CN107039844A - 面向智能车自主充电的柔性对接装置 - Google Patents
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
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- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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Abstract
面向智能车自主充电的柔性对接装置,涉及移动机器人。设有受电底座、导电弹性片、滚轮、充电电极片、充电接头头部、柔性连杆、充电接头尾部、控制模块、信号收发器、充电底座、电机、收纳槽和导线;所述导电弹性片通过螺栓固定在绝缘的受电底座上,所述导电弹性片与导线连接;所述滚轮与充电接头头部铰接,充电电极片安装在绝缘的充电接头头部两侧,充电接头头部和充电接头尾部之间由柔性连杆连接,充电接头尾部和充电底座铰接,电机在90°以内旋转展开或放入收纳槽;电机、信号收发器、控制模块以及收纳槽全都固定在充电底座上,所述信号收发器包括信号接收器和距离探测器。
Description
技术领域
本发明涉及移动机器人,尤其是涉及面向智能车自主充电的柔性对接装置。
背景技术
目前,大多数移动机器人、AGV等智能车的充电方式主要有两种,一种是人工连接充电插头和插座,从而给智能车的蓄电池充电,这种充电方式简单,但是需要人为操作,在无人值守的场合不适用;第二种是智能车自主充电,这种方式通常是智能车自主寻找充电桩或充电插头,并与其对接,从而完成充电。第二种充电方式虽然自动化程度较高,但是由于充电桩和充电插头大多使用刚性材料,且通常是固定的,整个对接过程属刚性对接。刚性对接方式对智能车的定位精度要求很高,在对接过程中会因定位误差的存在,造成充电接头和充电接口之间的相互挤压力大,导致设备磨损严重,从而降低了整个充电装置的使用寿命和可靠性。另外,固定的充电接头既占空间,又长期裸露容易吸附异物,不安全。中国专利CN203301199U公开一种用于AGV引导车带伸缩触头的智能对位充电装置,但是由于该充电装置需要滑行台和滑行导轨来控制充电触头与充电极板连接,使得整个充电装置结构复杂,而且由于其滑行导轨长期裸露,可靠性不高。
发明内容
本发明的目的在于为了克服现有智能车充电对接装置对定位精度要求较高和容易磨损、可靠性低等缺点,提供采用柔性对接方式,可大大降低定位精度要求和对接挤压力,且充电接头可智能收放,不仅节约空间,还有利于充电接头的存放和维护的面向智能车自主充电的柔性对接装置。
本发明设有受电底座、导电弹性片、滚轮、充电电极片、充电接头头部、柔性连杆、充电接头尾部、控制模块、信号收发器、充电底座、电机、收纳槽和导线;
所述导电弹性片通过螺栓固定在绝缘的受电底座上,所述导电弹性片与导线连接;所述滚轮与充电接头头部铰接,充电电极片安装在绝缘的充电接头头部两侧,充电接头头部和充电接头尾部之间由柔性连杆连接,充电接头尾部和充电底座铰接,电机在90°以内旋转展开或放入收纳槽;电机、信号收发器、控制模块以及收纳槽全都固定在充电底座上,所述信号收发器包括信号接收器和距离探测器。
本发明的充电接口通过受电底座上的螺孔固定在智能车上,每个导电弹性片由导线连接连通车内电源系统。
本发明由处于同一高度的充电接口和充电接头两部分组成,所述充电接口由绝缘受电底座和两个固定在受电底座上的导电弹性片组成,充电接口固定在智能车上。所述充电接头由充电接头头部、柔性连杆在外力下可弯曲、充电接头尾部、充电底座、收纳槽、信号收发器、电机以及控制模块等部分组成,其头部和尾部之间由空心柔性连杆连接。所述充电接头头部顶端装有一个滚轮、侧面有两个电极片每个电极片由导线连接连通外部电源,所述充电接头尾部和充电底座铰接,并可随着固定在底座上的电机旋转。
当智能车需要充电时,它可根据充电接头的位置信息,通过其充电控制模块驶向充电接头,同时:智能车与充电接头发出通信,充电接头的信号收发器收到信号后,通过控制模块将充电接头从收纳槽中展开,做好充电准备;或者充电接头的信号收发器检测到有车体靠近时,主动将充电接头从收纳槽中展开,做好充电准备。当接近充电接头后,小车向其缓慢靠近,使小车上的充电接口和充电接头对接。当智能车定位不准确存在对接误差时,充电接头顶端的滚轮可以沿着受电底座边缘滚动,引导充电接口和充电接头准确对接,同时,因对接误差产生的外力会使得柔性连杆弯曲,充电接头产生变形从而适应充电接口和充电接头的对接误差。充电完成后,智能车驶出,使得充电接口和充电接头分离。待小车驶远,充电接头通过通信或距离检测的方式得知后,控制模块控制电机转动,把充电接头收入收纳槽中。
