JP2006081310A - Feeder device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small feeder device for a moving body that makes a permissible range of a stop position of the moving body wider with a simple structure, and that performs the control of quickly positioning feeder terminals to a feedable condition. <P>SOLUTION: The feeder device 1 has the feeder terminals 3 connected to a feeder power source 10 and automatically supplies electric power via receiving terminals 21 of the moving body 2 to the rechargeable battery 22 of the moving body 2 that stops in front of the feeder device 1. The feeder device 1 is provided with a rotating mechanism 13 comprising a rotating shaft 31 arranged near the top end of the feeder terminals 3, that supports the feeder terminals 3 pivotally, and performs rotation R on a horizontal surface, and a driving mechanism portion 12 that drives the rotary mechanism portion 13 in the approaching direction Y and the right and left direction X to the receiving terminals 21 of the moving body 2 to drive the feeder terminals 3 in the approaching direction Y and the right and left direction X. The position of the feeding terminals 3 is matched by the driving mechanism 12 via the rotary mechanism portion 13. When the tip of the feeder terminals 3 are press-connected to the receiving terminals 21, the feeder terminals 3 are rotated passively by the rotary mechanism portion 13 to perform attitude adjustment to the receiving terminals 21. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an automatic power supply apparatus that supplies power to a moving body.

2. Description of the Related Art Conventionally, there is a technology of a power feeding device that automatically feeds power by connecting a power feeding terminal to a moving body such as an electric vehicle stopped at a predetermined position. In such a power supply device, when the stop position or stop posture of the mobile body deviates from a predetermined position or posture, the power supply terminal is electrically connected to the mobile body by absorbing the shift within a predetermined allowable range. There is a need. Therefore, position and orientation detection means for detecting a two-dimensional position and orientation of a mobile body having a power receiving terminal for charging the battery, a power feeding terminal for charging the battery by being coupled to the power receiving terminal, and the power feeding terminal at least in a horizontal plane There is known a power feeding device that includes a power feeding terminal moving means that is moved in a position, a position and orientation detection means, and a control means that controls the power feeding terminal moving means to couple the power receiving terminal and the power feeding terminal (for example, Patent Documents). 1).
JP-A-6-14408

  However, in the power supply apparatus as shown in Patent Document 1 described above, the entire power supply apparatus moves on the rail, and a shaft having a power supply terminal at the tip moves straight back and forth, and approximately the center of the power supply apparatus main body. The power supply terminal is aligned by rotating horizontally around the axis, which inevitably increases the outer shape of the apparatus, and requires a large mechanism for moving the power supply terminal.

  The present invention solves the above-described problems, and with a simple configuration, the movable body has a wide allowable stop position range, and is small in size and capable of quickly controlling the position of the power supply terminal in a power-feedable state. An object is to provide an apparatus.

  In order to achieve the above object, the invention of claim 1 has a power feeding terminal composed of a positive electrode and a negative electrode connected to a power supply for power feeding, and is mounted on the moving body via a power receiving terminal provided on the moving body. A power feeding device that feeds power to a rechargeable battery, wherein a rotation mechanism that pivotally supports the power feeding terminal and rotates in a horizontal plane is disposed near a tip of the power feeding terminal, and a power receiving terminal of the moving body. And a drive mechanism unit that drives the power feeding terminal in the approaching direction and the left-right direction by driving the rotation mechanism unit in the approaching direction and the left-right direction, and the power feeding terminal passes through the rotation mechanism unit. Position adjustment with respect to the power receiving terminal is carried out by the driving mechanism unit to perform positioning with respect to the power receiving terminal and passively rotate by the rotating mechanism unit when the tip of the power feeding terminal is pressed against the power receiving terminal. It is intended to be carried out.

  According to a second aspect of the present invention, in the power feeding device according to the first aspect, the power feeding terminal returns to a predetermined posture in a state of being separated from the power receiving terminal.

  According to a third aspect of the present invention, in the power feeding device according to the first aspect, the power feeding terminal is configured by arranging a pair of terminals, each consisting of a positive electrode and a negative electrode, on the left and right.

  According to a fourth aspect of the present invention, in the power feeding device according to the first aspect, the power feeding terminal is formed by arranging a pair of positive and negative electrodes in the vertical and horizontal directions.

  According to a fifth aspect of the present invention, in the power feeding device according to any one of the first to third aspects, a magnet is provided that applies a biasing force to the power feeding terminal in a direction approaching the power receiving terminal.

  According to a sixth aspect of the present invention, in the power feeding device according to the fifth aspect, an electromagnetic coil for canceling the magnetic force of the magnet is provided.

