DE102020121222A1 - Hermaphrodite plug - Google Patents

Abstract

Hermaphroditic plug with a base element with a plug-in surface, the plug-in surface having an axis of symmetry and a first plug element and a second plug element. The first connector element protrudes from the connector surface, while the second connector element is recessed. Furthermore, the shape of the first connector element corresponds to the shape of the second connector element. The first plug element and the second plug element are designed symmetrically relative to the axis of symmetry, so that a second hermaphroditic plug with the same structure can be connected in particular with a positive fit to the first plug element and the second plug element. A first magnetic element is arranged in the base element and in particular below the plug surface, so that the magnetic element generates a magnetic coupling force between the first and the second hermaphroditic plug.

Description

The present invention relates to a hermaphroditic connector, in particular for connecting a mobile platform or a vehicle to a charging station, a pair of connectors having two such connectors, and a system having a charging station and at least one vehicle each having such a connector.

Mobile robot systems, such as industrial trucks, require either an electrical supply infrastructure, such as pantographs, or a self-sufficient energy supply, such as accumulators. However, the latter must be recharged regularly to ensure the long-term functioning of the robotic system. Again, there are several ways to do this. For example, sliding or spring contacts can be used as part of a stationary charging bay to be docked automatically, inductive transmission can be implemented or a charging plug can be attached.

If a charging plug is used, a device socket is usually installed in the mobile robot system and a plug on a cable is usually plugged into it manually if necessary. Such plugs are also known from the fields of electric cars and forklifts. The advantage of charging plugs compared to the other variants is the smaller design than when using an inductive charging device and the option that other plug pins, for example for data transmission or charging device control, can also be implemented in a simple way.

Normal charging plugs have the disadvantage that they are susceptible to mechanical damage when plugged in, since they can only be separated by applying force in the opposite direction to the plugging direction. If force is applied unintentionally, for example due to minor incorrect operation of heavy machines, high forces can be applied in directions other than the plug-in direction, which can cause the connector to break off or the cables used to be damaged.

Furthermore, known plugs are explicitly separated into a female and a male plug-in part, so that no energy and/or data exchange between two identical systems is possible. In the field of robotics, however - for example in the field of autonomous exploration - scenarios are well known which require the exchange of energy and data between two identical robot systems.

The object of the present invention is to create a connector that can be used flexibly and is protected against damage.

The object is achieved by a connector according to claim 1, a connector pair according to claim 16 and a system according to claim 17.

The hermaphroditic plug according to the invention has a base element with a plug surface, the plug surface having an axis of symmetry. In particular, the basic element or the plug area has a geometric base area, such as a circular area or a square. In the installed state, the axis of symmetry runs in particular horizontally or vertically. Furthermore, a first plug element is formed on the plug surface, which protrudes from the plug surface. A second plug element is also provided on the plug surface, which is recessed. The shape of the first connector element corresponds to the shape of the second connector element. Furthermore, the first plug element and the second plug element are arranged symmetrically relative to the axis of symmetry, so that when coupled to a second hermaphroditic plug with the same structure, this can be connected in particular in a form-fitting manner to the first plug element and the second plug element. The first protruding plug element as a male plug part can be inserted into a recessed second plug element as a female plug part of the second hermaphroditic plug. Likewise, when connecting the first hermaphrodite plug to a second hermaphrodite plug of the same structure, the protruding first plug part of the second hermaphrodite plug as a male plug part can be inserted into the recessed second plug element as a female plug part of the first plug.

According to the invention, a first magnetic element is arranged in the base element and in particular underneath the plug surface, so that the magnetic element generates a magnetic coupling force between the first and second hermaphroditic plugs. The magnetic force thus results in a coupling between the hermaphroditic plug and a second hermaphroditic plug, with the two plugs having to be separated counter to the magnetic force. Thus, due to the symmetrical structure of the first plug element and the second plug element relative to the given axis of symmetry, the plug can be used in a variety of ways. If the plug according to the invention is attached to a vehicle, for example, then, due to the given symmetry, the Ste can be connected to a charging station, for example. At the same time, however, it is also possible to establish an electrical connection to other vehicles that are also equipped with the plugs according to the invention. Since in this case the coupling force between plugs is generated by the respective first magnetic elements, even small forces are sufficient to separate the plugs again. Thus, if forces occur on the plug that do not occur in the plug-in direction, the plug can still be separated without damage. As a result, the plug according to the invention is protected from damage.

