WO2020130390A1

WO2020130390A1 - Device for coupling electric vehicle inlet and charging vehicle charging connector

Info

Publication number: WO2020130390A1
Application number: PCT/KR2019/016319
Authority: WO
Inventors: 이진국
Original assignee: 이진국
Priority date: 2018-12-18
Filing date: 2019-11-26
Publication date: 2020-06-25
Also published as: KR102249280B1; KR20200075293A

Abstract

The present invention provides a device for coupling an electric vehicle inlet and a charging vehicle charging connector, the device connecting, to the electric vehicle inlet, the connector, provided at the end of a charging cable provided in a mobile charging vehicle, by using robots for coupling and separation, which are provided at a charging station for charging while an electric vehicle is traveling. The device for coupling an electric vehicle inlet and a charging vehicle charging connector provides power to the electric vehicle, which travels on a road, from the charging vehicle, which travels while supplying the power from the upper part of an overhead charging road, and comprises: vertical articulated robot type robots for coupling and separation, which are respectively provided at a departure point and an arrival point of the charging vehicle; finger assemblies which are provided at the robots for coupling and separation and which clamp the connector provided at the front end of the charging cable to be withdrawn from the charging vehicle; and position sensors provided around the finger assembly and the inlet of the electric vehicle, to which the connector is coupled, so as to respond to each other.

Description

Electric vehicle inlet and charging connector coupling device

The present invention relates to a charging connector coupling device for an inlet for an electric vehicle and a charging vehicle, and more specifically, a robot for coupling and detachment installed at a charging mooring point of a starting point and an arrival point for charging while driving an electric vehicle. By connecting the connector provided at the end of the charging cable provided in the mobile charging car to the inlet of the electric vehicle, the charging cable combined with the inlet of the electric vehicle can be shaken safely without the risk of electric shock without the driver getting off. It is also possible to eliminate the fear of noise or body damage caused by lights, etc., and combines the inlet for electric vehicles and the charging connector for charging vehicles to provide the functionality to prevent any deviation from wind (wind) generated by driving. It is intended to provide.

Recently, eco-friendly vehicles and green cars have been competitively increasing in the world to develop eco-friendly vehicles and cope with the problems of global warming and fine dust to strengthen regulations on CO2 emissions, exhaust fossil fuels, and high oil prices.

Environmental changes such as regulation of CO2 emissions require creation of a new market and a change from our real life to a completely different level. To this end, each country invests a lot of capital and technology to compete fiercely to preoccupy the market. The transportation sector, which accounts for a large portion of CO2 emissions, is changing from an existing internal combustion engine car to an eco-friendly and non-pollution car.

Automakers around the world are developing electric vehicles that have emerged as powerful alternatives because the development of low- and low-pollution cars is directly related to the company's survival problems, but the biggest obstacle to early commercialization is short mileage and long-term recharging. In order to solve the problem, a new high-capacity battery was installed to greatly increase the driving distance, but the charging time is still long and the price of electric vehicles is very expensive, and it has not been popularized.

In order to solve the above problem, the electric vehicle is plug-in connected to a conventional ground stationary charger, and the method of charging during long stops is now converted into a charging vehicle that can be unmanned driving (moved) by electric control. With a new way of charging while running, it is reformed with a new way to charge, and a high-priced charging lane that can significantly save charging time can be installed and used in the direction of the destination by all electric vehicles such as passengers, buses, and cargo. On the side of the side of the shoulder, on the side of the pier with a height of 2-3 meters, the charging car, which has a large capacity of contact and non-contact electricity installed inside the tunnel-type charging car with a half-moon type transparent cover, runs with the electric vehicle plug-in. As a device that separates charging electricity and driving electricity separately and simultaneously supplies them to an electric vehicle, it is possible to use a heater and an air conditioner in the vehicle even during charging driving. In addition, the inconvenience of charging while waiting for 20-30 minutes, which is the biggest problem of electric vehicles, is eliminated by saving charging time and charging place. Whether or not the construction is being emphasized as an essential element for increasing the life and death of electric vehicles, and as a result, the country that builds the charging infrastructure first is expected to secure not only economic benefits but also market dominance.

While the sales of electric vehicles are increasing significantly every year, the rapid (slow) charging of current electric vehicles mainly comes into the charging place, turns off the engine, and in the stopped state, the driver pulls off the car and pulls the plug of the ground stationary charger installed directly to the electric vehicle. It is used as a method of charging by connecting to the provided inlet, but there are many drivers of electric vehicles hovering at the charging station due to fear of electric shock that is wet with rain when it rains, and insulated gloves due to the risk of electric shock when charging electric vehicles equipped with large-capacity batteries It is inconvenient to charge with safety equipment.

