint, and the other end is rotatably connected to the second cable holder through a second hinge joint. The holder connecting rod member may include a shock absorbing spring member, one end of which is fixed to the first cable holder, and the other end of which is fixed to the second cable holder.

In the present invention, the length of the holder connection rod member may be longer than the minimum curvature at which the charging cable can be bent.

In the present invention, the first hinge joint portion and the second hinge joint portion have different axial directions and can rotate in different directions.

In the present invention, the first hinge joint portion and the second hinge joint portion may be a first universal joint and a second universal joint each having two rotation axes.

In the present invention, the cross axes of the first universal joint and the second universal joint may be positioned in different directions.

In order to achieve the object of the present invention described above, an embodiment of the electric vehicle charging device according to the present invention includes a charging control main body, which is connected to the charging control main body with a charging cable and is combined with a charging terminal of the electric vehicle to form a battery of the electric vehicle. A charging gun unit for charging, an electric vehicle charging cable support structure provided in the charging gun unit and buffering external force caused by movement of the charging cable, and separably coupled to the electric vehicle charging cable support structure to attach the charging gun to the electric vehicle. It is coupled to the charging terminal of and includes a robot for charging an electric vehicle equipped with a force torque (F/T) sensor unit that detects the force generated from the charging gun unit.

In the present invention, the cable support structure for charging an electric vehicle may be an example of the cable support structure for charging an electric vehicle according to the present invention.

In the present invention, the electric vehicle charging robot is a robot body that is detachably coupled to the electric vehicle charging cable support structure and includes a plurality of arm portions rotating around joints to connect the charging gun portion to the charging terminal of the electric vehicle. It may include a robot moving part that moves the robot body part and the robot body part.

In the present invention, the robot moving unit may include a first robot linear moving unit that moves the robot main body in the X-axis direction and a second robot linear moving unit that moves the robot main body in the Y-axis direction.

In the present invention, the robot moving unit may further include a robot lifting and lowering unit that moves the robot main body up and down.

In the present invention, it includes a plurality of charging control main bodies, and the robot main body can be moved through the robot moving part to connect each of the charging keys mounted on the plurality of charging control main bodies to a plurality of electric vehicles.

The present invention uses an electric vehicle charging robot to connect the charger to the charging terminal of an electric vehicle by buffering the external force caused by the movement of the charging cable, allowing the charger to be connected to the charging terminal of the electric vehicle in an accurate position. By preventing malfunctions when connected, it has the effect of greatly improving stability and convenience when charging electric vehicles.

The present invention has the effect of enabling efficient charging station management by stably charging multiple electric vehicles using a single electric vehicle charging robot.

1 is a perspective view illustrating an embodiment of an electric vehicle charging device according to the present invention.
Figure 2 is an enlarged perspective view showing an embodiment of an electric vehicle charging robot in an electric vehicle charging device according to the present invention.
Figure 3 is a side view showing an embodiment of a cable support structure for electric vehicle charging according to the present invention.
Figure 4 is a perspective view showing an embodiment of a cable support structure for charging an electric vehicle in an electric vehicle charging device according to the present invention.
Figure 5 is a diagram illustrating a first universal joint and a second universal joint in the cable support structure for electric vehicle charging according to the present invention.

The present invention will be described in more detail.

A preferred embodiment of the present invention will be described in detail with the accompanying drawings as follows. Prior to the detailed description of the present invention, the terms or words used in the specification and claims described below should not be construed as limited to their ordinary or dictionary meanings. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, so various equivalents that can replace them at the time of filing the present application It should be understood that variations and variations may exist.

Figure 1 is a perspective view illustrating an electric vehicle charging device according to the present invention, and Figure 2 is an enlarged perspective view showing an embodiment of an electric vehicle charging robot 400 in the electric vehicle charging device according to the present invention.

An embodiment of an electric vehicle charging device according to the present invention will be described in detail below with reference to FIGS. 1 and 2.