Preferably, the first plug element has a connecting socket and the second plug element has a contact pin, the connecting socket and the contact pin being arranged symmetrically relative to the axis of symmetry. As an alternative or in addition to this, the first plug element has a contact pin and the second plug element has a connecting socket, the connecting socket and contact pin being arranged symmetrically relative to the axis of symmetry. Thus, when two plugs of the same design are plugged together, the contact pin is connected to the connecting socket for the transmission of a current and/or data signal. In particular, the first plug element can have more than one contact pin and/or more than one connecting socket. Likewise, the second connector element can have more than one connection socket and/or more than one contact pin. Of course, the number of contact pins of the first connector element corresponds to the number of connection sockets of the second element and the number of connection sockets of the first connector element also corresponds to the number of contact pins of the second connector element. This ensures that when two plugs of the same design are plugged together, the contact pin is connected to a connecting socket.

The contact pins preferably do not protrude beyond the contact surface. In particular, if the contact pins are arranged on the second connector element, the contact pins are thus protected from external influences. This prevents the contact pins from bending, for example.

The connector preferably has more than one first connector element and correspondingly more than one second connector element. The number of first connector elements corresponds to the number of second connector elements. Furthermore, the first connector elements and second connector elements are arranged in pairs symmetrically relative to the axis of symmetry, so that when two identically designed connectors are plugged together, each first connector element of one connector is mated with a second connector element of another connector. The arrangement of the first connector elements and second connector elements relative to the axis of symmetry can be as desired. For example, only first plug elements can be provided on a first side of the axis of symmetry and only second plug elements can be provided on a second, opposite side relative to the axis of symmetry. As an alternative to this, only second plug elements are provided on the first side and only first plug elements are provided on the second side of the axis of symmetry. As an alternative to this, both at least one first plug element and at least one second plug element are provided on the first side of the axis of symmetry. Correspondingly, at least one first plug element and at least one second plug element are provided on the second side relative to the axis of symmetry, with the number of first plug elements and second plug elements being the same, as explained above.

Preferably, at least one of the contact pins provided is at least partially surrounded by insulation to avoid short circuits. In particular, the insulation is designed as a sliding sleeve, so that when two identically designed plugs are plugged together, the insulation is pushed back in order to expose an electrical contact.

The connection socket preferably has a spring element, in particular designed as a garter spring, so that the corresponding contact pin can be contacted or held by the spring element, wherein the mobility of the spring element enables protection against buckling. In this way, the plug can be bent in all directions without being damaged and a sufficient electrical and mechanical contact is established.

The magnetic poles of the first magnetic element are preferably arranged symmetrically relative to the axis of symmetry. For example, the first magnetic element can be designed as a bar magnet and be arranged perpendicularly to the axis of symmetry, so that for example the north pole is arranged on a first side of the axis of symmetry and the south pole can be arranged on the opposite side of the axis of symmetry. When two identical plugs are plugged together, the north pole of the first magnetic element interacts with the south pole of the second plug and, correspondingly, the south pole of the first magnetic element interacts with the north pole of the second plug to generate a magnetic coupling force.

A second magnetic element is preferably provided, which is arranged symmetrically to the first magnetic element relative to the axis of symmetry, the poles of the first magnetic element and the second magnetic element being directed in opposite directions. For example, the first magnet element can be arranged on a first side of the axis of symmetry in such a way that a north pole points in the direction of the plug surface. Correspondingly, the second magnetic element is arranged symmetrically relative to the axis of symmetry on the opposite side of the axis of symmetry in such a way that the south pole points in the direction of the plug surface. When two plugs of identical design are plugged together, the first and second magnetic elements thus act together to generate a magnetic coupling force.

The first magnetic element is preferably arranged in the first plug element and the second magnetic element is arranged in the second plug element.

At least one magnetic element is preferably designed as an electromagnet, permanent magnet or ferromagnetic material such as soft iron. If one of the magnetic elements is designed as a ferromagnetic material, this naturally has no magnetic polarity, but is given a magnetic polarity opposite to the other magnetic element by the respective other magnetic element, which is then designed as an electromagnet or permanent magnet.

The first connector element and/or the second connector element preferably has a circumferential bevel for centering. In particular when a vehicle moves autonomously and two plugs are plugged together autonomously as a result, the two plugs can be finely aligned by the bevels provided, which makes it easier to plug the respective plug elements into one another.

