JP2836172B2 - Automatic charging device - Google Patents
Automatic charging deviceInfo
- Publication number
- JP2836172B2 JP2836172B2 JP2075704A JP7570490A JP2836172B2 JP 2836172 B2 JP2836172 B2 JP 2836172B2 JP 2075704 A JP2075704 A JP 2075704A JP 7570490 A JP7570490 A JP 7570490A JP 2836172 B2 JP2836172 B2 JP 2836172B2
- Authority
- JP
- Japan
- Prior art keywords
- connector
- charging
- voltage
- automatic
- battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Secondary Cells (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明はバッテリーを電源とする車のバッテリ自動充
電装置に関する。Description: TECHNICAL FIELD The present invention relates to an automatic battery charging device for a vehicle using a battery as a power source.
近代化された工場においては、複数台の移動ロボット
が動きまわり、製品・半製品等のステーションでの授受
やステーションからステーションへの搬送を司ってい
る。In a modernized factory, a plurality of mobile robots move around and take charge of transfer of products and semi-finished products at stations and transfer from station to station.
この種の移動ロボットは、例えば工場の床に布設され
た磁気テープ等の誘導線に案内されて自走する無人車上
に作業ロボット（ハンドリングロボット）を据付けた構
造を有し、駆動電源および制御電源としてバッテリーを
搭載している。This type of mobile robot has a structure in which a working robot (handling robot) is installed on a self-running unmanned vehicle guided by a guide line such as a magnetic tape laid on the floor of a factory, for example. It has a battery as a power source.
このため、定期的にバッテリーを充電するが、このバ
ッテリー充電に際しては、通常、移動ロボットの作業経
路からはずれた場所にある充電ステーションへ移動ロボ
ットを送り込み、ここで、バッテリーを搭載したままで
自動充電するか、あるいは既に充電済みのバッテリーと
交換する。For this reason, the battery is charged periodically, but when charging the battery, the mobile robot is usually sent to a charging station located off the work path of the mobile robot, where the battery is automatically charged with the battery installed Or replace with an already charged battery.
既に充電済みのバッテリーと交換するシステムでは、
バッテリー交換が終わると移動ロボットを稼働させるこ
とができるので、稼働時間をそれほど犠牲にしなくても
済むが、予備のバッテリーを数多く用意しておかなくて
はならない上、その管理も面倒であるという問題があ
る。In a system that replaces an already charged battery,
After the battery replacement, the mobile robot can be operated, so you do not have to sacrifice the operating time so much, but you need to prepare a large number of spare batteries and the management is troublesome There is.
他方、充電ステーションで自動充電するシステムで
は、この問題は無くなるが、充電が終わるまでは移動ロ
ボットを充電ステーションに停止させておかなくてなら
ず、充電に要する時間は短くはないので、稼働率が低下
するという別の問題が生じる。勿論、急速充電を行うよ
うにすれば、充電時間を短縮することができるが、工場
レイアウトの関係から充電器とカプラー装置間の距離を
短く取れない場合には、例えば、数分程度の充電時間で
充電を完了する急速充電を行おうとすると、電流が大き
く電線路の抵抗による電圧降下の影響が現れ、無視し得
なくなる。以下、これを第６図について説明する。On the other hand, in a system that automatically charges at the charging station, this problem is eliminated, but the mobile robot must be stopped at the charging station until charging is completed, and the time required for charging is not short, so the operating rate is low. Another problem arises: Of course, if the quick charging is performed, the charging time can be shortened. However, if the distance between the charger and the coupler device cannot be shortened due to the layout of the factory, for example, the charging time is about several minutes. Attempting to perform quick charging, which completes the charging at a high current, causes a large current, which is affected by the voltage drop due to the resistance of the electric line, and cannot be ignored. Hereinafter, this will be described with reference to FIG.
第６図は従来の自動充電システムを示す機器配置図で
あって、10は移動ロボット、101は移動ロボット11の自
動台車に搭載したバンドリングロボット、20は移動ロボ
ット10に搭載したバッテリー、30は自動カプラー装置、
40は充電装置である。FIG. 6 is a device layout diagram showing a conventional automatic charging system, in which 10 is a mobile robot, 101 is a bundling robot mounted on an automatic trolley of the mobile robot 11, 20 is a battery mounted on the mobile robot 10, and 30 is a battery. Automatic coupler device,
40 is a charging device.