  According to a seventh aspect of the present invention, in the power feeding device according to any one of the first to sixth aspects, a positioning sensor that detects that the power feeding terminal is driven to a position facing the power receiving terminal, and the power feeding terminal And a contact detection sensor that detects that they are close to the power receiving terminal and physically contact each other.

  According to an eighth aspect of the present invention, in the power feeding device according to any one of the first to seventh aspects, a continuity detection sensor that detects that the power feeding terminal is in electrical contact with the power receiving terminal and conducts is provided. Is.

  According to the first aspect of the present invention, since the power feeding terminal is aligned with the power receiving terminal of the moving body by the driving mechanism, the allowable range for the stop position accuracy of the moving body can be increased. In addition, since the posture of the power supply terminal is adjusted by a passive rotation mechanism portion in which a rotation shaft is disposed near the tip of the power supply terminal, the rotating portion can be reduced, and thus the power supply apparatus can be reduced in size.

  According to the second aspect of the present invention, since the posture of the power feeding terminal is restored to the predetermined posture, the connection operation of the power feeding terminal and the power receiving terminal, which is repeated every power feeding operation, can be performed smoothly every time.

  According to the invention of claim 3, by forming the counter terminal by bringing the positive electrode and the negative electrode of the power supply terminal close to each other, either the left or right counter terminal can be easily connected to the power receiving terminal to supply power. Convenience is good.

  According to the invention of claim 4, by forming the counter terminal by bringing the positive electrode and the negative electrode of the power supply terminal close to each other, it is possible to easily connect the power supply terminal to the power receiving terminal to supply power. The usability of the power supply device is even better than when the left and right terminals are provided.

  According to the invention of claim 5, the power feeding terminal and the power receiving terminal can be pressed by magnetic force, and the contact pressure of both terminals can be secured and maintained.

  According to invention of Claim 6, the contact pressure by a magnet can be easily cancelled | released with an electromagnet.

  According to invention of Claim 7, positioning of the electric power feeding terminal with respect to a receiving terminal can be performed reliably.

  According to the invention of claim 8, it is possible to start power supply after confirming that the power supply and power receiving terminals are electrically connected to each other. It does not occur, and electrode deterioration can be prevented.

  Hereinafter, a power supply device for a moving body according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a conceptual configuration of a power feeding device 1 and a moving object 2 to be fed, and FIG. The power supply device 1 has a power supply terminal 3 composed of a positive electrode and a negative electrode connected to a power supply 10 for power supply, and is provided on a side plate 20 of a moving body 2 such as an electric vehicle stopped at a predetermined position in front of the power supply device 1. It is a device that automatically supplies power to the rechargeable battery 22 mounted on the moving body 2 via a power receiving terminal 21 composed of a positive electrode and a negative electrode, and the stop position and stop posture of the mobile body 2 deviate from a predetermined position and posture. In this case, a mechanism for alignment and posture adjustment for absorbing the deviation within a predetermined allowable range and electrically connecting the power feeding terminal 3 to the moving body 2 is provided.

  For the above-described alignment and posture adjustment, the power feeding device 1 includes a rotating mechanism unit 13 in which a rotating shaft 31 that pivots on the power feeding terminal 3 and rotates R in a horizontal plane is disposed near the tip of the power feeding terminal 3. By driving the rotation mechanism unit 13 in the approach direction (or berthing direction, front-rear direction) Y and the left-right direction X with respect to the power receiving terminal 21 of the mobile body 2, the front-rear direction Y and the left-right direction X to the mobile body 2 are driven. And a drive mechanism unit 12 for driving the power supply terminal. The power feeding terminal 3 is driven by the drive mechanism unit 12 via the rotation mechanism unit 13 so as to be aligned with the power receiving terminal 21, and the rotation mechanism unit when the tip of the power feeding terminal 3 is pressed against the power receiving terminal 21. The posture of the power receiving terminal 21 is adjusted by passively rotating the power receiving terminal 13. Here, the left-right direction X and the front-rear direction Y are in a horizontal plane, and the rotation R is rotation with the vertical axis as the rotation axis. The power supply apparatus 1 includes a power supply 10 for power supply, a drive mechanism unit 12, a rotation mechanism unit 13, sensors such as a positioning sensor 8 to be described later, and a control unit 16 that controls a communication function with the moving body 2. ing.