One embodiment of the electric vehicle charging device according to the present invention is connected to the charging control body 100, the charging control body 100 with a charging cable 220, and is combined with the charging terminal of the electric vehicle 1 to connect the electric vehicle (100) to the charging control body 100. 1) charging gun unit 200 for charging the battery, electric vehicle charging cable support structure 300 provided in the charging gun unit 200 and buffering external force caused by the movement of the charging cable 220, and electric vehicle charging cable support It is separably coupled to the structure 300 to couple the charging gun unit 200 to the charging terminal of the electric vehicle 1, and a force torque (F/T) sensor unit that detects the force generated from the charging gun unit 200 ( 418) and includes a robot 400 for charging an electric vehicle.

The charging control main unit 100 is a charging station that has a display unit that displays charging time, charging amount, etc., and controls charging of the electric vehicle 1. It is a well-known device, and further detailed description will be omitted.

The charging gun unit 200 includes a charger 210 connected to the charging terminal of the electric vehicle 1, and a charging cable 220 connecting the charger 210 to the charging control main unit 100.

And, the cable support structure 300 for charging an electric vehicle includes an embodiment of the cable support structure 300 for charging an electric vehicle according to the present invention.

The electric vehicle charging robot 400 is detachably coupled to the electric vehicle charging cable support structure 300 and includes a plurality of arm parts 411, 412, 413, 414, 415, and 416 that rotate around the joints. It includes a robot body unit 410 that connects the key unit 200 to the charging terminal of the electric vehicle 1, and a robot moving unit 420 that moves the robot main unit 410.

The robot moving unit 420 may be mounted and installed on the ceiling of the charging station. In addition, as an example, it may be mounted on a vertical support, etc., and although not shown, it may also be installed on the ground of the charging station.

The robot moving unit 420 includes a first robot linear moving unit 421 that moves the robot main body 410 in the X-axis direction, and a second robot linear moving unit that moves the robot main body 410 in the Y-axis direction ( 422) may be included.

As an example, the second robot linear moving unit 422 moves the first robot linear moving unit 421 in the Y-axis direction, and the robot main body 410 moves the first robot linear moving unit 421 in the It moves in the axial direction and can be moved in the Y-axis direction by the second robot linear moving unit 422, which moves the first robot linear moving unit 421 in the Y-axis direction.

The first robot linear movement unit 421 moves the robot main body 410 back and forth between the charging control main body 100 and the electric vehicle 1, that is, the robot main body 410 moves the electric vehicle 1. ) as an example, the second robot linear movement unit 422 moves the robot main body 410 in the longitudinal direction of the electric vehicle 1, and the first robot linear movement unit 421 ) is moved in the longitudinal direction of the electric vehicle 1 so that the robot body portion 410 can be moved in the longitudinal direction of the electric vehicle 1.

The robot body part 410 is moved forward and backward by the robot moving part 420, and is moved left and right to connect the charging gun part 200 held by the charger coupling jig part 417 to the charging terminal of the electric vehicle (1). can be combined with

In addition, the robot moving unit 420 further includes a robot lifting and lowering unit 423 that moves the robot main body 410 up and down.

The robot lifting and lowering unit 423 raises and lowers the robot main body 410 to adjust the height of the charger 210 connected to the charging terminal of the electric vehicle 1, so that the height of the charger 210 is adjusted to the electric vehicle 1 to be charged. Match the height of the charging terminal.

As an example, the robot lifting and lowering unit 423 is a hydraulic cylinder, and in addition, it includes a ball screw-type linear actuator, a rack gear, and a pinion gear engaged with the rack gear and rotated by a motor to convert the rotational force of the motor into linear movement. It should be noted that it can be implemented in various modifications using known lifting and lowering devices such as and pinion structures, and a more detailed description will be omitted.