移動ロボット10に車体11には充電用の正負の固定コネ
クタ12P、12Nを有するコネクタ部12が配設されており、
バッテリー20の正負端子21P、21Nがリード13P、13Nを介
して接続されており、このバッテリー20は車輪14を駆動
するモータ（図示しない）や走行制御装置・ロボット制
御装置を含む電気回路（図示しない）に電力を供給す
る。自動カプラー装置30は正負の可動コネクタ31P、31N
を有し、この可動コネクタ31P、31Nは図示しない駆動装
置により、停止している移動ロボット10の固定コネクタ
12P、12Nに向かって進退駆動される。A connector portion 12 having positive and negative fixed connectors 12P and 12N for charging is disposed on the vehicle body 11 of the mobile robot 10.
Positive and negative terminals 21P and 21N of a battery 20 are connected via leads 13P and 13N, and the battery 20 is an electric circuit (not shown) including a motor (not shown) for driving the wheels 14 and a travel control device / robot control device. ) To supply power. The automatic coupler device 30 has positive and negative movable connectors 31P and 31N.
The movable connectors 31P and 31N are fixed connectors of the mobile robot 10 stopped by a driving device (not shown).
It is driven forward and backward toward 12P and 12N.
充電装置40の充電器41は商用電源ACを直流変換する電
力変換器とこの電力変換器の出力をフイードバック制御
する制御器（いずれも図示しない）を有している。42は
上記電力変換器の出力電圧を検出する電圧検出器であっ
て、その検出信号を上記制御器にフイードバックする。
上記電力変換器の出力は出力端子43P、43Nから給電線50
P、50Nへ送出され、給電線50P、50Nを通して自動カプラ
ー装置30の可動コネクタ31P、31Nへ給電される。The charger 41 of the charging device 40 has a power converter for converting the commercial power AC into a direct current and a controller (not shown) for controlling the output of the power converter in a feedback manner. Reference numeral 42 denotes a voltage detector for detecting the output voltage of the power converter, and feeds back the detection signal to the controller.
The output of the power converter is connected to the output terminals 43P and 43N through the feeder line 50.
P, 50N, and is fed to the movable connectors 31P, 31N of the automatic coupler device 30 through the feeder lines 50P, 50N.
この構成において、移動ロボット10が充電ステーショ
ンに進入して所定位置に停止すると、自動カプラー装置
30の図示しない駆動装置が作動して可動コネクタ31P、3
1Nが移動ロボット10のコネクタ部12に向かって伸び、コ
ネクタ部12の固定コネクタ12P、12Nに所定の押圧力で接
触する。上記駆動装置が作動したのち可動コネクタ31
P、31Nと固定コネクタ12P、12Nとが電気的に充分接触し
たか否かのチエックが行われ、電気的接触が確認される
と、充電器41が作動し、充電電力が給電線50P、50Nを通
して可動コネクタ31P、31Nに送られ、固定コネクタ12
P、12Nからバッテリー20の正負端子21P、21Nへ給電され
る。バッテリー20の充電が進み、バッテリー20の電圧が
上昇して、電圧検出器42の電圧検出値が設定電圧（バッ
テリーにおけるガス発生電圧手前の電圧）まで上昇する
と充電器41は充電動作を停止する。充電が終わると、上
記自動カプラー装置30の駆動装置が上記とは逆向きに動
作して可動コネクタ31P、31Nが引っ込み、移動ロボット
10は走行可能となる。なお、この充電シーケンスは移動
ロボット10側と充電ステーション側とで光通信等の無線
通信により信号をやりとりして進められる。In this configuration, when the mobile robot 10 enters the charging station and stops at a predetermined position, the automatic coupler device
The drive device 30 (not shown) operates to move the movable connectors 31P, 3P.