  The structure of the power feeding device 1 will be described in detail. The drive mechanism unit 12 described above includes a left / right drive mechanism unit 5 and a front / rear drive mechanism unit 4. The left / right drive mechanism 5 is provided in the housing 11 of the power supply device 1 and moves the power supply terminal 3 in the left / right direction X. The left and right drive mechanism 5 includes a ball screw 51 arranged in the horizontal direction, a motor 50 that controls the rotation of the ball screw 51, and a mounting base 52 that is driven left and right as the ball screw rotates.

  The front-rear drive mechanism unit 4 includes a pantograph mechanism configured by symmetrically arranging fixed side shafts 42, levers 43, rotating shafts 44, levers 45, and moving side shafts 46 in this order. The outer periphery of the fixed side shaft 42 is a gear, and the gears of the left and right fixed side shafts 42 are rotatably fixed to the mounting base in a state where the gears mesh with each other. One fixed side shaft 42 is rotated by a worm 41 that is rotated by a motor 40 that is fixed to a mounting base 52. Further, the left and right moving side shafts 46 are rotatably fixed by a moving base 47. In such a configuration, when the motor 40 is rotated, the moving base 47 is driven back and forth. A positioning sensor 8 is provided on the upper surface of the moving base 47.

  The rotating mechanism unit 13 includes a rotating shaft 31 and a rotating base 30 fixed to the moving base 47. At the front part of the rotating base 30, that is, the part facing the moving body 2, there are provided two power supply terminals 3 arranged symmetrically in the left and right direction and one contact detection sensor 7 arranged in the left and right center. In the example illustrated in FIG. 1, the two left terminals are positive electrodes and the two right terminals are negative electrodes. Each of them is appropriately electrically insulated and electrically connected to the power supply 10. The power supply terminal 3 and the contact detection sensor 7 expand and contract in the front-rear direction and give an appropriate pressure contact force when their respective tip portions contact the power receiving terminal 21 and the side plate 20 of the moving body 2. The rotation base 30 is fixed via a spring material.

  Next, with reference to FIG. 3 thru | or FIG. 6, positioning of the electric power feeding terminal 3 with respect to the receiving terminal 21, and an electrical connection are demonstrated. Note that FIG. 1 described above is appropriately referred to in the following description. FIGS. 3A and 3B show position and orientation control by the drive mechanism unit 12 and the rotation mechanism unit 13 of the power feeding device 1 for connection between terminals, and FIG. 4 shows the connection operation of the power feeding terminal 3 and the power receiving terminal 21. FIG. 5 shows a circuit for switching control to feeding in the feeding device 1. In the connection operation for electrically connecting the power feeding terminal 3 and the power receiving terminal 21 for power feeding, the moving body 2 operates the driving wheel 23 and the auxiliary wheel 24 to feed power as shown in FIG. In a posture where the power receiving terminal 21 faces the power feeding terminal 3 with respect to the device 1, the power receiving terminal 21 moves within a predetermined range in front of the power feeding device 1 and stops (contacts the bank). Next, the mobile body 2 transmits a power supply request signal to the power supply apparatus 1 using a communication unit (not shown). Then, the power feeding device 1 receives this signal by a communication unit (not shown), and first drives the drive mechanism unit 12 under the control unit 16 to start position control of the power feeding terminal 3.

  In order to perform the positioning in the left-right direction X described above, the left-right drive mechanism 5 constituting the drive mechanism 12 is driven, and the front-rear drive mechanism 4 moves from one end of the movable range in the left-right direction X toward the other end. . During this movement, the positioning sensor 8 searches for the positioning detection target M provided in the moving body 2, and when the detection target M is detected, the movement in the left-right direction X is stopped. The positioning sensor 8 is composed of, for example, a light emitting / receiving element, and when the light beam LB is emitted from the light emitting element and the reflected light reflected by the positioning detection target M can be received by the light receiving element, the positioning in the left-right direction X can be performed. Is done.

  Next, in order to perform positioning in the front-rear direction Y, the front-rear drive mechanism unit 4 is driven, and the rotation mechanism unit 13 holding the power supply terminal 3 is moved toward the moving body 2 along the front-rear direction Y. When one of the power supply terminals 3 is in contact with the power receiving terminal 21 and the rotation mechanism portion 13 further advances, the rotation mechanism portion 13 receives the rotational force generated on the contact surface between the power supply terminal 3 and the power reception terminal 21 and the rotation mechanism portion 13 The posture of the power feeding terminal 3 is rotated relative to the power receiving terminal 21 by “passively”, and the terminals are connected as shown in FIG. That is, posture control is automatically performed by positioning.