The robot moving unit 420 is installed on the ceiling side, that is, on the upper side of the charging station, and moves the robot main unit 410 from the charging control main unit 100 to the electric vehicle 1, where it is held by the robot main unit 410. The charger 210 is coupled to the charging terminal of the electric vehicle 1.

The robot moving unit 420 may be mounted and installed on the ceiling of the charging station. In addition, as an example, it may be mounted on a vertical support, etc., and although not shown, it may also be installed on the ground of the charging station.

In addition, the robot main body 410 includes a plurality of arm parts 411, 412, 413, 414, 415, 416 and a plurality of joints connecting the plurality of arm parts 411, 412, 413, 414, 415, 416. As an example, an articulated robot has a structure in which the arm portion rotates around each joint, and a charger coupling jig portion ( 417) may be included.

In addition, the robot body 410 includes a terminal position detection unit 419 that checks the position of the charging terminal of the electric vehicle 1, allowing the charger 210 to be accurately coupled to the charging terminal of the electric vehicle 1. let it be

As an example, the terminal position detection unit 419 scans the exterior of the electric vehicle 1, and the control unit that controls the operation of the robot body unit 410 and the robot moving unit 420 is located in the terminal position detection unit 419. As an example, check and detect the location of the charging terminal by analyzing the scanned image.

The sensing structure that checks the position of the charging terminal of the electric vehicle (1) parked at the parking position of the charging station can be implemented by various modifications to known forms from the known unmanned electric vehicle charging structure, and a more detailed description is omitted. Let it be known.

The charger coupling jig portion 417 includes a pair of jig members 417a that hold both sides of the electric vehicle charging cable support structure 300, and the pair of jig members 417a move in opposite directions to provide a gap. An example is holding or placing both sides of the electric vehicle charging cable support structure 300 as the gap narrows or moves in opposite directions to widen.

Although not shown, the charger coupling jig part 417 may include a jig moving part (not shown) that moves the pair of jig members 417a in a direction facing each other or moves them away from each other.

The jig moving part (not shown) is screwed through a pair of jig members 417a and includes screws that are screwed in opposite directions and rotated by a motor.

A pair of jig members 417a are screwed to the screw in opposite directions and move in opposite directions or move in opposite directions depending on the rotation direction of the screw, narrowing or widening the gap, thereby creating a cable support structure for charging electric vehicles. You can grab or release (300).

The pair of jig members 417a have gripping protrusions 417b that can be inserted into the gripping grooves 341 formed on both sides of the electric vehicle charging cable support structure 300 on the surfaces facing each other, and are used for gripping. The protrusion 417b has a tapered outer surface and can be smoothly inserted into the gripping groove 341 to stably hold the electric vehicle charging cable support structure 300.

In more detail, the robot main body 410 is connected to the robot moving part 420, the first arm 411 rotates around the Z-axis direction, the upper end is connected to the first arm 411, A second arm 412 that rotates around the axial axis, a third arm 413 connected to the lower end of the second arm 412, and a third arm 413 that rotates around the X-axis direction. The fourth arm portion 414 is connected to the fourth arm portion 414 and rotates around the axis of the Y-axis direction, and the jig portion for coupling the charger is connected to the end side of the fourth arm portion 414 and rotates about the axis of the X-axis direction. 417) may include a fifth arm portion 415 where it is located.

The robot body unit 410 has motors located at the joints of the first arm units 411 to fifth arm units 415, respectively, to rotate the first arm units 411 to fifth arm units 415 to create a charging jig unit. The electric vehicle charging cable support structure 300 of the charging gun unit 200 mounted on the charging control main unit 100 can be held, or the charging gun unit 200 can be placed back on the charging control main unit 100 after charging is completed.

Then, the holding jig part for charging is separated from the electric vehicle charging cable support structure 300 after the charging gun part 200 is mounted on the charging control main part 100 after completion of charging, and the robot main part 410 moves the robot. Another electric vehicle (1) can be charged with the charging gun unit (200) moved by the unit (420) and mounted on another charging control main unit (100).

