JP7339218B2 - Mobile charging system - Google Patents

Description

The present invention relates to a charging system for a moving object such as a mobile robot.

For example, in a building, there are cases where autonomous mobile robots perform services such as reception and guidance of visitors, and patrol monitoring. Since the robot moves using a battery as a power source, it is necessary to charge the battery according to the power consumption of the battery.

When the power of the battery becomes low, the robot moves by itself to the charging station and charges the battery by connecting the power receiving connector of the robot to the power supplying connector of the charging station. Depending on the stop posture of the robot, there may be a height difference between the power receiving connector and the power feeding connector. Therefore, the power receiving connector on the robot side is attached to a vertically installed shaft so that the power receiving connector can move in the vertical direction, thereby absorbing the height difference between the power receiving connector and the power feeding connector. As such a technique, for example, Patent Document 1 has been proposed.

Japanese Patent No. 4645724

Autonomous mobile robots include, for example, those equipped with limbs like humans. The arms and legs of the robot are rotatably connected by a plurality of joints. The robot can take various postures depending on the positions of the limbs connected to these joints.

The robot moves to the charging station and operates to connect the power receiving connector to the power feeding connector of the charging station. There was a problem that it was difficult to connect to In order to solve this problem, it is conceivable to provide the technique described in Patent Document 1. However, in Patent Document 1, since the power receiving connector only moves in the vertical direction, it is difficult to connect the connectors in an inclined state. there were.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems and to provide a charging system for a moving object with improved connectivity between connectors.

In order to achieve the above object, the present invention provides a mobile charging system comprising a mobile having a battery and a charging station for supplying power to the battery, comprising:
the moving body includes a power receiving connector electrically connected to the battery;
The charging station is arranged to face the mobile object, and includes a power supply connector that connects with the power receiving connector when the mobile object moves toward the charging station, the power supplying connector being oriented in the direction of the power receiving connector. supported by at least three urging means urged toward the power receiving connector side so as to operate in the yaw direction and the pitch direction in response to the movement of the moving body, and the moving body is supported by the charging means with respect to the viewpoint of the moving body. When the direction away from the station is defined as the front, the direction in which the moving body approaches the charging station is the rear, the top and bottom of the moving body are defined as top and bottom, and the left and right sides of the moving body are defined as left and right, respectively. A fixed plate for supporting the power supply connector is provided behind the connector, and the fixed plate comprises a first fixed plate movable in the vertical direction and a second fixed plate movable in the horizontal direction. .

ADVANTAGE OF THE INVENTION According to this invention, the charging system of the mobile body which improved the connectability of connectors can be provided.

1 is an external perspective view of a robot charging system according to an embodiment of the present invention; FIG. 1 is a rear view of a mobile robot according to an embodiment of the present invention; 1 is a control block diagram of a robot charging system according to an embodiment of the present invention; FIG. 1 is an external perspective view of a power supply connector with a rear cover removed according to an embodiment of the present invention; FIG. The side view which looked at the electric power feeding connector in FIG. 4 from the left direction VI-VI line cross-sectional view of the power supply connector in FIG. 5 (top cross-sectional view) VI-VI line cross-sectional view of the power supply connector in FIG. 5 (top cross-sectional view) FIG. 4 is a top view showing the operation of the power supply connector according to the embodiment of the present invention; FIG. 2 is an external perspective view showing a connected state of a power supply connector and a power reception connector according to an embodiment of the present invention; Side view of the power supply connector and the power reception connector in FIG. 9 viewed from the left XI-XI line cross-sectional view of the power supply connector in FIG. 10 (top cross-sectional view) XI-XI line cross-sectional view of the power supply connector in FIG. 10 (top cross-sectional view) Enlarged view of main part XIII in Fig. 12

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Similar components are denoted by similar reference numerals, and similar descriptions are not repeated.

The various constituent elements of the present invention do not necessarily have to be independent entities, and one constituent element may consist of a plurality of members, a plurality of constituent elements may consist of one member, a certain constituent element may part of a component, part of one component overlaps part of another component, and so on.