  The driving by the front / rear drive mechanism unit 4 is stopped after receiving a contact detection signal “physical connection between terminals” output from the contact detection sensor 7. As shown in FIG. 4, the contact detection sensor 7 first comes in contact with the power supply terminal 3 and the power reception terminal 21, and then the tip of the contact detection sensor 7 contacts the side plate 20 of the moving body 2. The contact detection signal is transmitted for the first time. As described above, even the moving body 2 with a very low stop position accuracy can be positioned with high accuracy on the power supply device 1 side, and power can be reliably supplied.

  By the way, in the above-described alignment operation, (1) when the positioning sensor 8 cannot find the detection target M within the operation range of the drive mechanism unit 12, (2) the contact detection sensor within the operation range of the drive mechanism unit 12. When 7 does not react, (3) when the electrical continuity between the terminals cannot be confirmed by a continuity detection sensor 14 described later, the power feeding device 1 sends a retry command signal to the mobile unit 2. Then, the mobile body 2 moves backward by a certain distance and then stops again in front of the power supply apparatus 1, and the power supply apparatus performs the above connection operation again. At the time of such a retry, the drive direction in the left-right direction X is reversed from the previous time. As a result, the uncertainty of the positioning operation can be compensated, and an effect different from the previous one can be expected by taking an approach different from the previous one in the positioning operation.

  After the connection operation by the drive mechanism unit 12 and the rotation mechanism unit 13 described above, before actually supplying power, it is confirmed by the circuit shown in FIG. 5 that the power supply terminal 3 and the power reception terminal 21 are electrically connected. . Since the power supply terminal 3 and the power receiving terminal 21 have a plurality of electrodes on the positive electrode and the negative electrode, respectively, the continuity check can be performed by connecting the continuity detection sensor 14 to the positive electrode and the negative electrode via the circuit switch RL. After the above connection operation is completed, on the positive electrode side, the circuit continuity (power receiving terminal 21 → power feeding terminal 3 → terminal a2 → terminal b2 → conduction detection sensor 14 → terminal b1 → terminal a1 → power feeding terminal 3 → power receiving terminal 21). By checking the above, it is possible to confirm the electrical contact between the power feeding terminal 3 and the power receiving terminal 21 by forming. The same applies to the negative electrode side. When electrical continuity is confirmed by such a continuity check, the circuit switch RL is operated to connect the terminals a1 and a2 to the terminal c1 on the positive electrode side, and the power supply terminal 3 to the power supply 10 for power supply. By connecting and connecting in the same manner on the negative electrode side, power can be reliably supplied.

  Next, the position of the rotation shaft 31 of the rotation mechanism unit 13 will be described with reference to FIG. FIG. 6 shows an example in which the position of the rotation shaft 31 in the rotation mechanism unit 13 is different. 6A, the position of the rotary shaft 31 is at a distance L1 from the contact surface S formed by the tip of the power supply terminal 3, and in FIG. 6B, it is at a distance L0. When the rotation mechanism 13 having such a structure rotates, the displacement amount of the tip position of the power supply terminal 3 before and after the rotation is d1 in the former and d0 in the latter. The magnitude relationship is L1 <L0 and d1 <d0. In other words, the closer the rotating shaft 31 is to the contact surface S, the smaller the deviation from the alignment position by the drive mechanism unit 12 that inevitably occurs as a result of posture adjustment performed by rotation. In consideration of this, in the power feeding device 1, the position of the rotating shaft 31 is set close to the contact surface S and as a structurally appropriate position, for example, in an intermediate state shown in FIGS. 6 (a) and 6 (b). Has been.

  Next, another example of the rotation mechanism unit 13 will be described with reference to FIG. The rotation mechanism unit 13 shown in FIGS. 7A and 7B includes a spring 36 at a symmetrical position of the rotation shaft 31. As shown in FIG. 7A, one of these springs 36 is contracted and the other is expanded as the rotation mechanism unit 13 rotates. Then, when the power feeding terminal 3 and the power receiving terminal 21 are separated from each other and no external force that causes rotation is applied to the rotation mechanism unit 13, the restoring force of these springs 36, as shown in FIG. The posture automatically returns to the symmetrical position. Since the posture of the power supply terminal 3 returns to the predetermined posture, the connection operation for each power supply operation can be performed smoothly every time.