In addition to the structure including the first to fifth arm portions 411 to 415, the robot body portion 410 holds the electric vehicle charging cable support structure 300 with a charger coupling jig portion 417, and holds the electric vehicle charging cable support structure 300. It should be noted that the charger 210 of the charging gun mounted on the support structure 300 is a known articulated robot that can be connected to the charging terminal of the electric vehicle 1 and can be implemented in various modifications.

Although not shown, an embodiment of the electric vehicle charging device according to the present invention includes a plurality of charging control main units 100 capable of charging a plurality of electric vehicles 1, and each charging control main body 100 is configured to charge a plurality of electric vehicles 1. 100) can be individually charged using the charging gun unit 200 mounted on the charging control main unit 100 by parking at each charging parking position located adjacent to the car.

In addition, the robot body unit 410 is moved through the robot moving unit 420 to support the electric vehicle charging cable support structure 300 mounted on each charging gun unit 200 mounted on the plurality of charging control main units 100. It can be held or placed, and the electric vehicle charging cable support structure 300 mounted on each charging gun unit 200 is held to connect the charging gun unit 200 to the electric vehicle 1 parked at the charging parking position, and then disconnected. It is possible to perform a charging operation for a plurality of electric vehicles (1).

Meanwhile, the robot body unit 410 is provided with a force torque (F/T) sensor unit 418 between the charger coupling jig unit 417 and the arm part to detect the force generated from the charger coupling jig unit 417. Includes.

The force torque (F/T) sensor unit 418 connects the charger 210 to the electric vehicle (1) with the charging jig part holding the charger 210, that is, holding the cable support structure 300 for charging an electric vehicle. When coupled to the charging terminal of the robot, the torque and force transmitted to the robot body 410 are sensed so that the charger 210 can be accurately coupled to the charging terminal with appropriate force.

The force/torque (F/T) sensor unit 418 is a known 6-axis force/torque sensor that can detect force and torque transmitted to the robot when the robot operates, and further detailed description will be omitted.

The electric vehicle charging robot 400 uses force control technology through the force measured through the force-torque (F/T) sensor unit 418 to connect the charger 210 to the charging terminal of the electric vehicle 1 with an appropriate force. Make sure it can be combined accurately.

In other words, the electric vehicle charging robot 400 measures the contact force generated when the charger 210 and the charging terminal of the electric vehicle 1 come into contact with the force torque (F/T) sensor unit 418 and uses the measured force. Based on this, a path along which the robot main body 410 moves is created.

However, the charging cable 220 is thick and heavy to support high-speed and large-capacity charging, and the robot body 410 holds the charger 210, that is, holds the electric vehicle charging cable support structure 300. The tension of the moving charging cable 220 is transmitted to the force torque (F/T) sensor unit 418, and the tension of the charging cable 220 changes due to the movement of the charging cable 220 while moving, When the external force generated from the charging cable 220 is transmitted to the force torque (F/T) sensor unit 418, it may malfunction as if it were in contact with the charging terminal of the electric vehicle 1 even if it does not contact the charging terminal. You can.

And when the charger 210 is held and moved by the robot body 410 to charge the electric vehicle 1, the movement, that is, the sloshing, of the charging cable 220 is caused by the parking position of the electric vehicle 1 and the robot body 410. The posture of 410, the charging control main body 100 from which the charging cable 220 extends is not constant depending on environmental factors such as the location of the charging station, the material condition of the charging cable 220, and weather. .

Accordingly, the robot body portion 410 holds the electric vehicle charging cable support structure 300 with the charger coupling jig portion 417 and moves the charger 210 to the charging terminal of the electric vehicle 1, while the force torque (F/ T) Even if the sensor unit 418 is not in contact with the charging terminal of the electric vehicle 1, it may malfunction as if it were in contact with the charging terminal, and the charger 210 may be applied with excessive force to the charging terminal of the electric vehicle 1. The charger 210 may be damaged or the charging terminal may be deformed, or the charger 210 may not be completely connected to the charging terminal of the electric vehicle 1 and the charging operation of the electric vehicle 1 may be interrupted due to poor connection. Problems such as errors may occur.