In the following embodiments, a mobile robot charging system will be described as an example of a mobile charging system. FIG. 1 is an external perspective view of a mobile robot charging system according to an embodiment of the present invention, and FIG. 2 is a rear view of the mobile robot according to an embodiment of the present invention. The mobile robot charging system of this embodiment comprises a mobile robot 1 and a charging station 2 . In this embodiment, the viewpoint of the mobile robot 1 is used as a reference, the direction in which the mobile robot 1 moves away from the charging station 2 is the front, the direction in which the mobile robot 1 approaches the charging station 2 is the rear (back), and the top and bottom of the mobile robot 1 are. The left and right sides of the mobile robot 1 are defined as top and bottom, respectively. A vertical axis is defined as a yaw axis, a longitudinal axis is defined as a roll axis, and a lateral axis is defined as a pitch axis. Also, the yaw direction is defined around the yaw axis, the roll direction is defined around the roll axis, and the pitch direction is defined around the pitch axis.

The mobile robot of this embodiment operates away from the charging station 2 and has a function of providing services such as receiving visitors, guiding them, and/or monitoring them (patrol monitoring).

The mobile robot 1 (moving body) includes a body portion 101, a head portion 102 rotatably connected to the upper portion of the body portion 101, and a plurality of legs 103 rotatably connected to the lower portion of the body portion 101. , a plurality of legs 104 rotatably connected to the lower ends of the legs 103 , and a plurality of arms 105 rotatably connected to the left and right of the body 101 . Below each of the plurality of legs 104, there are provided moving wheels 106 and auxiliary wheels 107 rotatably supported to move the mobile robot 1 forward and backward. A leg cover portion 108 is provided for each of the plurality of leg portions 103 .

The leg portion 103 is composed of an upper leg portion 103a and a lower leg portion 103b, and the upper leg portion 103a is rotatably connected to the body portion 101 by a hip joint. The upper leg 103a and the lower leg 103b are rotatably connected by a knee joint.

The arm portion 105 is composed of an upper arm portion 105a and a forearm portion 105b, and the upper arm portion 105a is rotatably connected to the body portion 101 by a shoulder joint. Also, the upper arm portion 105a and the forearm portion 105b are rotatably connected by an elbow joint.

A battery 109 is provided inside each leg 103b, and power is supplied from the battery 109 to an actuator (not shown) to operate the mobile robot 1. As shown in FIG.

A power receiving connector 110 electrically connected to a battery 109 and supplying power to the battery 109 is provided on the rear (rear side) of the body 101 of the mobile robot 1 .

The charging station 2 includes a floor mechanism portion 201 installed on the floor surface and extending in the horizontal direction, and a rear mechanism portion 202 rising upward (vertically) from the floor mechanism portion 201 to form an outer shell.

A power supply connector 220 is provided on the front side of the rear mechanical section 202 and protrudes forward from the rear cover 202 a of the rear mechanical section 202 toward the mobile robot 1 . The power supply connector 220 is connected to the power receiving connector 110 when the mobile robot 1 moves toward the charging station 2 , and charges the battery 109 of the mobile robot 1 .

The floor mechanism section 201 includes a placement section 210 on which the mobile robot 1 is placed, and side wall sections 211 on the left and right sides of the placement section 210 and rising upward (vertically) from the placement section 210 . . The side wall portions 211 are formed such that the lateral width of the side wall portions 211 narrows from the front to the rear. Further, the side wall portion 211 is formed with a partially notched guide portion 212 . The guide portion 212 extends rearward from the front and is formed to rise upward (vertically) at the rear.

When the capacity of the battery 109 decreases, the mobile robot 1 moves to the charging station 2 and connects the power receiving connector 110 to the power feeding connector 220 to charge the battery 109 . At that time, the mobile robot 1 retreats and heads for the charging station 2 . When the mobile robot 1 retreats and reaches the mounting portion 210 , the mobile robot 1 is regulated toward the center along the side wall portion 211 , and the lower end of the leg cover portion 108 of the mobile robot 1 rides on the guide portion 212 . , the power receiving connector 110 is guided to be connected to the power feeding connector 220 .