  Next, another example of the power feeding device 1 will be described with reference to FIG. This power supply device 1 is similar to the power supply device 1 shown in FIG. 1 and FIG. 2 described above, and in addition to being able to align and adjust the posture of the power supply terminal 3 in the front-rear, left-right, and horizontal rotation directions, Alignment is possible. The alignment in the vertical direction Z is performed by the vertical drive mechanism 6 that moves up and down the entire left and right drive mechanism 5 described above. As with the left and right drive mechanism unit 5, the vertical drive mechanism unit 6 includes a motor and a ball screw. Further, the power supply device 1 includes a vertical positioning sensor 81 because the power supply terminal 3 is movable in the vertical direction. According to such a power feeding device 1, there is a difference between the power receiving terminal 21 and the power feeding terminal 3 due to individual differences of the moving body 2, a difference in the vertical position standards of the power receiving terminal 21, a difference in floor conditions when the power feeding device 1 is installed, Power can be supplied corresponding to the positional deviation in the height direction.

  Next, an example of the arrangement of the power supply terminals 3 will be described with reference to FIGS. 9 and 10. Although the positive electrode and the negative electrode are arranged on the left and right sides of the above-described power supply terminal 3, and thus the power reception terminal 21, the one shown in FIGS. 9A and 9B is the power supply terminal 3 (pair of the positive electrode and the negative electrode). Terminals) are arranged on the left and right. In the terminal arrangement with such a structure, the posture adjustment by the rotation mechanism unit 13 ends in an unsatisfactory manner, or the moving body 2 is inclined, so that the power feeding terminals 3 are not aligned with the power receiving terminals 21. Even if only one of the left and right sides is in contact, the terminal with the positive and negative electrodes paired together at either the left or right contact part. Is possible. Further, as shown in FIG. 10, the reliability of terminal connection can be further increased by arranging the paired power supply terminals 3 vertically and horizontally to increase the number of terminals.

  Next, with reference to FIG. 11, a structure in which the power feeding terminal 3 in the power feeding device 1 is pressed into contact with the power receiving terminal 21 will be described. A magnet PM is provided on the surface of the moving base 47 on the side facing the moving body 2 during power feeding, and applies a biasing force in a direction approaching the power receiving terminal 21 to the power feeding terminal 3. Further, a magnetic body F is provided on the side wall surface of the moving body 2 that the magnet PM faces during pressure welding. When the moving base 47 provided with the magnet PM approaches the side wall of the moving body, the magnet PM and the magnetic body F attract each other, and the electric connection between the power feeding terminal 3 and the power receiving terminal 21 is automatically performed with high positional accuracy. It is possible to secure the contact pressure and firmly maintain the connection state. Moreover, by providing the electromagnetic coil CL that cancels the magnetic force of the magnet PM, the contact pressure by the magnet can be easily released by the electromagnet.

  Next, referring to FIG. 12 and FIG. 13, the power operation of the moving body 2 performed during power feeding will be described. The power supply terminals 3 shown in FIG. 12 are provided on the front surface of the rotary base 30 one by one in the left-right symmetry, and are connected to the rechargeable battery 22 via the power receiving terminals 21 on the movable body 2 side. Further, terminals 3 a for turning on / off the power to the power supply circuit 29 of the moving body 2 are provided on the left and right sides of the power supply terminal 3. Corresponding to the terminal 3a, a terminal 21a is provided on the moving body 2 side, and an electromagnetic relay switch MS for turning on / off the power supply from the rechargeable battery 22 to the power supply circuit 29 is connected to the terminal 21a. Yes. On the power feeding device side, a relay power source E and a circuit switch SW are connected to the terminal 3a. In FIG. 12 in this power supply state, the switch SW is closed, and accordingly, the electromagnetic relay switch MS is activated, and the power supply to the power supply circuit 29 of the moving body 2 is cut off. That is, the standby power consumption of the mobile body 2 is eliminated by turning off the power supply circuit 29 of the mobile body 2 during power feeding to the mobile body 2.

  During power feeding to the mobile body 2 as described above, as shown in FIG. 13, the charging state detection means V is connected in parallel with the power supply 10 for power feeding, and therefore in parallel with the rechargeable battery 22 (not shown) of the mobile body 2. The charging state of the rechargeable battery 22 is monitored. When the charging state detection means V determines that the rechargeable battery 22 has approached full charge, the circuit switch SW shown in FIG. 12, and thus the electromagnetic relay switch MS, is turned off, and the power supply circuit 29 of the moving body 2 is charged. Connected to the battery 22, the moving body 2 is placed in a standby state. By such an operation, it is possible to eliminate extra standby power of the moving body 2 during power feeding. In addition, since the mobile unit 2 is turned on and put into a standby state when it approaches full charge, the mobile unit 2 can start moving immediately after the completion of charging.