In order to solve this problem, the present inventor has developed a charging device for electric vehicles (charging device while driving) of the Republic of Korea Patent Registration (B1) 10-1231896 (2013.02.22.), the composition of which is the edge of the road ( Roadside) or a box-shaped charging car dedicated lane installed at the top of a pier or underground or on a ground along a median, and a charging (car) that electrically controls the speed of movement along the charging lane, and high speed It is configured to include a power line for power supply installed along a charging car lane so as to be electrically connected to a running charging car, and a charging power line assembly fixedly installed in the charging car and electrically connected to the driving electric vehicle.

However, in the case of the above-mentioned prior art, the inlet is formed on the side of the electric vehicle and the plug connected to the charging vehicle is simply combined, so that the fixed length cable wire connected to the plug is shaken while driving and hits the chair of the electric vehicle, As a result, problems such as noise invention and body damage occurred.

In addition, there was a inconvenience in that the driver had to get off for charging and connect and disconnect the connector directly to the inlet provided in the electric vehicle.

Accordingly, the inventor of the present invention solves all the problems arising from the configuration of a charging cable connecting a connector of a mobile charging vehicle and an inlet of an electric vehicle in a charging device for a conventional electric vehicle (plug-in while driving). Research and development.

That is, in the present invention, a charging vehicle that provides power in a driving state and an inlet provided in an electric vehicle to supply electricity for driving and battery charging of an electric vehicle by mutually plug-in connecting electric power provided by the charging vehicle to each other The connector provided at the end of the charging cable to be connected can be coupled and disconnected using a vertical multi-joint robot type coupling and removal robot, and the connector is provided with a rigid configuration supporting the charging cable to provide a connector for the charging cable. There is no fear of colliding with the vehicle body due to sagging, etc. Also, when the inlet is provided on the roof of the electric vehicle, the support is supported by a flush rail installed on the roof (support on the roof of the vehicle) and a support means installed at right angles. It is provided with stable power in the process of stopping or driving while preventing shaking, so that it can be used as a power source for charging or driving. Also, by using an orthogonal robot, the robot for coupling and removal is moved to connect the connector to the inlet. The present invention has been completed with the technical problems of the present invention by providing an inlet for an electric vehicle and a charging connector coupling device for a charging vehicle that can solve problems according to the setting.

In the present invention as a solution to a problem, the charging connector of an electric vehicle and an inlet for an electric vehicle that provide power by plug-in connection with an electric vehicle driving on a road in a charging vehicle running while supplying power from an upper portion of an expensive charging dedicated road In the device; A robot for combining and removing a vertical multi-joint robot type installed at a starting point and an arrival point of a charging car, respectively; A finger assembly installed on the robot for coupling and removal, and clamping the connector provided at the front end of the charging cable drawn out from the charging vehicle; It is characterized in that it comprises a finger assembly and a position sensor installed around the inlet of the electric vehicle to which the connector is coupled to respond to each other.

In addition, the present invention integrally forms a support portion of a rigid configuration surrounding the charging cable to the connector; When the inlet of the electric vehicle is located on the roof of the car, it is characterized in that the support is provided with a supporting means provided on a flush rail installed on the roof.

In addition, in the present invention, a charging connector coupling device for a plug-in type electric vehicle that provides electric power to an electric vehicle driving on a road from a charging vehicle running while supplying power at an upper portion of a high-priced charging dedicated road; A robot for combining and removing vertical multi-joint robots, which are respectively installed at a starting point and an arrival point of a charging vehicle; A rail installed on the roof of the electric vehicle; An inlet installed at one end of the rail; A gripper provided at the front end of the charging cable drawn out from the charging car and coupled with a support portion gripped by a finger assembly of a robot for coupling and removal, and a gripper equipped with a connector; It is characterized in that it comprises a finger assembly, a connector and a position sensor installed around the inlet of the electric vehicle to which the connector is coupled to respond to each other.