Next, the circuit configurations of the mobile robot 1 and charging station 2 will be described with reference to FIG. FIG. 3 is a control block diagram of the robot charging system according to the embodiment of the present invention.

A DC/DC converter 112 and a battery 109 are connected to a power receiving connector 110 of the mobile robot 1 via a power line 111 . DC/DC converter 112 is connected to control device 113 via power supply line 111 . The controller 113 is connected to a motor 114 for operating the mobile robot 1 via a power line 111 and controls the motor 114 . A power supply line 111 and a communication line 115 are arranged in the power receiving connector 110 , and the power receiving connector 110 is connected to the control device 113 via the communication line 115 . The power line 111 is also provided with a switch 116 for turning on/off power supply to the battery 109 , and the switch 116 is connected to the control device 113 via a communication line 117 . Controller 113 controls switch 116 to control charging of battery 109 .

A commercial power supply 300 is connected to the charging station 2 via an AC/DC converter 241 . A control device 243 is connected to the AC/DC converter 241 via a power line 242 , and a power supply connector 220 is connected to the control device 243 via a power line 242 . Electric power supplied from the commercial power source 300 is charged to the battery 109 via the AC/DC converter 241 , the control device 243 , the power supply connector 220 and the power reception connector 110 .

In addition to the power supply line 242 , a communication line 244 is arranged in the power supply connector 220 , and the power supply connector 220 is connected to the control device 243 via this communication line 244 . Further, the power supply connector 220 is provided with a solenoid 245 that regulates the operation of locking means 224 described later.

Next, the configuration of power supply connector 220 will be described with reference to FIGS. 4 to 8. FIG. 4 is an external perspective view of the power supply connector with the back cover removed according to the embodiment of the present invention, FIG. 5 is a side view of the power supply connector in FIG. 4 as seen from the left, and FIGS. FIG. 8 is a cross-sectional view (top cross-sectional view) of the power supply connector taken along the line VI-VI, and FIG. 8 is a top view showing the operation of the power supply connector according to the embodiment of the present invention.

The power supply connector 220 includes an insertion portion 221 to be inserted into the power receiving connector 110 , a connector receiving portion 222 fixed to the insertion portion 221 and receiving the power receiving connector 110 , and a connector supporting portion 223 fixed to the connector receiving portion 222 . there is The connector support portion 223 includes a U-shaped member 223a formed in a U shape when viewed from above, and a mounting plate 223b arranged to close the open side of the U-shaped member 223a. The U-shaped bottom side of the U-shaped member 223 a is located on the front side, is inserted into the connector receiving portion 222 and is fixed to the connector receiving portion 222 .

Both side surfaces of the power supply connector 220 are provided with locking means 224 that prevent the power reception connector 110 from coming off from the power supply connector 220 when it is connected to the power reception connector 110 . The configuration of the locking means 224 will be described later.

Inside the power supply connector 220, a power supply terminal connected to the power supply line 242 and a communication terminal connected to the communication line 244 are provided.

Further, the power supply connector 220 is provided with two (plurality) guide holes 226 for guiding the insertion of the power reception connector 110, which will be described later.

A support plate 301 that supports the power supply connector 220 is provided behind the power supply connector 220 . A fixing plate 302 is provided in front of the support plate 301 and between the support plate 301 and the power supply connector 220 (behind the power supply connector 220).

The fixed plate 302 includes a vertically movable first fixed plate 302a and a horizontally movable second fixed plate 302b. The first fixing plate 302a is movably attached to the support plate 301 by a spring as biasing means. That is, on both left and right sides of the first fixing plate 302a, a plurality of first vertical springs 303 are arranged above the first fixing plate 302a and generate an upward biasing force (pulling force), and the first fixing plate 302a A plurality of second up-and-down springs 304 are arranged below and generate a downward biasing force (pulling force). The first fixing plate 302 a is supported by the support plate 301 by the first vertical spring 303 and the second vertical spring 304 , so that the first fixing plate 302 a can move vertically with respect to the support plate 301 .