  Next, referring to FIG. 14 and FIG. 15, a means for communicating with the moving body 2 provided in the power feeding apparatus 1 will be described. FIG. 14 shows the power feeding device 1 and the moving body 2 performing communication, and FIG. 15 shows a processing sequence of automatic power feeding by the power feeding device 1. As shown in FIG. 14, communication is performed using optical communication devices 15 and 26, the optical communication device 26 of the moving body 2 is connected to the control unit 27, and the optical communication device 15 of the power feeding device 1 is controlled not shown. Connected to the unit 16. The following communication is performed while the mobile body 2 approaches the power supply device 1 for power supply, performs power supply, and leaves the power supply device. From the moving body 2, signals such as READY (banking), charging instruction and operation, charging completion, control data request, ID data request, stable light reception, transmission (transmission) stop, and the like are transmitted to the power feeding device 1. Further, the power supply device 1 transmits signals such as READY (automatic), charging control, completion, stable light reception, charger operation, equipment ID, and battery charge level to the mobile unit 2.

  Such transmission signals are received while handshaking each other. By providing such a communication means, the command of the moving body 2 can be transmitted to the power feeding apparatus 1, and the moving body 2 can operate the power feeding apparatus 1. By always taking a handshake by communication, the state of each other can be grasped, and trouble during operation can be prevented. By conveying the state of charge to the mobile unit 2, it is possible to determine the amount that can be traveled on the mobile unit 2 side. Based on the determination of the control unit 27 of the moving body 2, it is possible to change the control content such as stopping or starting the power supply.

  An example of the above-described automatic power supply and communication processing sequence will be briefly described. As shown in FIG. 15, the moving body 2 side operates in the master mode, and the power feeding apparatus 1 side operates in the slave mode. The power feeding device 1 is normally in the READY state (s1). The moving body 2 approaches the power feeding device 1, stops at the predetermined position in front of the power feeding device 1 (closes to the shore), completes berthing, and enters the READY state (m 2). Further, the optical communication device 26 of the moving body 2 changes from the transmission stop state (m1) to the stable light receiving state (m3) with the berthing, and the optical communication device 15 of the power feeding device 1 also enters the stable light receiving state (s2). Become.

  Subsequently, the moving body 2 makes an ID data request (m4) to the power supply apparatus 1 through optical communication. Then, the power feeding device 1 is in charge control (s3), transmits the equipment type (s4), and the device number (s5), and the mobile device 2 completes the ID reception. Subsequently, the moving body 2 performs a charging instruction operation (m5) and a control data request (m6). The power feeding device 1 performs the joining operation (s6), and enters the charging control state (s7) and the charging state (s8). When charging (power feeding) is completed, the power feeding device 1 is in a completed state (s9), and the charging instruction operation (m5) and the control data request (m6) state of the moving body 2 are finished. When the mobile unit 2 enters the transmission stop state (m7), the stable light receiving state (s2) of the power supply device 1 ends, and the procedure of the power supply device 1 for the mobile unit 2 ends. Thereafter, the mobile body 2 leaves the shore, ends the READY (contacting) state, ends the stable light receiving state (m3), and ends a series of processing sequences related to power feeding.

  Next, an example in which two positioning sensors 81 are arranged will be described with reference to FIG. As shown on the left side of FIG. 16, positioning sensors 82 provided with light transmitting and receiving elements are provided on the left and right of the moving base 47, and the reflector 2 is disposed on the moving body 2 in accordance with the distance between the positioning sensors 82. Provided. The left-right width of the reflecting plate M1 is W1, the interval between the light beams LB from the left and right positioning sensors 82 is W, and the interval between the left end of the left reflecting plate M1 and the right end of the right reflecting plate M1 is approximately W. is there. In this state, when the moving body 2 stops at the stop position within an error of ± W1 on the left and right, at least one positioning sensor 82 is ON, that is, receives reflected light from the reflecting plate M1. It will be. Therefore, the moving base 47 is moved from the non-ON side toward the positioning sensor 82 on the ON side. Thereafter, as shown on the right in FIG. 16, the positioning is completed when the positioning sensors 82 on both sides are turned ON. According to such a positioning sensor 82, it can be easily detected whether the stop position is shifted to the left or right, and positioning can be performed quickly.

  Next, positioning by the distance sensor 83 will be described with reference to FIG. A distance sensor 83 is installed on the moving base 47 so that the distance between the moving base 47 and the moving body 2 can be measured. While measuring the distance using the distance sensor 83, the driving mechanism unit 12 is used to bring the moving base 47 close to the moving body 2 that has stopped. Thereafter, a positioning operation is performed using the positioning sensor 8. In this positioning operation, the positioning sensor 8 is used to search for the positioning detection target M provided in the moving body 2, and when the detection target M is detected, the positioning in the left-right direction X is completed (see FIG. 3). As described above, when the two-step positioning is performed using the distance sensor 83 and the positioning sensor 8, the distance between the positioning sensor 8 and the positioning detection mirror can be reduced, so that the detection target M can be easily detected by the positioning sensor 8. Therefore, the positioning operation can be performed more quickly and reliably.