本发明的有益效果是:充电接头采用柔性材料连接,使得智能车在自主充电时,不需要太高的定位精度即可实现充电接口和充电接头的精准对接;同时可以有效减小定位误差造成的充电接头和充电接口的相互挤压力。另外,通过通信或主动检测的方式,充电接头可以智能收放,不仅节约空间,还方便存放和避免落入灰尘杂物,从而大大提高充电装置的可靠性、安全性以及使用寿命。
附图说明
图1是充电接口和充电接头无误差对接的示意图。
图2是充电接头顶端滚轮沿受电底座边缘滚动的示意图。
图3是有误差时充电接口和充电接头柔性适应对接的示意图。
具体实施方式
为使本发明的上述内容、特征和优点能够更加清晰易懂,下面结合附图对本发明的具体实施方式进行详细描述。在下面的介绍中阐述了很多具体细节以便于充分理解本发明,但是本发明能够以多种不同于以下描述的其它方式来实现,本领域的专业技术人员可以在不违背本发明原理的情况下进行改进和润饰,因此本发明不受下面公开的具体实施方式的限制。
本发明的充电接口如图1所示,导电弹性片2通过螺栓固定在绝缘的受电底座1上,充电接口通过受电底座上的螺孔固定在智能车上,每个导电弹性片2由导线13连接连通车内电源系统。滚轮3与充电接头头部5铰接,充电电极片4安装在绝缘的充电接头头部5两侧,充电接头头部5和充电接头尾部7之间由空心柔性连杆6连接。充电接头尾部7和充电底座10铰接,并可随电机11在90°以内旋转展开或放入收纳槽。电机11、信号收发器9、控制模块8以及收纳槽12全都固定在充电底座10上,这里的信号收发器包括信号接收和距离探测器件。
实施例工作流程如下:
首先,当智能车需要充电时,智能车向充电接头发出通信信号,充电接头上的信号收发器9接收到信号后,控制模块8控制电机11旋转90°,使充电接头从收纳槽12中展开。或者:充电接头上的信号收发器9检测到车体靠近时,主动控制充电接头从收纳槽12中展开。
然后,智能车根据充电接头的位置信息,通过定位控制模块逐渐向充电接头移动。接近充电接头后,小车向其缓慢靠近,即充电接口和充电接头缓慢对接。当充电接口和充电接头无法准确对接时,充电接头顶端的滚轮3沿着受电底座1的边缘滚动如图2所示,引导充电接头和充电接口准确对接,与此同时,柔性连杆6将受力而发生弯曲,充电接头产生变形来适应其与充电接头的对接误差,对接结果如图3所示。如果充电接口和充电接头对接时没有位置误差,对接结果如图1所示。
充电完毕后,智能车向外移动,使得充电接口和充电接头分离。待智能车驶离充电接头后,智能车再一次发出通信信号,信号收发器9接收信号后,控制模块8控制电机11反向旋转90°,从而驱动充电接头收入收纳槽12;或者:充电接头上的信号收发器9检测到车体远离时,主动控制充电接头放入收纳槽12中。
至此,整个自动充电过程完毕。
Claims (2)
1.面向智能车自主充电的柔性对接装置,其特征在于设有受电底座、导电弹性片、滚轮、充电电极片、充电接头头部、柔性连杆、充电接头尾部、控制模块、信号收发器、充电底座、电机、收纳槽和导线;
所述导电弹性片通过螺栓固定在绝缘的受电底座上,所述导电弹性片与导线连接;所述滚轮与充电接头头部铰接,充电电极片安装在绝缘的充电接头头部两侧,充电接头头部和充电接头尾部之间由柔性连杆连接,充电接头尾部和充电底座铰接,电机在90°以内旋转展开或放入收纳槽;电机、信号收发器、控制模块以及收纳槽全都固定在充电底座上,所述信号收发器包括信号接收器和距离探测器。
2.如权利要求1所述面向智能车自主充电的柔性对接装置,其特征在于充电接口通过受电底座上的螺孔固定在智能车上,每个导电弹性片由导线连接连通车内电源系统。
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CN108791226A (zh) * | 2017-10-16 | 2018-11-13 | 蔚来汽车有限公司 | 运输器对接装置、换电运输器及对接方法 |
CN108819746A (zh) * | 2018-06-08 | 2018-11-16 | 衢州学院 | 一种电动汽车自动充电机器 |
CN109693568A (zh) * | 2019-01-26 | 2019-04-30 | 珠海达明科技有限公司 | 一种集对接成功物理量反馈的agv自动充电系统与方法 |
CN109789806A (zh) * | 2018-05-07 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | 一种充电装置及充电系统 |
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