1N extends toward the connector section 12 of the mobile robot 10, and comes into contact with the fixed connectors 12P and 12N of the connector section 12 with a predetermined pressing force. Movable connector 31
A check is performed to determine whether or not the P, 31N and the fixed connectors 12P, 12N have sufficiently contacted electrically.If the electrical contact is confirmed, the charger 41 is activated, and the charging power is supplied to the power supply lines 50P, 50N. Through the movable connectors 31P and 31N through the fixed connector 12
Power is supplied from P and 12N to the positive and negative terminals 21P and 21N of the battery 20. When the charging of the battery 20 proceeds and the voltage of the battery 20 increases, and the voltage detection value of the voltage detector 42 increases to a set voltage (a voltage just before the gas generation voltage in the battery), the charger 41 stops the charging operation. When charging is completed, the driving device of the automatic coupler device 30 operates in the opposite direction to the above, the movable connectors 31P and 31N retract, and the mobile robot
10 can run. The charging sequence is performed by exchanging signals between the mobile robot 10 and the charging station by wireless communication such as optical communication.
この構成から明らかな通り、従来は、充電器41の出力
電圧を電圧検出器42で検出して、その検出値を上記設定
電圧Esと比較するようにしているので、バッテリー20の
充電電圧は給電線50P、50Nからバッテリー20の端子21
P、21N間の電圧降下分ΔＥだけ上記設定電圧Esより低下
することになる。この電圧降下分ΔＥは給電線50P、50N
の抵抗値Ｒ、充電電流値Ｉに比例するので、工場レイア
ウト上、自動カプラー装置30と充電装置40とを近接配置
することができない場合で、急速充電を行うシステムで
は上記電圧降下分ΔＥが大きくなり、バッテリー20の充
電電圧が変動し、所期の充電電圧を得ることが難しい。As is apparent from this configuration, conventionally, the output voltage of the charger 41 is detected by the voltage detector 42 and the detected value is compared with the set voltage Es. Terminals 21 of battery 20 from wires 50P, 50N
The voltage is lower than the set voltage Es by the voltage drop ΔE between P and 21N. This voltage drop ΔE is equal to the feed lines 50P, 50N
Is proportional to the resistance value R and the charging current value I, the automatic coupler device 30 and the charging device 40 cannot be arranged close to each other on the factory layout. In a system that performs rapid charging, the voltage drop ΔE is large. That is, the charging voltage of the battery 20 fluctuates, and it is difficult to obtain an expected charging voltage.
本発明は上記問題を解消するためになされたもので、
レイアト上、自動カプラー装置と充電装置とを近接配置
することができない場合でも、バッテリーを常に所期の
電圧まで充電することができる自動充電装置を提供する
ことを目的とする。The present invention has been made to solve the above problems,
It is an object of the present invention to provide an automatic charging device that can always charge a battery to a desired voltage even when an automatic coupler device and a charging device cannot be arranged close to each other on a layout.
本発明は上記目的を達成するため、充電装置と自動カ
プラー装置間に伸びる信号線を有し、この信号線を通し
て充電装置の制御装置へ電圧フイードバックが行われる
構成とした。In order to achieve the above object, the present invention has a configuration in which a signal line extending between the charging device and the automatic coupler device is provided, and voltage feedback is performed to a control device of the charging device through the signal line.
請求項２では、信号線を通して電圧フイードバックさ
れる電圧が自動カプラー装置のコネクタ間電圧であり、
請求項３では、バッテリー搭載車が信号用コネクタを有
するとともに自動カプラー装置がコネクタと共動して上
記信号用コネクタに対し接離可能な信号用コネクタを有
し、信号線および上記両コネクタを通して電圧フイード
バックが行われる構成とした。In claim 2, the voltage fed back through the signal line is the voltage between the connectors of the automatic coupler device,
According to the third aspect, the battery-equipped vehicle has a signal connector, and the automatic coupler device has a signal connector that can move toward and away from the signal connector in cooperation with the connector. The feedback is performed.
本発明では、充電装置において、設定電圧と突き合わ
されるフイードバック電圧が、自動コカプラー装置のコ
ネクタ間の電圧もしくはバッテリーの端子電圧であり、
この電圧は充電装置の出力端子間の電圧より給電線の抵
抗だけ降下した電圧であるから、バッテリーを上記設定
電圧へ、安定して充電することができる。In the present invention, in the charging device, the feedback voltage matched with the set voltage is the voltage between the connectors of the automatic cocoupler device or the terminal voltage of the battery,
Since this voltage is lower than the voltage between the output terminals of the charging device by the resistance of the power supply line, the battery can be stably charged to the set voltage.