  Next, with reference to FIG. 18, a mechanism for suppressing the impact on the power supply terminal 3 in the power supply apparatus 1 will be described. As described above, the power supply terminal 3 is made of a spring material so that when the respective tip portions contact the power receiving terminal 21 and the side plate 20 of the moving body 2, the power supply terminal 3 expands and contracts back and forth and gives an appropriate pressure contact force. It is being fixed to the rotation base 30 via. In order to further provide a buffering function to the power feeding terminal 3, the moving base 47 shown in FIG. 18 is divided into a rear part 47a and a front part 47b, both of which are fixed by a slide guide 47c, and the front part 47b is fixed to the rear part 47a. It is slidable. A spring 47d is provided between the rear portion 47a and the front portion 47b. The spring 47d holds the front portion 47b in a predetermined position with respect to the rear portion 47a, and absorbs excessive pressure by contracting when the power supply terminal 3 is pressed against the power receiving terminal 21 for power supply. It becomes. Thereby, the impact at the time of connection of the power feeding terminal 3 and the power receiving terminal 21 can be reduced, and the pressing pressure of the terminal portion can be made constant without imposing severe restrictions on the control of the pressing force by the drive mechanism portion 12. Can do.

  Next, with reference to FIG. 19 and FIG. 20, the stopper at the time of the reversing | retreating and advancing in the front-back drive mechanism part 4 among the drive mechanism parts 12 is demonstrated. A mechanical stopper 43 a is provided inside the fixed shaft 42 of the lever 43 in the front-rear drive mechanism 4, and a mechanical stopper 45 a is provided inside the moving shaft 46 of the lever 45. Then, as shown in FIG. 19, when the front-rear drive mechanism unit 4 is contracted, the set of the right mechanical stoppers 43a and 45a and the set of the right mechanical stoppers 43a and 45a come into surface contact with each other, and the shortening limit (retracted state) To. Further, as shown in FIG. 20, the right mechanical stopper 43a and the left mechanical stopper 43a come into surface contact with each other and reach the extension limit (extension state). As described above, since the mechanical stopper for setting the shortening limit and the extension limit is provided, it is possible to prevent the device from being damaged when the control unit 16 tries to move beyond the limit due to a malfunction.

  Next, with reference to FIG. 21, another procedure for positioning the power feeding terminal 3 will be described. As described above, the positioning of the power supply terminal 3 is performed by the alignment in the left-right direction X by the left-right drive mechanism unit 5 and the alignment in the front-rear direction Y by the front-rear drive mechanism unit 4. As the alignment procedure described here, first, the moving base 47 is held at a predetermined front-rear position by the front-rear drive mechanism unit 4, and is scanned once in the left-right direction by the left-right drive mechanism unit 5 (x1). At this time, if the positioning sensor 8 cannot be searched for by the positioning sensor 8, the moving base 47 is moved closer to the moving body 2 by a certain distance (y1), and is scanned once again in the left-right direction (x2). This procedure is performed a predetermined number of times until the positioning sensor 8 is successfully searched for the positioning detection target M (if unsuccessful, the above-described retry is performed). Thereby, when the search fails due to the distance between the positioning sensor 8 and the positioning detection target M being separated, the positioning can be performed by reducing the distance.

  Next, contact failure detection will be described. By disposing a temperature sensor or a contact resistance sensor on the power supply terminal 3, a contact failure between the power supply terminal 3 and the power reception terminal 21 can be detected at an early stage. That is, when power is supplied in a poor contact state, heat is generated due to contact resistance. A contact failure is detected by detecting this heat with a temperature sensor. Further, the contact failure can be detected in advance by measuring the contact resistance itself with the contact resistance sensor. Thus, by detecting poor contact, power supply at the time of malfunction can be stopped, occurrence of sparks or ignition can be prevented, and unexpected danger can be avoided.

  The present invention is not limited to the above-described configuration, and various modifications can be made. For example, the front-rear drive mechanism unit 4 may be small and can be expanded and contracted back and forth, and lazy tongs or the like can also be used. A linear motor may be used instead of the ball screw in the left and right drive mechanism unit 5. Further, the power feeding terminal 3 and the power receiving terminal 21 may be arranged vertically instead of horizontally. In this case, the rotation mechanism unit 13 rotates around the horizontal axis.