In addition, a charging cable coupling device for a plug-in type electric vehicle power supply device that provides power to an electric vehicle driving on a road in a charging vehicle running while supplying electric power at an upper portion of an expensive charging dedicated road; A robot for combining and removing vertical multi-joint robots, which are respectively installed at a starting point and an arrival point of a charging vehicle; A rail installed on the roof of the electric vehicle; Support protrusions and inlets installed at both ends of the rail; A gripper provided at the front end of the charging cable drawn out from the charging car and rotated to the lower side of a pair of pressurizing ports which are rotatably coupled to a support portion gripped by a finger assembly of a robot for coupling and removal, and a gripper provided with a connector and a stopper, respectively; It is characterized in that it comprises a finger assembly, a connector and a position sensor installed around the inlet of the electric vehicle to which the connector is coupled to respond to each other.

In addition, the gripper is characterized in that a roller in contact with the rail is installed, between the two sides of the pressure port is provided with a tension (引張) means for pulling the both sides of the pressure port to be used as a force to pull the connector when removing the connector It is characterized by being able to.

In addition, the robot for exclusive use of the combining and detaching is moved by the orthogonal robot; The orthogonal robot installs a support rail on the floor, a pair of Y-axis robots with rollers installed on the bottom of the support rails, and an X-axis robot so that both ends are coupled to the table of the Y-axis robot, and X-axis It is characterized in that it is configured to combine the robot dedicated to the removal and removal on the table of the robot.

When installing the inlet for an electric vehicle and a charging connector coupling device for a charging vehicle provided by the present invention on the road, the following effects can be provided.

-The electric vehicle can be charged while driving, as well as when it is parked.

-It is expected to dramatically increase the penetration rate of electric vehicles.

-The appearance of the electric vehicle can be maintained in the same form as the existing passenger car.

-Because the charging method of the electric vehicle is composed of a combination type on the charge shelf, safe operation is possible even when charging is performed while driving.

-When expanding the supply of electric vehicles, if applied to mid-sized and large-sized vehicles, and existing fossil fuel vehicles are converted to electric vehicles, there is no CO₂ emission, so it is possible to eliminate environmental problems caused by CO₂ emission, helping to quickly overcome the global environmental pollution source. This will be

-Since the means of coupling the connector is a vertical multi-joint robot, it is possible to relieve the driver of the hassle of getting on and off for charging, and to eliminate the risk of electric shock.

-Possible to move the position of the robot for combining and removing only by the orthogonal robot, so the connector for coupling and removing can be moved to the inlet by moving the robot for combining and removing to match the main/stop position of the electric vehicle.

1 is a side view showing the concept of a charging connector coupling device of an inlet for an electric vehicle and a charging vehicle provided in the present invention

Figure 2 is a front view of Figure 1

3 is a plan view of FIG. 1

Figure 4 is an exemplary cross-sectional view showing the inlet configuration installed in the electric vehicle

5 is a perspective view showing an example in which an inlet is installed on the roof of an electric vehicle.

Figure 6 is a front view showing the concept of another example of a charging connector coupling device of an inlet for an electric vehicle and a charging vehicle provided in the present invention

Figure 7 is a plan view of Figure 6

Figure 8 is a combined state of the rail and the gripper in Figure 6

9 is a front view showing an example in which the robot for exclusive use of the combination and removal provided in the present invention is moved by the orthogonal robot

10 is a plan view showing the state of use of Figure 9

11 is a perspective view showing an example in which the inlet is installed in the rear bumper of the electric vehicle.

12 is a perspective view showing an example in which an inlet is installed on the side of an electric vehicle.

Hereinafter, a preferred embodiment of the inlet for an electric vehicle and a charging connector coupling device for a charging vehicle will be described with reference to the accompanying drawings.

1 is a side view showing the concept of a charging connector coupling device for an electric vehicle inlet and a charging vehicle provided in the present invention, Figure 2 is a front view of Figure 1, Figure 3 is a plan view of Figure 1, respectively will be.

The charging connector coupling device 1 for an inlet for an electric vehicle and a charging vehicle provided by the present invention is a robot for coupling and detachment installed at a charging mooring point of a starting point and an arrival point for charging while driving the electric vehicle 100 ( When connecting the charging cable (2) to the electric vehicle (100) using a 300), to ensure that it can be made safely without the risk of electric shock without getting off the driver, and the shaking of the charging cable (2) combined with the electric vehicle (100). It is characterized by providing functionality that can be eliminated even if there is concern about noise or body damage caused by the back.

In the present invention, a filling mooring station is installed at a starting point and an arrival point, and the filling mooring is covered with a structure that is safe from rain (not separately shown).

The charging station is a robot dedicated to combining and removing the connector 3 at the tip of the charging cable 2 provided in the charging vehicle 210 moving along the elevated road 200 when the electric vehicle 100 enters ( 300) is a place for holding and coupling to the inlet 4 provided in the electric vehicle 100 or separating the connector 3 coupled to the inlet 4.