A frame element which at least partially surrounds the base element and in particular completely surrounds the base element is preferably provided. The frame element can be formed in one piece with the component having the plug or can be connected to the component as a separate component, for example by screwing, riveting, welding or the like. The base element is movably connected to the frame element, in particular by a rubber bellows or a spring element. Movability of the base element relative to the frame element is thus ensured, as a result of which fine alignment of the plug is made possible and plugging together with a second plug of identical design is simplified as a result.

The first connector element and/or the second connector element preferably has a sensor element for position detection. In this case, the sensor element can be a magnetic detector, such as a Hall probe or the like for detecting the first and/or second magnetic element. As a result, a position of the plug relative to a second plug can be detected and this relative position can be used, for example, to control a vehicle that has the plug according to the invention, so that the plugging process can be carried out reliably and, in particular, autonomously.

The sensor element is preferably designed as an optical sensor element and a light source is arranged symmetrically to the optical sensor element relative to the axis of symmetry. A light signal is thus generated by the light source of an identically designed second plug, which is detected by the optical sensor element during the plugging process in order to determine a relative position between the two plugs. In particular, the optical sensor unit is a 2-quadrant sensor, 4-quadrant sensor, a CCD component or a CMOS component or another photosensitive component. In this case, in particular, the optical sensor element is arranged in the first or in the second connector element. Accordingly, the light source is arranged in the second connector element or in the first connector element.

A modulated light signal is preferably generated by the light source, in particular for data transmission in the uncoupled, approaching state. Information can thus already be exchanged between the two entities that can be connected by the plugs, such as identification features and/or specification as a handshake signal.

The light signal is preferably modulated using a modulation method which provides a constant intensity. Thus, the modulated light signal can be used on the one hand for data transmission/data transmission and at the same time, as described above, for determining a relative position between two plugs.

The connector preferably has at least one, in particular at least two, signal pins which are arranged in pairs symmetrically relative to the axis of symmetry with a corresponding number of signal sockets. Through the provided signal pins, which are electrically connected to the signal when plugged together sockets, currents and/or electrical signals can be transmitted.

The signal pins and signal sockets are preferably further away from the axis of symmetry than the contact pin or the connecting socket. In this case, the distance is determined perpendicularly to the intended axis of symmetry. As an alternative to this, the signal pins and signal sockets are arranged in an edge area of the basic element. In particular, the signal pins and signal sockets are arranged on four opposite sides of the basic element. For example, if the basic element is rectangular, signal pins or signal sockets are arranged either in all four corners or, alternatively, one signal pin or one signal socket on each side. Thus, when two plugs are separated by bending, this movement can be reliably detected in all directions by a corresponding interruption of the electrical contact between the respective signal pins and signal sockets.

In particular, the signal pins are shorter than the contact pin. Thus, when the connector is disconnected, the signal pins are first disconnected. As a result, a process of disconnecting the two identically designed plugs can be detected, in particular in the event of an unintentional interruption of the plug connection.

Furthermore, the present invention relates to a pair of connectors with two identically designed connectors as described above. In this case, the connector surfaces can be connected to one another in particular in a form-fitting manner, so that the respective contact pins establish an electrical connection with the corresponding connection sockets for the transmission of a current and/or an electrical signal.

Furthermore, the present invention relates to a system with a charging station and at least one, in particular, autonomous vehicle or mobile platform, the charging station and the vehicle each having an identically designed plug as described above for connecting the vehicle to the charging station and for connecting the vehicle to other vehicles , which have an identical connector. In particular, the mobile platform is a mobile system, a robot, a humanoid robot or the like.

The system preferably has more than one, in particular, autonomous vehicle, mobile platform, mobile system, robot, humanoid robot or the like. Thus, by means of the

The invention is explained in more detail below using preferred embodiments and reference to the attached drawings.

• 1 eine Ausführungsform des erfindungsgemäßen hermaphroditischen Steckers und
• 2 eine Schnittansicht des hermaphroditischen Steckers gemäß 1.

Show it:

• 1 an embodiment of the hermaphroditic plug according to the invention and
• 2 FIG. 12 is a sectional view of the hermaphrodite plug according to FIG 1 .

The plug 20 according to the invention has a base element 22 with a plug surface 24 . The base element 22 is completely surrounded by a frame element 101 . The frame element 101 can be connected to a vehicle or a charging station, for example, by screwing using mounting holes 102 . The frame element 101 is connected to the base element 24 via a bellows 103, so that the base element 24 can be moved relative to the frame element 101. This mobility enables the two plugs to be connected to be aligned during the plugging process, thus allowing tolerances in the positioning of the entities to be connected to each other by means of the two plugs.