The second fixed plate 302b is movably attached to the first fixed plate 302a by a spring as biasing means. That is, above and below the second fixing plate 302b, a plurality of first left and right springs 305 are arranged on the left side of the second fixing plate 302b and generate a leftward biasing force (pulling force), and the first fixing plate 302a A plurality of second left and right springs 306 are arranged on the right side and generate a rightward biasing force (pulling force). The second fixing plate 302b is supported on the first fixing plate 302a by the first left-right spring 305 and the second left-right spring 306, so that the second fixing plate 302b can move in the left-right direction with respect to the first fixing plate 302a. Power supply connector 220 is supported by fixed plate 302 , and fixed plate 302 is supported by support plate 301 . The power supply connector 220 is supported by the support plate 301 via the fixing plate 302 .

Further, in this embodiment, the power supply connector 220 and the support plate 301 are connected by a plurality of swing springs 310 (biasing means). The rocking spring 310 is composed of a plurality of compression springs that generate a biasing force in the front-rear direction. In this embodiment, four rocking springs 310 are arranged vertically and horizontally, but the number of rocking springs 310 is not limited to four. It is preferable to provide at least three or more. One side of the swing spring 310 is fixed to the mounting plate 223b of the connector support portion 223, and the other side is fixed to the second fixing plate 302b.

When an external force is applied to power supply connector 220, part of swing spring 310 is compressed so as to release the external force. In FIG. 8, for example, when an external force is applied to the left side of the power supply connector 220, the rocking spring 310a located on the left side is compressed. At this time, the power supply connector 220 rotates in the yaw direction with respect to the yaw axis and tilts to the left. Also, although not shown, for example, when an external force is applied downward to the power supply connector 220, the rocking spring 310 located on the lower side is compressed, and the power supply connector 220 rotates in the pitch direction with the pitch axis as a reference. As a result, the power supply connector 220 operates to face downward. As described above, the power supply connector 220 of this embodiment is characterized in that it operates in the yaw axis direction and the pitch axis direction with respect to the support plate 301 . Furthermore, in this embodiment, in addition to the power supply connector 220 moving in the yaw and pitch directions, the first fixing plate 302a and the second fixing plate 302b, and the first and second vertical springs 303 and 304 that support them , the first left-right spring 305 and the second left-right spring 306 move vertically and horizontally.

The power supply connector 220 is connected to the power receiving connector 110 of the mobile robot 1 to charge the battery 109 of the mobile robot 1. The mobile robot 1 has a positional relationship with a plurality of legs 103 rotatably connected to the body 101. , it may be connected to the charging station 2 in a state in which the body portion 101 is tilted. At this time, since the power receiving connector 110 is also tilted due to the tilt of the body portion 101, there is a problem that connection with the power feeding connector 220 is difficult.

Therefore, the power supply connector 220 of this embodiment includes a plurality of swing springs 310 that are biased toward the power reception connector 110, so that the power supply connector 220 operates in the yaw direction and the pitch direction according to the orientation of the power reception connector 110. made it possible. As a result, even when power receiving connector 110 is tilted and attempts to connect to power feeding connector 220 , power feeding connector 220 rotates in the yaw direction and pitch direction according to the tilt of power receiving connector 110 . Connection with the power receiving connector 110 is facilitated. Further, regarding the position adjustment in the vertical direction and the horizontal direction, the first fixing plate 302a and the second fixing plate 302b, and the first vertical spring 303, the second vertical spring 304, the first horizontal spring 305, the second horizontal spring 305, and the second vertical spring 303, which support them, are used. This can be done with the left and right springs 306 .

According to this embodiment, even when the power receiving connector 110 is tilted, the connectivity between the power receiving connector 110 and the power feeding connector 220 can be improved.

As for the roll direction with respect to the roll axis, the power receiving connector 110 is unlikely to be tilted, so it is preferable to arrange the rocking spring 310 so as to move in the yaw direction and the pitch direction, which are at least two rotational degrees of freedom.