The charging vehicle 210 is provided in a configuration that moves along the high-priced exclusive road 200 as described in Patent No. 1231896 developed and registered by the present inventor, and the charging cable 2 is a winding drum type expansion and contraction means 220 It is configured so that the length can be adjusted while being loosened and wound by.

The combined and detachable robot 300 is composed of a vertical multi-joint robot type as shown, and a finger assembly 310 capable of gripping the connector 3 is installed at the tip of the robot arm. At this time, the robot 300 for exclusive use of combining and removing is preferably a multi-joint robot having a joint of at least 3 axes with a configuration in which a plurality of robot arms are mutually coupled.

The connector 3 and the finger assembly 310 are provided with a position sensor 5 that responds to each other so that the finger assembly 310 can grip the connector 3 accurately.

In addition, the electric vehicle 100 is provided with an inlet 4 to which the connector 3 is coupled. The inlet 4 may be installed at various positions of the electric vehicle 100. For example, it may be installed on the front bumper or the rear bumper (FIG. 11) or the side (FIG. 12) or the roof (FIG. 5), and is preferably installed on the roof of the electric vehicle 100 as shown in FIG. do.

Figure 4 shows a cross-sectional example showing the configuration of the inlet (4) installed in the electric vehicle (100).

The inlet 4 is protected by an inlet inlet lid 6.

That is, the inlet 4 is installed inside the protective tunnel 7, and an inlet inlet lid 6 is installed at the entrance of the protective tunnel 7. The inlet inlet lid (6) is made of a rubber material and is incised in the transverse direction so that it opens when the connector (3) enters, but when the connector (3) is detached, it closes and protects the tunnel (7) for protection. The inlet (4) should be secured.

Also, at the entrance of the protective tunnel 7, a position sensor 5 and a position sensor 5 that are provided on the finger assembly 310 of the robot 300 for coupling and removal are installed to be coupled to the finger assembly 310. The connector 3 can be accurately fixed to the inlet 4.

The protection tunnel 7 is provided in a configuration in which the entrance is wide and gradually narrows toward the inlet 4, so that it is possible to provide functionality to induce the connector 3 to accurately connect to the inlet 4.

The inlet 4 and the connector 3 may be composed of 5 to 7 pins, etc., and these may provide various cross-sectional shapes. Preferably, it may be provided in a circular type or a horizontal straight type.

In the present invention, in FIG. 4, the electric vehicle 100 is provided with a support 9 for integrally formed with a connector 3 or a charging cable 2, and a charging cable 2 connected to the connector 3 is provided. It is possible to prevent it from hitting the body.

Preferably, the support 9 is formed on the charging cable 2 connected to the connector 3 and the support 9 or the charging cable 2 is mounted on the support means 120 installed on the roof of the electric vehicle. Make it possible.

The support means 120 is preferably installed at a right angle to the flush rail 110 and the like installed on the roof of the electric vehicle 100.

The inlet 4 and the connector 3 have a terminal for power supply, a terminal for communication, etc., alone or in combination. Also, as shown in FIG. 4, it is formed in a straight shape, so that it is easy to combine, and the height of the protective tunnel 7 is formed in a streamlined shape to minimize the influence of wind during operation.

When attempting to charge the electric vehicle 100 in the state in which the invention is configured as described above, the electric vehicle 100 is first temporarily suspended by entering the charging station.

At this time, the robot 300 for coupling and detachment installed in the charging station confirms the entry of the electric vehicle 100, and the charging cable provided in the charging vehicle 210 moving along the high-priced exclusive road 200 ( 2) The connector 3 of the distal end or the support portion 9 surrounding the charging cable 2 to the rear of the connector 3 is gripped by the finger assembly 310 of the robot 300 for coupling and removal. At this time, the connector 3 and the finger assembly 310 are provided with a position sensor 5 to always grip the connector 3 or the support 9 at the same position.

On the other hand, as described above, when the connector 3 or the support portion 9 is gripped with the finger assembly 310 of the robot 300 for coupling and removal, it is made of a rubber material and is cut in the transverse direction. The connector 3 is coupled through the inlet inlet lid 6.

When the inlet inlet lid 6 is opened as described above, the finger assembly 310 of the robot 300 for coupling and detachment holding the connector 3 or the support 9 is installed at the entrance of the protective tunnel 7 The connector 3 is coupled to the inlet 4 by inserting the connector 3 into the protection tunnel 7 to the correct position in sympathy with the position sensor 5, and the finger assembly 310 is connected to the connector 3 or the supporting part ( 9).