A first plug element 105 is formed on the plug surface 24 by the base element 22 and protrudes from the plug surface 24 and thus forms a male plug part. Likewise, a second plug element 108 is formed by the base element 22 on the plug surface 24, which is formed as a depression and serves as a female plug part. The shape of the first connector part 105 corresponds to the shape of the second connector part 108. Furthermore, the first connector part 105 and the second connector part 108 are arranged symmetrically relative to an axis of symmetry 104, with the result that when two identical connectors are plugged together the first connector element 105 becomes a second connector element a second plug is plugged in. Likewise, a first connector element of the second connector is inserted into the second connector element 108 of the connector 20 . The symmetrical arrangement of the first plug element and the second plug element relative to the axis of symmetry 104 ensures that identically designed plugs can always be connected to one another.

The first connector element 105 and also the second connector element 108 are surrounded by a bevel 113 . The bevel 113 ensures centering of the two identically designed plugs during the plugging process. At the same time, a bevel 113 with a force that does not act in the insertion direction Leverage generated, which then separates the two plugs without damage.

Furthermore, the first plug element 105 has a connecting socket 109 . A contact pin 110 is arranged symmetrically relative to the axis of symmetry 104 on the second plug element 108 . When plugging together two identically designed plugs, the contact pin 110 is inserted into the connecting socket of a second plug. Likewise, the contact pin of the second plug is inserted into the connection socket 109 of the plug 20, so that an electrical connection between the plugs is produced by the respective contact pins and connection sockets. It is advantageous to arrange the protruding contact pins in the second connector element. how on 2 as can be seen, the contact pins 110 do not protrude beyond the plug surface 24 and are therefore protected from damage. Accordingly, the connecting sockets 109 for receiving the contact pins 110 are arranged in the first plug element 105 . Contact pins 110 and connecting sockets 109 are connected via cables 120 to the electronics of the respective entity. The cables ensure flexibility, so that the base element 22 can be moved relative to the frame element 101 .

Furthermore, signal pins 112 and signal sockets 111 can be provided. It is also advantageous here that the signal pins 112 are arranged in the second, recessed plug element 108 and do not protrude beyond the plug surface 24 . Accordingly, the signal sockets 110 are then arranged in the protruding first plug element 105 . In particular, the signal pins 112 are shorter than the contact pins 110. Furthermore, at least one signal pin and a corresponding signal socket 111 are further away from the common axis of symmetry 104 than the contact pin or the connection socket 109 is from the axis of symmetry 104. If an unintentional disconnect occurs, two identical ones formed connector, for example by tilting, the signal pins 112 are first separated from the signal sockets 111. As a result, it can be concluded that the two identically designed plugs are about to be completely separated and, for example, a current flow through the contact pins 110 and the connecting sockets 109 can be interrupted. Furthermore, the signal pins 112 and the corresponding signal sockets 111 can be used for data transmission between the interconnected entities. The number can be selected as desired in order to provide sufficient cable for data transmission. In the example of 1 eight signal sockets 111 are provided in the first plug element 105 . Accordingly, eight signal pins 112 are provided in the second connector element 108 .

In the 1 In the illustrated embodiment, the connector 20 also has a sensor element 106, which is designed as a 4-quadrant sensor. During the plugging process, the optical sensor element 106 receives a light signal which is generated by the second plug. For this purpose, the plug 20 has a light source 107 which is arranged symmetrically with the optical sensor element 106 relative to the axis of symmetry 104 . The 4-quadrant sensor of the optical sensor element 106 can be used to determine a relative positioning of the two identically designed plugs to be connected, and thus the plugging process can be monitored and possibly used for a position correction for securely plugging in the two plugs. Furthermore, a modulated light signal can be emitted by the light source 107, which is received by the optical sensor element of the second connector. This allows data to be transmitted even when the connector is not connected, during the plugging process. In this case, the light signal is modulated in particular in such a way that an intensity of the emitted light signal remains constant. For example, frequency or phase modulation of the light signal can be used for this purpose. Using the data signal, specifications, an identification or, in general, a handshake can be exchanged between the entities to be connected using the identically configured plugs.

Furthermore, 24 magnet elements 112a, 112b, 113a and 113b are arranged in the base element 22 below the plug surface. The number of magnetic elements can be freely selected. In the present example, four magnetic elements are provided. A first magnet element 112A is arranged symmetrically relative to the axis of symmetry 104 with respect to a second magnet element 113A. Furthermore, the magnetic pole of the first magnetic element 112 is opposite to the magnetic pole of the second magnetic element 113A. If, for example, the north pole of the first magnet element 112A points in the direction of the plug surface 24, this is the south pole of the second magnet element 113A.