Now, even when the mobile robot 1 is placed on the charging station 2, it is possible to operate while the battery 109 is being charged. For example, in this embodiment, the mobile robot 1 can guide and/or monitor visitors while charging. The head 102 and arm 105 may be moved to guide and/or monitor the visitor. When the head 102 and the arms 105 are operated in a charged state, the body 101 connected to the head 102 and the arms 105 may shake due to the movements of the head 102 and the arms 105 . At that time, power receiving connector 110 connected to power supply connector 220 may be disconnected from power supply connector 220 . Means for suppressing this will be described.

As described above, the power supply connector 220 of this embodiment is provided with the locking means 224 that maintains the connected state with the power receiving connector 110 when the power receiving connector 110 is connected. As shown in FIGS. 4 to 7, the locking means 224 includes an extension portion 224a extending in the front-rear direction along the power receiving connector 110, a claw portion 224b formed on the power receiving connector 110 side of the extension portion 224a, It has a receiving portion 224c formed on the opposite side of the power receiving connector. The receiving portion 224c is formed so as to be recessed toward the power receiving connector 110 side. A rotary shaft 225 is provided on the power receiving connector 110 side of the locking means 224 , and the extension 224 a is rotatable toward the outside of the power feeding connector 220 . The locking means 224 is preferably biased outward from the power supply connector 220 using a torsion coil spring or the like.

The solenoid 245 operates toward the power receiving connector 110 (front-rear direction) to restrict the rotation of the locking means 224 . In FIG. 6 , the tip of the solenoid 245 moves toward the power receiving connector 110 (forward) and engages with the receiving portion 224 c of the locking means 224 . In this state, locking means 224 restricts movement of power supply connector 220 to the outside around pivot shaft 225 .

Next, the connection state of power receiving connector 110 will be described. 9 is an external perspective view showing the connected state of the power supply connector and the power reception connector according to the embodiment of the present invention, FIG. 10 is a side view of the power supply connector and the power reception connector in FIG. 9 as viewed from the left, and FIGS. 10, and FIG. 13 is an enlarged view of the main part XIII in FIG. 12. FIG.

A cover member 120 is provided around the power receiving connector 110 to cover the connection portion side of the power receiving connector 110 . Inside the power receiving connector 110, a power receiving terminal connected to the power supply terminal of the power supply connector 220 and a communication terminal connected to the communication terminal on the charging station 2 side are provided. The power receiving terminal is connected to the power line 111 and supplies power to the battery 109 . The communication terminal on the mobile robot 1 side is connected to the communication line 115, and information is transmitted and received between the charging station 2 and the mobile robot 1 when connected.

When the power receiving connector 110 is connected to the power feeding connector 220, the extended portion 224a of the locking means 224 opens toward the outside of the power feeding connector 220 due to the biasing force of the torsion coil spring, as shown in FIG.

In addition, the power receiving connector 110 is provided with a locked means 121 that engages with the locking means 224 . The engaged means 121 is provided with a protrusion 121a that engages with the claw 224b of the engaging means 224. As shown in FIG. Further, the locked means 121 has a rotating shaft 122 and is biased toward the power receiving connector 110 by a biasing force such as a torsion coil spring.

When power receiving connector 110 moves toward power feeding connector 220, cover member 120 of power receiving connector 110 abuts on extension 224a and pushes extension 224a toward power feeding connector 220 against the biasing force of the torsion coil spring. As extension 224 a approaches power supply connector 220 , extension 224 a moves toward power supply connector 220 , and claw 224 b protrudes outward from power supply connector 220 . In addition, the power receiving connector 110 is provided with two (plural) guide pins 123 to be inserted into the two (plural) guide holes 226 of the power feeding connector 220 , and the guide pins 123 are inserted into the guide holes 226 . Positioning of the connection position of the power supply connector 220 and the power reception connector 110 is performed by the . Guide pins 123 and guide holes 226 are provided inside the outer peripheries of power receiving connector 110 and power feeding connector 220, respectively. Two (plurality) of guide pins 123 and two (plurality) of guide holes 226 are arranged so as to be as close to each other as possible. When the distance between the two (plurality) of the guide pins 123 and the distance between the two (plurality) of the guide holes 226 increases, the distance between the other guide pin and the other guide hole when one guide pin and one guide hole are aligned. Positional deviation increases. Therefore, the two (plurality) of guide pins 123 and the two (plurality) of guide holes 226 are preferably arranged so as to be as close to each other as possible.