One embodiment of the electric vehicle charging device according to the present invention is provided in the charging gun unit 200 and includes an electric vehicle charging cable support structure 300 that buffers external force caused by the movement of the charging cable 220, and a robot main body ( 410 can buffer the external force of the charging cable 220 generated when the charger 210 is connected to the electric vehicle charging terminal.

The electric vehicle charging cable support structure 300 buffers the external force of the charging cable 220 generated when the robot body 410 connects the charger 210 to the electric vehicle charging terminal to generate force torque (F/T). Prevent it from being transmitted to the sensor unit 418.

Figure 3 is a side view showing an embodiment of the cable support structure 300 for charging an electric vehicle according to the present invention, and Figure 4 shows the cable support structure 300 for charging an electric vehicle in the electric vehicle charging device according to the present invention. This is a perspective view illustrating the state in which the robot 400 is held by the charger coupling jig part 417.

With reference to FIGS. 3 and 4 , an embodiment of the cable support structure 300 for charging an electric vehicle according to the present invention will be described in detail below.

One embodiment of the electric vehicle charging cable support structure 300 of the present invention includes a charging cable 220 and a charger 210 connected to the charging cable 220 and connected to the charging terminal of the electric vehicle 1. Connecting the first cable holder part 310 and the second cable holder part 320 and the first cable holder part 310 and the second cable holder part 320 to hold the charging gun part 200 at a spaced apart position. And includes a cable external force buffer 330 that buffers external force caused by the movement of the charging cable 220.

The first cable holder part 310 is mounted on the connection part of the charger 210 and the charging cable 220, which is connected to the charging terminal of the electric vehicle 1 in the charging gun part 200, and the second cable holder part ( 320) is mounted on the charging cable 220 connecting the charger 210 and the charging control body 100.

One embodiment of the electric vehicle charging cable support structure 300 of the present invention is separably coupled to the electric vehicle charging robot 400 that connects the charger 210 to the charging terminal of the electric vehicle 1.

The first cable holder part 310 is separable from the charger coupling jig part 417 of the electric vehicle charging robot 400, that is, the charger coupling jig part 417 located on the end side of the robot main part 410. A jig coupling portion 340 that is coupled is positioned.

As an example, the jig coupling part 340 is positioned to protrude from the first cable holder part 310, and gripping grooves 341 are formed on both sides.

In the gripping groove 341, gripping protrusions 417b protruding from surfaces facing each other from a pair of jig members 417a are inserted.

The jig part 417 for coupling the charger includes a pair of jig members 417a whose spacing is narrowed or widened, and when the pair of jig members 417a grips the jig coupling part 340, the jig coupling part 340 As the gripping protrusions 417b are inserted into the gripping grooves 341 located on both sides, the charger 210 can be held and fixed more firmly and stably.

The charger coupling jig portion 417 has protruding gripping protrusions 417b that can be inserted into the gripping grooves 341 formed on both sides of the electric vehicle charging cable support structure 300 on surfaces facing each other, and the The holding protrusion 417b has a tapered outer surface and can be smoothly inserted into the gripping groove 341 to stably hold the electric vehicle charging cable support structure 300.

In addition, one end of the cable external force buffer 330 is rotatably connected to the first cable holder 310 through a first hinge joint 333, and the other end is connected to a second hinge joint 334. A holder connection rod member 331 is rotatably connected to the second cable holder 320, one end of which is fixed to the first cable holder 310, and the other end of which is connected to the second cable holder 320. ) includes a buffering spring member 332 fixed to the.

The cushioning spring member 332 occurs when the first hinge joint portion 333 or the second hinge joint portion 334 rotates with respect to the holder connection rod member 331 due to the movement of the charging cable 220. Absorbs external forces.