At this time, the support part 9 is supported by the support means 120 installed in the electric vehicle 100 to prevent it from colliding with the vehicle body.

6 is a front view showing the concept of another example of a charging connector coupling device for an electric vehicle inlet and a charging vehicle provided in the present invention, FIG. 7 is a plan view of FIG. 6, and FIG. 8 is a rail and gripper in FIG. 6 It shows the combined state diagram of each.

According to the present invention, the present invention installs the rail 130 on the roof of the electric vehicle 100, and installs the support protrusions 140 and the inlets 4 on both sides.

The rail 130 coupled to the roof of the electric vehicle 100 may be provided in various configurations, such as metal, non-ferrous metal, synthetic resin, and is preferably made of synthetic resin, which is a non-conductor.

The inlet 4 is provided on the front side of the rail 130, that is, in the traveling direction of the electric vehicle 100, and the supporting protrusion 140 is provided on the opposite side to the inlet 4. In addition, when viewed in cross section, the rail 130 is configured to have a configuration in which a locking jaw protrudes on both sides as if it were a railroad rail.

At this time, the inlet 4 is installed inside the protective tunnel 7, and an inlet inlet lid 6 is installed at the entrance of the protective tunnel 7 to be electrically opened and closed.

And a connector coupled to the gripper 10 and the inlet 4 coupled to the rail 130 at the distal end of the charging cable 2 provided in the charging vehicle 210 moving along the elevated road 200. Prepare 3).

The gripper 10 has a configuration that wraps the rail 130 so that the lower part is spread outward, and a groove in which a locking jaw of the rail 130 is coupled is formed in the longitudinal direction on the upper side.

The gripper 10 is made of a material having elasticity, consists of a pair of front and rear, and a connector 3 coupled to the inlet 4 in the front, and a stopper in contact with the support protrusion 140 in the rear. (11) is installed.

In addition, the gripper 10 may be provided with a roller (not shown) that moves in a rolling state in an interview with the upper surface of the rail 130 so that the gripper 10 can easily move along the rail 130.

The gripper 10 may be used alone as a member to which the connector 3 is coupled, or may be used together with a member to which the stopper 11 is coupled.

When only the gripper 10 to which the connector 3 is coupled is used, the support portion 9 formed on the charging cable 2 is coupled to the upper side of the gripper 10, so that the charging station is installed, and the robot for exclusive use of coupling and detachment 300 ) To be gripped by the finger assembly 310.

In addition, when the gripper 10 in which the connector 3 and the stopper 11 are combined is used together, a pressing hole 13 having a rotatable configuration is provided on the upper portion of the gripper 10 which is divided, and the two-sided pressing ports ( 13) The upper end has a structure that is mutually coupled and rotated in a fan shape, and the upper part is formed with a support part 9 formed on the charging cable 2, and the charging station is equipped with a robot 300 for coupling and removal only. It can be gripped by the finger assembly (310). At this time, the tension means 14 for the pressure holes are provided between the pressure holes 13 on both sides so that the pressure holes 13 on both sides can be pulled, so that the connector 3 can be used as a pulling force when the connector 3 is removed. do.

FIG. 9 is a front view showing an example in which the robot for combining and removing provided by the present invention is moved by the orthogonal robot 400, and FIG. 10 is a plan view showing the use state of FIG. 9.

On the other hand, the combination and detachment-only robot 300 provided by the present invention provides a position movement by the orthogonal robot 400 to move to a fixed position when a vehicle enters the charging area and charges the combination and removal-only robot 300 The connector 3 provided on the cable 2 can be coupled to the electric vehicle 100.

For this, the orthogonal robot 400 of the present invention installs a support rail 410 on the floor, and a pair of Y-axis robots 420 with rollers installed at the bottom of the support rail 410, and this Y-axis robot The X-axis robot 430 is installed so that both ends are coupled to the table of 420, and the robot 300 for combining and detaching is coupled to the table of the X-axis robot 430.

When using the orthogonal robot 400 as described above to operate the combined and detachable robot 300, the Y-axis robot 420 can be used to apply electric vehicles of various heights. In addition, when the electric vehicle stops in the charging section, the Y-axis robot 420 moves along the support rail 410 (distant), or the robot 300 for coupling and detachment is moved by the X-axis robot 430. It can be used without regard to.