When the power receiving connector 110 moves, the claw portion 224b of the locking means 224 and the projection 121a of the locked means 121 come into contact with each other, but the locked means 121 moves outside the power receiving connector 110 around the rotating shaft 122. It rotates toward and gets over the claw part 224b of the locking means 224. - 特許庁After getting over the claw portion 224 b of the locking means 224 , the locked means 121 rotates toward the power receiving connector 110 side about the rotating shaft 122 by the biasing force of a torsion coil spring or the like, and the claw portion of the locking means 224 is rotated. 224b and the protrusion 121a of the locked means 121 face each other.

Further, the solenoid 245 moves toward the power receiving connector 110, and the tip of the solenoid 245 is engaged with the receiving portion 224c of the locking means 224, thereby restricting the locking means 224 from rotating.

In this state, when power receiving connector 110 is pulled out of power feeding connector 220 , projection 121 a of locked means 121 of power receiving connector 110 abuts claw 224 b of locking means 224 . According to this embodiment, even when the mobile robot 1 operates during charging, the power receiving connector 110 is prevented from coming out of the power feeding connector 220, and the connected state between the power receiving connector 110 and the power feeding connector 220 is maintained. can be done. Also, in this embodiment, the mobile robot 1 guides and/or monitors visitors while the power receiving connector 110 and the power feeding connector 220 are kept connected and power is being received from the charging station 2 . ing. According to this embodiment, since the mobile robot 1 operates while receiving power from the charging station 2, it does not depend on the remaining amount of the battery 109, and can provide services such as guiding and/or monitoring visitors for a long period of time. can do.

When the mobile robot 1 leaves the charging station 2, the solenoid 245 is moved to the charging station 2 side (rear side), and the engagement between the tip of the solenoid 245 and the receiving portion 224c of the locking means 224 is released. As the mobile robot 1 moves, when the power receiving connector 110 is separated from the power feeding connector 220, the locking means 224 rotates around the rotating shaft 225 to the outside of the power feeding connector 220 due to the biasing force of the torsion coil spring, and the claw portion 224b. moves to the power supply connector 220 side, and retreats from the position facing the projection 121a of the locked means 121 . Then, the projection 121 a of the locked means 121 does not engage with the projection 121 a of the locked means 121 , so the power receiving connector 110 can be separated from the power feeding connector 220 .

Between the mobile robot 1 and the charging station 2 in this embodiment, in addition to supplying power from the charging station 2 to the mobile robot 1, information is transmitted and received via a communication line.

For example, the control device 113 of the mobile robot 1 grasps the remaining amount of the battery 109 and transmits the remaining amount information to the control device 243 of the charging station 2 via the communication lines 115 and 244 . The control device 243 of the charging station 2 receives the remaining amount information from the mobile robot 1 side, and controls the AC/DC converter 241 to convert electric power from the commercial power source 300 and supply power to the mobile robot 1 side. Also, the control device 243 confirms transmission and reception of signals between the mobile robot 1 and the charging station 2, and operates the solenoid 245 described above.

The control device 243 of the charging station 2 stops supplying power to the mobile robot 1 when the signal from the control device 113 of the mobile robot 1 cannot be received (disconnection). Controller 243 also stops operation of solenoid 245 . If the signal from the controller 113 of the mobile robot 1 cannot be received, it is conceivable that the mobile robot 1 or the charging station 2 has some sort of abnormality.

According to this embodiment, when the communication between the mobile robot 1 and the charging station 2 is interrupted, the charging station 2 does not supply power to the mobile robot 1, so safety can be improved. .

In addition, the present invention is not limited to the above-described embodiments, and includes various modifications. The above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations.