As an example, the buffer spring member is a coil spring located inside the holder connection rod member 331, that is, positioned to surround the holder connection rod member 331.

The length of the holder connection rod member 331 is longer than the minimum curvature at which the charging cable 220 is bent.

The charging cable 220 is a known cable that can be freely bent, and has a minimum and maximum bendable curvature depending on the material and type.

If the length of the holder connection rod member 331 is formed to be smaller than the minimum curvature at which the charging cable 220 is bent, it will not absorb external force caused by the movement of the charging cable 220 that occurs while the charging cable 220 is moving. There are cases where this is not possible.

Therefore, the length of the holder connection rod member 331 is formed to have a length longer than the minimum curvature at which the charging cable 220 is bent, so that even if an external force occurs due to bending equal to the minimum curvature of the charging cable 220, the external force is generated. It can be effectively absorbed through the buffer spring member.

Additionally, the first cable holder unit 310 may have a different horizontal width from the second cable holder unit 320. For example, referring to FIG. 3, the first cable holder 310 can hold a relatively rigid area in the charging gun unit 200, and the second cable holder 320 can hold a relatively rigid area in the charging gun unit 200. A relatively flexible area, for example, the charging cable 220, can be held.

For this reason, the first cable holder unit 310 is provided with a larger width than the second cable holder 320 and can have a wider contact area with the charging gun unit 200. For example, the width of the first cable holder 310 may be about 1.2 times or more than the width of the second cable holder 320. Preferably, the width of the first cable holder 310 may be about 1.5 to about 3 times the width of the second cable holder 320. Here, the width may refer to the horizontal direction (transverse direction) width of the first and second cable holder parts 310 and 320 shown in FIG. 3.

When the width of the first cable holder 310 is less than about 1.2 times the width of the second cable holder 320, the electric vehicle charging cable support structure 300 can effectively support the charging gun unit 200 of various sizes, shapes, or weights. It can be difficult to catch. That is, it may be difficult for the support structure 300 to maintain the charging gun unit 200, or it may be shaken due to external force of the charging cable 220 when moving. In addition, when the width ratio is less than about 1.2 times, the length of the cable external force buffering portion 330 disposed between the first and second cable holder portions 310 and 320 will be shortened to effectively hold the charging gun portion 200. You can. In this case, the external force control characteristics through the cable external force buffer 330 may be deteriorated. In addition, when the width of the first cable holder unit 310 exceeds approximately 3 times the width of the second cable holder 320, the contact area of the first cable holder unit 310 with respect to the charging gun unit 200 increases. Therefore, when holding the charging gun unit 200, reliability can be increased. However, the size of the first cable holder unit 310 may increase excessively, resulting in an increase in overall weight, and may not correspond to the charging gun unit 200 having various sizes or shapes. Therefore, it is desirable that the width of the first and second cable holders 310 and 320 satisfy the above-mentioned range in consideration of the reliability, versatility, and stress control characteristics of the device.

Meanwhile, the first hinge joint portion 333 and the second hinge joint portion 334 have different axial directions and rotate in different directions to charge the electric vehicle 1 while the charger 210 is moving. When movement of the cable 220 occurs, the external force can be more effectively cushioned by rotating in accordance with the direction of the external force caused by the movement.

As an example, the first hinge joint portion 333 and the second hinge joint portion 334 are a first universal joint 335 and a second universal joint 336 each having two rotation axes.

The first hinge joint portion 333 and the second hinge joint portion 334 are universal joints each having two rotation axes, and rotate in accordance with the direction of the external force generated by the movement of the charging cable 220, thereby more effectively dissipating the external force. Allows for buffering.

Figure 5 is a diagram illustrating the first universal joint 335 and the second universal joint 336 in the cable support structure 300 for charging an electric vehicle according to the present invention, and Figure 5 (a) shows the first universal joint ( 335), and Figure 5 (a) is a diagram illustrating the second universal joint 336.