In the detailed description of the present invention, specific embodiments are described, but various modifications are possible without departing from the scope of the present invention. Therefore, the protection scope of the present invention should not be limited to the described embodiments, but should be defined by the equivalents as well as the claims below.

Claims

Electricity is connected to the charging cable end connector of the charging vehicle 210 driving together while supplying power to the electric vehicle by connecting the upper charging vehicle 210 driving on the expensive charging dedicated road and the electric vehicle running on the adjacent ground road and the mutual charging cable. In the coupling device (1) for plug-in connection to the inlet of the vehicle 100;

A robot 300 for combining and removing a vertical multi-joint robot type installed at a starting point and an arrival point of the charging vehicle 210, respectively;

A finger assembly 310 which is installed on the robot 300 for coupling and removal, and clamps the connector 3 provided at the front end of the charging cable 2 drawn out of the charging vehicle 210;

Electricity characterized in that it comprises a finger assembly (310), the connector (3) and the connector (3) is installed around the inlet (4) of the electric vehicle 100 is coupled to each other to respond to each other (5) Vehicle inlet and charging connector coupling device of charging car.
The method according to claim 1;

A rigid support portion 9 surrounding the charging cable 2 is integrally formed in the connector 3;

When the inlet 4 of the electric vehicle 100 is located on the roof, it is supported by the flush rail 110 installed on the roof and the support means 120 installed at right angles, so that the electric vehicle inlet and charging vehicle are supported. Charging connector coupling device.
A charging connector coupling device for an inlet for an electric vehicle and a charging connector for a charging vehicle (receiving) that provides electric power to an electric vehicle 100 driving on the road from a charging vehicle 210 driving while supplying electric power at an upper portion of an expensive charging dedicated road (1) In );

A robot 300 for combining and removing a vertical multi-joint robot type installed at a starting point and an arrival point of the charging vehicle 210, respectively;

A rail 130 installed on the roof of the electric vehicle 100;

An inlet 4 installed at one end of the rail 130;

A gripper (3) provided at the tip of the charging cable (2) drawn out from the charging vehicle (210) and engaged with the support (9) gripped by the finger assembly (310) of the robot (300) for coupling and removal, 10) and;

Electricity characterized in that it comprises a finger assembly (310), the connector (3) and the connector (3) is installed around the inlet (4) of the electric vehicle 100 is coupled to each other to respond to each other (5) Vehicle inlet and charging connector coupling device of charging car.
In an inlet for an electric vehicle and a charging connector coupling device (1) for an electric vehicle that provides electric power to an electric vehicle (100) driving on a road from a charging vehicle (210) running while supplying electric power at an upper part of an expensive charging dedicated road, ;

A robot 300 for combining and removing a vertical multi-joint robot type installed at a starting point and an arrival point of the charging vehicle 210, respectively;

A rail 130 installed in the electric vehicle 100;

A support protrusion 140 and an inlet 4 installed at both ends of the rail 130;

A pair of pressurization holes 13 provided rotatably coupled to a support 9 that is provided at the tip of the charging cable 2 drawn out from the charging vehicle 210 and held by the finger assembly 310 of the robot 300 for coupling and removal only ) Is coupled to rotate to the lower side, the gripper 10 is provided with a connector (3) and a stopper (11), respectively;

Electricity characterized in that it comprises a finger assembly (310), the connector (3) and the connector (3) is installed around the inlet (4) of the electric vehicle 100 is coupled to each other to respond to each other (5) Vehicle inlet and charging connector coupling device of charging car.
The method according to claim 4 or claim 5;

The gripper 10 has an inlet for an electric vehicle and a charging connector coupling device for a charging vehicle, characterized in that a roller contacting the rail 130 is installed.
The method according to claim 5;

The tension means 14 for the pressure holes are provided between the pressure holes 13 on both sides so that the pressure holes 13 on both sides can be pulled, so that the connector 3 can be used as a pulling force when separating the connector 3. A charging connector coupling device for an inlet for an electric vehicle and a charging vehicle, characterized in that.
The method according to claim 1, 4, 5;

The combined and detachable robot 300 is moved by the orthogonal robot 400;

The orthogonal robot 400 is provided with a support rail 410 on the bottom, a pair of Y-axis robots 420 with rollers installed at the bottom of the support rails 410, and the Y-axis robot 420 Charging of the inlet and charging vehicle for an electric vehicle, characterized in that the X-axis robot 430 is installed so that both ends are coupled to the table, and the robot 300 for coupling and detachment is combined to the table of the X-axis robot 430. Connector coupling device.