DESCRIPTION OF SYMBOLS 1... Mobile robot 2... Charging station 101... Body part 102... Head part 103... Leg part 103a... Upper leg part 103b... Lower leg part 104... Foot part 105... Arm part 105a... Upper arm Part 105b...Forearm 106...Moving wheel 107...Auxiliary wheel 108...Leg cover part 109...Battery 110...Power receiving connector 111...Power supply line 112...DC/DC converter 113...Control device , 114... Motor 115... Communication line 116... Switch 117... Communication line 120... Cover member 121... Locked means 121a... Protrusion 122... Rotating shaft 123... Guide pin 201... Floor Mechanism Part 202 Rear mechanism part 202a Rear cover 210 Mounting part 211 Side wall part 212 Guide part 220 Power supply connector 221 Insertion part 222 Connector receiving part 223 Connector support Parts 223a...U-shaped member 223b...Mounting plate 224...Locking means 224a...Extended part 224b...Claw part 224c...Receiving part 225...Rotating shaft 226...Guide hole 241...AC /DC converter 242 Power supply line 243 Control device 245 Solenoid 246 Power line 300 Commercial power supply 301 Support plate 302 Fixed plate 302a First fixed plate 302b Second fixed plate , 303... First up/down spring 304... Second up/down spring 305... First left/right spring 306... Second left/right spring 310, 310a... Swing spring

Claims (7)

A mobile charging system comprising a mobile body having a battery and a charging station for supplying power to the battery,
the moving body includes a power receiving connector electrically connected to the battery;
The charging station is arranged facing the moving object, and includes a power supply connector that connects with the power receiving connector when the moving object moves toward the charging station,
the power supply connector is supported by at least three biasing means biased toward the power receiving connector so as to move in the yaw direction and the pitch direction according to the orientation of the power receiving connector ;
Based on the viewpoint of the moving object, the direction in which the moving object moves away from the charging station is forward, the direction in which the moving object approaches the charging station is backward, the top and bottom of the moving object are up, down, and the movement. When the right and left sides of the body are defined as left and right respectively, a fixing plate for supporting the power supply connector is provided behind the power supply connector,
A charging system for a moving object, wherein the fixed plate includes a first fixed plate movable in a vertical direction and a second fixed plate movable in a horizontal direction. In claim 1 ,
The first fixing plate includes a first vertical spring that is arranged above the first fixing plate and generates an upward biasing force, and a first vertical spring that is arranged below the first fixing plate and produces a downward biasing force. A second vertical spring is provided to generate
The second fixed plate includes a first left and right spring arranged on the left side of the second fixed plate to generate a leftward biasing force, and a first left and right spring arranged on the right side of the second fixed plate to generate a rightward biasing force. A charging system for a moving object, comprising a second left-right spring that generates a spring. In claim 1 or 2 ,
The power supply connector includes locking means for maintaining a connected state with the power receiving connector when the power receiving connector is connected,
wherein the mobile body guides and/or monitors visitors while the power receiving connector and the power feeding connector are maintained in a connected state and power is being received from the charging station. system. In claim 3 ,
The locking means includes an extension portion extending along the power receiving connector, a claw portion formed on the power receiving connector side of the extension portion, a receiving portion formed on the opposite side of the power receiving connector, and the extension portion. the installation portion includes a rotation shaft capable of rotating toward the outside of the power receiving connector,
A charging system for a moving body, wherein the power supply connector is provided with a solenoid that engages with the receiving portion and restricts the rotation of the locking means. In claim 4 ,
The power receiving connector is provided with a means to be locked that engages with the locking means,
A charging system for a moving object, wherein the locked means includes a projection that engages with the claw. In claim 3 ,
the power receiving connector and the power feeding connector each include a communication terminal for transmitting and receiving information between the charging station and the mobile object when connected;
The charging station includes a control device that controls power supplied to the mobile body,
A charging system for a moving body, wherein the control device stops supplying power to the moving body when a signal from the moving body is interrupted through the communication terminal. In claim 1 or 2 ,
The power supply connector has a plurality of guide holes,
A charging system for a moving object, wherein the power receiving connector includes a plurality of guide pins to be inserted into the plurality of guide holes.

Images