The first universal joint 335 is rotatably coupled to the first cross shaft portion 335a and the first hinge shaft 335b in which the first hinge shaft 335b and the second hinge shaft 335c are positioned in a cross shape. It includes a first rotation bracket 335d and a second rotation bracket 335e rotatably coupled to the second hinge axis 335c.

The second universal joint 336 is rotatably coupled to the second cross shaft portion 336a and the third hinge shaft 336b in which the third hinge shaft 336b and the fourth hinge shaft 336c are positioned in a cross shape. It includes a third rotation bracket 336d and a fourth rotation bracket 336e rotatably coupled to the fourth hinge axis 336c.

And, the axial direction of the first hinge axis 335b and the second hinge axis 335c of the first universal joint 335 and the third hinge axis 336b and the fourth hinge axis of the second universal joint 336 ( For example, the axial directions of 336c) are positioned to face different directions and are spaced at 45 degrees from each other.

That is, between the first hinge axis (335b) and the third hinge axis (336b), between the third hinge axis and the second hinge axis (335c), and between the fourth hinge axis (336c) and the second hinge axis (335c). Between the fourth hinge axis (336c) and the first hinge axis (335b), there is a gap of 45 degrees, so that the first rotation bracket (335d), the second rotation bracket (335e), and the third rotation bracket (335d) are aligned with the direction of the external force of the cable. The rotation bracket 336d and the fourth rotation bracket 336e can be rotated.

In summary, the first universal joint 335 and the second universal joint 336 are positioned with the cross axes in different directions, so that when external force is generated in various directions by the charging cable 220, they are adjusted according to the direction of the external force. As the first cable holder unit 310 and the second cable holder unit 320 rotate, the external force can be effectively cushioned.

The electric vehicle charging cable support structure 300 according to the present invention buffers the external force generated by the movement of the charging cable 220 when the electric vehicle charging robot 400 moves the charger 210, thereby generating force torque (F /T) By preventing it from being detected by the sensor unit 418, malfunction of the force-torque (F/T) sensor unit 418 can be prevented due to changes in external force generated by the charging cable 220, and the charger 210 ) can be accurately coupled to the charging terminal of the electric vehicle (1) in the correct position.

That is, the electric vehicle charging robot 400 holds the charging cable support structure, and when the charger 210 is connected to the charging terminal of the electric vehicle 1, the external force generated by the movement of the charging cable 220 is used to charge the electric vehicle. Since the charger 210 is cushioned by the cable support structure, the charger 210 can be accurately moved at low speed with an appropriate force to the charging terminal of the electric vehicle 1, regardless of the movement of the charging cable 220.

The present invention uses the electric vehicle charging robot 400 to buffer the external force of the charging cable generated by the movement of the charging cable when connecting the charger to the charging terminal of the electric vehicle. The charger 210 can be connected to the charging terminal of an electric vehicle at an accurate location, and malfunctions can be prevented when the charger 210 is connected, thereby greatly improving safety and convenience when charging an electric vehicle.

The present invention enables efficient charging station management by stably charging multiple electric vehicles using a single electric vehicle charging robot 400.

It should be noted that the present invention is not limited to the above-described embodiments, but can be implemented with various changes without departing from the gist of the present invention, and these are included in the configuration of the present invention.

1: Electric vehicle 100: Charging control main body
200: Charging unit 210: Charger
220: Charging cable
300: Cable support structure for electric vehicle charging 310: First cable holder portion
320: Second cable holder part 330: Cable external force buffering part
331: Holder connection rod member 332: Shock absorbing spring member
333: first hinge joint portion 334: second hinge joint portion
335: first universal joint 335a: first cross shaft
335b: first hinge axis 335c: second hinge axis
335d: 1st rotation bracket 335e: 2nd rotation bracket
336: second universal joint 336a: second cross shaft
336b: 3rd hinge axis 336c: 4th hinge axis
336d: 3rd rotation bracket 336e: 4th rotation bracket
340: Jig coupling portion 341: Groove portion for gripping
400: Electric vehicle charging robot 410: Robot main body
411: first dark part 412: second dark part
413: 3rd dark part 414: 4th dark part
415: 5th dark section
417: Jig part for combining charger 417a: Jig member
417b: Protrusion for gripping 418: Force torque (F/T) sensor part
419: terminal position detection unit 420: robot moving unit
421: 1st robot linear moving part 422: 2nd robot linear moving part
423: Robot ascending and descending unit