Furthermore, a third magnetic element 112B and a fourth magnetic element 113B are in turn arranged symmetrically relative to the axis of symmetry 104 and have opposite magnetic poles. Now, a second connector, which is identical in design, with the connector 1 plugged together, a magnetic force is generated between the first magnetic element 112A of the connector 20 and the second magnetic element of the second connector. Likewise, between the second magnetic element 113A of the first connector is a magnetic attraction as a coupling force generated with the first magnetic element of the second connector. In the same way, the third and fourth magnetic elements 112B, 113B interact with the fourth and third magnetic elements of the second connector. Thus, a magnetic coupling is created between the two identically designed plugs. In particular, the magnetic coupling ensures that the two plugs are aligned relative to one another. Furthermore, polarity reversal is at least made more difficult due to the magnetic repulsion. If a force acts on the plug that exceeds the magnetic coupling force, the two plugs are separated from one another without being damaged.

Thus, a connector is created which can be used in many ways. At the same time, the plug has protection against damage in the event that a force acts on the plug that does not act in the direction of plugging.

Claims (17)

Hermaphrodite plug with a base element with a plug surface, the plug surface having an axis of symmetry, a first connector element and a second connector element, wherein the first connector element protrudes from the connector surface and the second connector element is recessed, wherein the shape of the first connector element corresponds to the shape of the second connector element, wherein the first plug element and the second plug element are arranged symmetrically relative to the axis of symmetry, so that a second hermaphrodite plug with the same structure can be connected, in particular in a form-fitting manner, to the first plug element and the second plug element, wherein a first magnetic element is disposed in the base member and in particular beneath the plug face such that the magnetic element creates a magnetic coupling force between the first and second hermaphroditic plugs. plug after claim 1 , characterized in that the first plug element has a connecting socket and the second plug element has a contact pin, with the connecting socket and contact pin being arranged symmetrically relative to the axis of symmetry and/or the first plug element has a contact pin and the second plug element has a connecting socket, with the connecting socket and contact pin are arranged symmetrically relative to the axis of symmetry. plug after claim 2 , characterized in that the contact pin is at least partially surrounded by insulation, which is designed in particular as a sliding sleeve to prevent short circuits. plug after claim 1 or 2 , characterized in that the magnetic poles of the first magnetic element are arranged symmetrically relative to the axis of symmetry. plug after claim 1 or 2 , characterized by a second magnetic element, which is arranged symmetrically to the first magnetic element relative to the axis of symmetry, wherein the poles of the first magnetic element and the second magnetic element are directed in opposite directions. plug after claim 5 , characterized in that the first magnetic element is arranged in the first plug element and the second magnetic element is arranged in the second plug element. plug after one of the Claims 1 until 6 , characterized in that at least one magnetic element is designed as an electromagnet, permanent magnet or ferromagnetic material. plug after one of the Claims 1 until 7 , characterized in that the first connector element and / or the second connector element has a circumferential bevel for centering. plug after one of the Claims 1 until 8th characterized by an at least partially surrounding, in particular completely surrounded, frame element, the base element being movably connected to the frame element, in particular by a rubber bellows or a spring element. plug after one of the Claims 1 until 9 , characterized in that the first connector element and / or the second connector element has a sensor element for position detection. plug after claim 10 , characterized in that the sensor element is an optical sensor element and a light source symmetrically to the optical sensor element relative to the axis of symmetry. plug after claim 11 , characterized in that the light source generates a modulated light signal, in particular for data transmission in the uncoupled, approaching state. plug after one of the Claims 1 until 12 , characterized by at least one, before preferably at least two signal pins, which are arranged in pairs symmetrically relative to the axis of symmetry with a corresponding number of signal sockets. plug after Claim 13 , characterized in that the signal pins and signal sockets are further spaced from the axis of symmetry than the contact pin or the connecting socket, in particular at a maximum. plug after Claim 13 or 14 , characterized in that the signal pins are shorter than the contact pin. Pair of connectors with two identically designed connectors each after one of the Claims 1 until 15 , wherein the plug faces are in particular positively connected to each other. System with a charging station and at least one, in particular, autonomous vehicle or a mobile platform, the charging station and the vehicle each having an identically designed plug according to one of Claims 1 until 15 have to connect the vehicle to the charging station.

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