以下、本発明の１実施例を図面を参照して説明する。 Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
第１図において、60P、60Nは信号線であって、自動コ
ネクタ装置30と充電装置40との間に亘って伸びており、
一端は自動コネクタ装置30の可動コネクタ31P、31Nに接
続され、他端は電圧検出器42の正負入力端子に接続され
ている。他の構成は第６図の構成と同じである。In FIG. 1, 60P and 60N are signal lines, extending between the automatic connector device 30 and the charging device 40,
One end is connected to the movable connectors 31P and 31N of the automatic connector device 30, and the other end is connected to the positive and negative input terminals of the voltage detector. Other configurations are the same as those in FIG.
従って、この構成においては、充電器41の前記制御装
置へフイードバックされる電圧が可動コネクタ31P、31N
間の電圧となり、この電圧が設定電圧Esと比較される。
可動コネクタ31P、31Nからバッテリー20に至る経路の電
圧降下分は無視し得る程度に小さいから、本実施例によ
れば、バッテリー20を設定電圧Esまで安定に充電するこ
とができる。Therefore, in this configuration, the voltage fed back to the control device of the charger 41 is lower than the movable connector 31P, 31N.
, And this voltage is compared with the set voltage Es.
Since the voltage drop in the path from the movable connectors 31P, 31N to the battery 20 is negligibly small, according to the present embodiment, the battery 20 can be stably charged to the set voltage Es.
第２図は本発明の他の実施例を示したもので、電圧検
出器42を自動カプラー装置30に配設して可動コネクタ31
P、31N間の電圧を検出させ、その検出信号を信号線60
P、60Nを通して充電器41の前記制御装置へフイードバッ
クさせるようにしている。FIG. 2 shows another embodiment of the present invention, in which a voltage detector 42 is provided in the automatic coupler device 30 and the movable connector 31 is provided.
The voltage between P and 31N is detected, and the detection signal is sent to signal line 60.
Feedback is provided to the control device of the charger 41 through P and 60N.
第３図は本発明の更に他の実施例を示したもので、電
圧検出器42を移動ロボット10に配設して、バッテリー20
の端子21P、21N間の電圧を検出させ、信号線60P、60Nを
通してフイードバックさせている。この構成を採る場合
には、移動ロボット10のコネクタ部12に、第４図に示す
如く信号用コネクタ12p、12nを追加し、自動カプラー装
置30には、可動コネクタ31P、31Nの組と共動する信号用
コネクタ31p、31nを設けて、可動コネクタ31,31Nが固定
コネクタ12P、12Nに電気的に接触した場合に、コネクタ
31p、31nがコネクタ12p、12nに電気的に接触する構成と
する。FIG. 3 shows still another embodiment of the present invention, in which a voltage detector 42 is provided on the mobile robot 10 and a battery 20 is provided.
The voltage between terminals 21P and 21N is detected, and the signal is fed back through signal lines 60P and 60N. When this configuration is adopted, signal connectors 12p and 12n are added to the connector section 12 of the mobile robot 10 as shown in FIG. 4, and the automatic coupler device 30 cooperates with a set of movable connectors 31P and 31N. Signal connectors 31p and 31n are provided, and when the movable connectors 31 and 31N electrically contact the fixed connectors 12P and 12N,
31p and 31n are configured to be in electrical contact with the connectors 12p and 12n.