Claims (13)

A first cable holder part and a second cable holder part that hold the charging cable and the charging gun unit including the charger connected to the charging cable and connected to the charging terminal of the electric vehicle at positions spaced apart from each other; and
It includes a cable external force buffering part that connects the first cable holder part and the second cable holder part and buffers external force caused by movement of the charging cable, and is separable from the electric vehicle charging robot that connects the charger to the charging terminal. A cable support structure for electric vehicle charging, characterized in that it is coupled.
In claim 1,
The first cable holder portion is mounted on a connection portion of the charger and the charging cable connected to the charging terminal of the electric vehicle, and the second cable holder portion is mounted on the charging cable,
A cable support structure for charging an electric vehicle, characterized in that a jig coupling portion that is detachably coupled to the electric vehicle charging robot is protruding from the first cable holder portion.
In claim 1,
The cable external force buffer is a holder connection in which one end is rotatably connected to the first cable holder through a first hinge joint, and the other end is rotatably connected to the second cable holder through a second hinge joint. A cable support structure for charging an electric vehicle, comprising a rod member, one end of which is fixed to the first cable holder, and the other end of which is a buffering spring member that is fixed to the second cable holder.
In claim 3,
A cable support structure for charging an electric vehicle, characterized in that the length of the holder connection rod member is longer than the minimum curvature at which the charging cable can be bent.
In claim 3,
A cable support structure for charging an electric vehicle, wherein the first hinge joint portion and the second hinge joint portion have different axial directions and rotate in different directions.
In claim 3,
The cable support structure for charging an electric vehicle, wherein the first hinge joint portion and the second hinge joint portion are a first universal joint and a second universal joint each having two rotation axes.
In claim 6,
A cable support structure for charging an electric vehicle, characterized in that the cross axes of the first universal joint and the second universal joint are positioned in different directions.
Charging control body;
A charging gun unit connected to the charging control main body with a charging cable and coupled with a charging terminal of the electric vehicle to charge the battery of the electric vehicle;
an electric vehicle charging cable support structure provided at the charging gun unit and buffering external force caused by movement of the charging cable; and
An electric vehicle charging unit is detachably coupled to the electric vehicle charging cable support structure to couple the charging gun unit to the charging terminal of the electric vehicle, and is provided with a force torque (F/T) sensor unit that detects force generated from the charging gun unit. An electric vehicle charging device comprising a dragon robot.
In claim 8,
The electric vehicle charging cable support structure is an electric vehicle charging cable support structure according to any one of claims 1 to 7.
In claim 8,
The electric vehicle charging robot,
a robot body portion that is detachably coupled to the electric vehicle charging cable support structure and includes a plurality of arm portions rotating around joints to connect the charging gun portion to a charging terminal of the electric vehicle; and
An electric vehicle charging device comprising a robot moving part that moves the robot main body.
In claim 10,
The robot moving part
a first robot linear moving unit that moves the robot main body in the X-axis direction; and
An electric vehicle charging device comprising a second robot linear moving part that moves the robot main body in the Y-axis direction.
In claim 11,
The robot moving part,
An electric vehicle charging device further comprising a robot lifting and lowering unit that moves the robot main body up and down.
In claim 10,
An electric vehicle charging device comprising a plurality of charging control body units, wherein the robot main body is moved through the robot moving unit to connect each charging gun unit mounted on the plurality of charging control main body units to a plurality of electric vehicles. .

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