The conceptual block diagram of the mobile body which is the electric power feeding apparatus of this invention and electric power feeding object. The perspective view of an electric power feeder same as the above. (A) and (b) are top views of a power feeding device and a moving body for explaining position and posture control by a drive mechanism unit and a rotation mechanism unit of the power feeding device. The top view explaining the contact operation of the electric power feeding terminal in the electric power feeder same as the above, and the receiving terminal of a moving body. The circuit diagram explaining the switching control to the electric power feeding in the same electric power feeder. (A) and (b) are the top views explaining the rotation mechanism part in an electric power feeder same as the above. (A) (b) is a top view explaining the automatic posture return of the rotation mechanism unit in the power feeding device. The perspective view which shows the other example of the electric power feeder of this invention. The perspective view explaining the structure of the electric power feeding terminal in the electric power feeder of this invention. The perspective view explaining the other example of the structure of the electric power feeding terminal in the electric power feeder of this invention. The top view explaining the structure which press-contacts the electric power feeding terminal in the electric power feeder of this invention to a receiving terminal. FIG. 6 is a top view of a part of the power feeding device and the moving body for explaining power operation of the moving body during power feeding in the power feeding device of the present invention. The circuit diagram explaining the detection of the charge condition in the electric power feeder of this invention. The perspective view of the electric power feeder explaining the communication between the electric power feeder of this invention and a mobile body, and the conceptual diagram of a mobile body. The automatic charge sequence diagram in the electric power feeder of this invention. Operation | movement explanatory drawing of the other positioning sensor in the electric power feeder of this invention. The top view of the electric power feeder and moving body explaining the operation | movement of the distance sensor in the electric power feeder of this invention. Explanatory drawing of the mechanism part which suppresses the impact to the electric power feeding terminal in the electric power feeder of this invention. The top view which shows the shortening limit or stopper of the drive-mechanism part in the electric power feeder of this invention. The top view which shows the expansion | extension limit or stopper of the drive-mechanism part in the electric power feeder of this invention. The upper side figure of the electric power feeder and moving body explaining the procedure of electric power feeding terminal position alignment in the electric power feeder of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Feeding device 2 Moving body 3 Feeding terminal 7 Contact detection sensor 8 Positioning sensor 12 Drive mechanism part 13 Rotation mechanism part 14 Conduction detection sensor 31 Rotating shaft 21 Power receiving terminal 22 Rechargeable battery CL Electromagnetic coil PM Magnet S Contact surface X Left and right direction Y Approach Direction (front-rear direction)

Claims (8)

A power supply device that has a power supply terminal composed of a positive electrode and a negative electrode connected to a power supply for power supply, and supplies power to a rechargeable battery mounted on the mobile body via a power reception terminal provided on the mobile body,
A rotation mechanism that is configured to place a rotating shaft that pivots around the power feeding terminal in a horizontal plane in the vicinity of the tip of the power feeding terminal;
A drive mechanism unit that drives the power feeding terminal in the approaching direction and the left-right direction by driving the rotating mechanism unit in the approaching direction and the left-right direction with respect to the power receiving terminal of the moving body,
The power feeding terminal is driven by the driving mechanism through the rotating mechanism to be aligned with the power receiving terminal, and when the tip of the power feeding terminal is in pressure contact with the power receiving terminal, the rotating mechanism A power feeding device that is passively rotated to perform posture adjustment with respect to the power receiving terminal.   The power feeding device according to claim 1, wherein the power feeding terminal returns to a predetermined posture in a state of being separated from the power receiving terminal.   The power feeding device according to claim 1, wherein the power feeding terminal includes a pair of positive and negative electrodes arranged on the left and right.   The power feeding device according to claim 1, wherein the power feeding terminal includes a pair of positive and negative electrodes arranged vertically and horizontally.   The power feeding device according to claim 1, further comprising a magnet that applies an urging force in a direction approaching the power receiving terminal to the power feeding terminal.   The power feeding device according to claim 5, further comprising an electromagnetic coil for canceling the magnetic force of the magnet.   A positioning sensor that detects that the power feeding terminal is driven to a position facing the power receiving terminal, and a contact detection sensor that detects that the power feeding terminal approaches the power receiving terminal and physically contacts each other. The power feeding device according to claim 1, further comprising:   The power supply device according to any one of claims 1 to 7, further comprising a conduction detection sensor that detects that the power supply terminal is in electrical contact with the power reception terminal and is conductive.

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