上記各実施例では、移動ロボット10を作業経路から外
れた場所にある充電ステーションに送り込んで自動充電
する場合について説明したが、第５図に示す如く、特定
のもしくは各作業ステーション70の近くに自動カプラー
装置30を配設し、移動ロボット10が作業ステーション70
に停止して、搭載している作業ロボット101が作業を行
っている間にバッテリー20の自動充電を行わせる構成と
すれば、従来に比して、移動ロボット10の可動効率を大
幅に向上することができる。このようなシステムを採る
場合、スペース上、そして作業ステーション70に対し１
対１に充電装置40を設けるのは不経済であるので、複数
の作業ステーション70に対し１台の充電装置40を設けざ
るを得ず、どうしても上記給電線50P、50Nが長くなり、
上記作業ロボット101の作業時間内に充電を終了させる
必要から急速充電（例えば、充電時間５〜６分程度）を
行うことになるので、本発明はこのような新規なシステ
ムに実施して、極めて大きな効果を得ることができる。
この場合も、移動ロボットと充電装置側との、充電開始
や停止、自動カプラー装置のコネクタの進退等の指令の
やりとりは無線通信で行うようにすれば、このやりとり
のための信号線配線の問題は無くなる。In each of the above embodiments, the case where the mobile robot 10 is sent to a charging station located outside the work path to perform automatic charging has been described. However, as shown in FIG. The coupler device 30 is provided, and the mobile robot 10
If the configuration is such that the battery 20 is automatically charged while the mounted work robot 101 is performing work, the moving efficiency of the mobile robot 10 is greatly improved as compared with the related art. be able to. When such a system is used, one space is required and one station 70 is required.
Since it is uneconomical to provide the charging device 40 on a one-to-one basis, one charging device 40 must be provided for a plurality of work stations 70, and the power supply lines 50P and 50N are necessarily lengthened,
Since quick charging (for example, charging time of about 5 to 6 minutes) is performed because charging is required to be completed within the working time of the working robot 101, the present invention is applied to such a novel system and extremely A great effect can be obtained.
Also in this case, if the mobile robot and the charging device exchange commands such as charging start and stop, and advance and retreat of the connector of the automatic coupler device by wireless communication, the problem of signal line wiring for this exchange will occur. Is gone.
なお、上記各実施例では、自動カプラー装置のコネク
タは可動であり、車側のコネクタは固定であるが、自動
カプラー装置のコネクタは固定とし、車側のコネクタを
可動としてもよい。In the above embodiments, the connector of the automatic coupler device is movable and the connector of the vehicle is fixed. However, the connector of the automatic coupler device may be fixed and the connector of the vehicle may be movable.
また、上記第２図および第３図の実施例では信号線60
P、60Nを設けているが、電圧検出器42の出力を無線信号
に変換して伝送し、充電装置40で復調して前記制御装置
に与える構成としてもよい。In the embodiment shown in FIGS. 2 and 3, the signal line 60 is used.
Although P and 60N are provided, a configuration may be adopted in which the output of the voltage detector 42 is converted into a wireless signal, transmitted, demodulated by the charging device 40, and provided to the control device.
本発明は以上説明した通り、自動カプラー装置と充電
装置間を結ぶチャンネルを設け、自動カプラー装置もし
くは車側で検出したバッテー電圧をこのチャンネルを通
して充電器へのフイードバックする構成としたことによ
り、充電器の出力電圧を該充電器へフイードバックする
従来に場合に比してバッテリーを所期の電圧まで正確に
かつ安定して急速充電することができる。As described above, the present invention provides a channel connecting the automatic coupler device and the charging device, and feeds back the battery voltage detected by the automatic coupler device or the vehicle to the charger through this channel. The output voltage of the battery is fed back to the charger, and the battery can be quickly and accurately charged to the expected voltage in a stable and stable manner.
第１図〜第３図は各々本発明の実施例を示す回路図、第
４図は上記第３図の実施例における移動ロボットのコネ
クタ部の正面図、第５図は本発明の適用した自動充電シ
ステムの例を示す配置図、第６図は従来の自動充電装置
の回路図である。 10……移動ロボット、12……コネクタ部、12P、12N……
コネクタ、20……バッテリー、21P、21N……端子、30…
…自動カプラー装置、31P、31N……コネクタ、40……充
電装置、41……充電器、42……電圧検出器、43P、43N…
…端子、50P、50N……給電線、60P、60N……信号線、70
……作業ステーション、101……作業ロボット。1 to 3 are circuit diagrams each showing an embodiment of the present invention, FIG. 4 is a front view of a connector portion of the mobile robot in the embodiment of FIG. 3, and FIG. FIG. 6 is a layout diagram showing an example of a charging system, and FIG. 6 is a circuit diagram of a conventional automatic charging device. 10 mobile robot, 12 connector, 12P, 12N
Connector, 20… Battery, 21P, 21N… Terminal, 30…
… Auto coupler device, 31P, 31N… Connector, 40… Charging device, 41… Charger, 42 …… Voltage detector, 43P, 43N…
… Terminal, 50P, 50N …… Power supply line, 60P, 60N …… Signal line, 70
... work station, 101 ... work robot.
フロントページの続き (56)参考文献 特開 昭62−262660（ＪＰ，Ａ) 特開 昭61−240308（ＪＰ，Ａ) 実開 昭62−191335（ＪＰ，Ｕ) 実開 昭62−191336（ＪＰ，Ｕ) 実公 昭41−2648（ＪＰ，Ｙ１) (58)調査した分野(Int.Cl.6，ＤＢ名) H02J 7/00 H01M 10/44 B60L 11/18Continuation of front page (56) References JP-A-62-262660 (JP, A) JP-A-61-240308 (JP, A) JP-A-62-191335 (JP, U) JP-A-62-191336 (JP, A) , U) Jikken 41-2648 (JP, Y1) (58) Fields investigated (Int. Cl. 6 , DB name) H02J 7/00 H01M 10/44 B60L 11/18
Claims (4)
て相対的に進退駆動されて該充電用コネクタに接離可能
なコネクタを備える自動カプラー装置、給電線を通して
上記自動カプラー装置の上記コネクタに充電電力を給電
する充電装置を備え、この充電装置が電圧フイードバッ
ク制御される自動充電装置において、上記充電装置と上
記自動カプラー装置間に伸びる信号線を有し、この信号
線を通して上記電圧フイードバックが行われることを特
徴とする自動充電装置。1. An automatic coupler device having a connector which is driven forward and backward relative to a charging connector of a vehicle equipped with a battery and which can be connected to and separated from the charging connector, and charges the connector of the automatic coupler device through a power supply line. An automatic charging device comprising a charging device for supplying power, wherein the charging device is controlled by voltage feedback, wherein the charging device has a signal line extending between the charging device and the automatic coupler device, and the voltage feedback is performed through the signal line. An automatic charging device, characterized in that:
電圧が自動カプラー装置のコネクタ間電圧であることを
と特徴とする請求項１記載の自動充電装置。2. The automatic charging device according to claim 1, wherein the voltage fed back through the signal line is a voltage between connectors of the automatic coupler device.
るとともに自動カプラー装置がコネクタと共動して上記
信号用コネクタに対し接離可能な信号用コネクタを有
し、信号線および上記両コネクタを通して電圧フイード
バックが行われることを特徴とする請求項１記載の自動
充電装置。3. The battery-equipped vehicle has a signal connector, the automatic coupler device cooperates with the connector and has a signal connector that can be connected to and detached from the signal connector, and a voltage is applied through a signal line and the two connectors. The automatic charging device according to claim 1, wherein feedback is performed.
り、この各コネクタに接離されるバッテリー搭載車側コ
ネクタが可動であることを特徴とする請求項１〜３記載
の自動充電装置。4. The automatic charging device according to claim 1, wherein a connector of the automatic coupler device is fixed, and a vehicle-mounted vehicle-side connector connected to and separated from each connector is movable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2075704A JP2836172B2 (en) | 1990-03-27 | 1990-03-27 | Automatic charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2075704A JP2836172B2 (en) | 1990-03-27 | 1990-03-27 | Automatic charging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03277133A JPH03277133A (en) | 1991-12-09 |
| JP2836172B2 true JP2836172B2 (en) | 1998-12-14 |
Family
ID=13583876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2075704A Expired - Lifetime JP2836172B2 (en) | 1990-03-27 | 1990-03-27 | Automatic charging device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2836172B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100820743B1 (en) * | 2003-10-21 | 2008-04-10 | 삼성전자주식회사 | Charging Apparatus For Mobile Robot |
| US9840154B2 (en) | 2016-04-01 | 2017-12-12 | Locus Robotics Corporation | Electrical charging system for a robot |
-
1990
- 1990-03-27 JP JP2075704A patent/JP2836172B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03277133A (en) | 1991-12-09 |
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