JPH0451421Y2

JPH0451421Y2 -

Info

Publication number: JPH0451421Y2
Application number: JP1984050233U
Authority: JP
Priority date: 1984-04-04
Filing date: 1984-04-04
Publication date: 1992-12-03
Also published as: JPS60162367U

Description

【考案の詳細な説明】 (イ) 産業上の利用分野本考案は可動体に搭載される二次電池の充電装
置に関し、自走式ロボツト等に適用することがで
きる。[Detailed description of the invention] (a) Industrial application field The present invention relates to a charging device for a secondary battery mounted on a movable body, and can be applied to self-propelled robots and the like.

(ロ) 従来技術従来、可動体に搭載される二次電池は、可動体
を充電器の設置場所に移行させ、その設置場所で
手動により、充電器の充電プラグを可動体に設け
たソケツトに挿入することにより充電されるもの
であり（たとえば実公昭58−31335号公報参照）、
充電プラグとソケツトが自動的に結合されるもの
でない。(b) Conventional technology Conventionally, a secondary battery mounted on a movable body was moved to a location where a charger was installed, and at that location, the charging plug of the charger was manually inserted into a socket provided on the movable body. It is charged by inserting it (for example, see Utility Model Publication No. 58-31335).
The charging plug and socket are not automatically combined.

(ハ) 考案の目的本考案はかかる点に鑑み考案されたものにし
て、施設壁面に設けたソケツト手段と可動体のプ
ラグ手段とを結合させる際に、係合手段のガイド
手段での係合に伴つて、係合手段がソケツト手段
内のスイツチを操作することによつて、そのソケ
ツト手段の入口部に配された開閉蓋を開けた後、
プラグ手段をソケツト手段に嵌合させ、搭載され
た二次電池が自動的に充電される装置を提供する
ことを目的とする。(c) Purpose of the invention The present invention has been devised in view of the above points, and is intended to provide a means for engaging the engaging means with the guide means when connecting the socket means provided on the wall of the facility and the plug means of the movable body. Accordingly, after the engaging means opens the opening/closing lid disposed at the entrance of the socket means by operating a switch in the socket means,
It is an object of the present invention to provide a device in which a plug means is fitted into a socket means and a mounted secondary battery is automatically charged.

(ニ) 考案の構成斯る目的を達成するため、本考案による可動体
の充電装置は、施設の壁面に、位置信号発振器、
ガイド手段、このガイド手段内に配されたスイツ
チ、ソケツト手段及びこのソケツト手段の入口部
に配されると共に前記スイツチのスイツチング動
作に伴つて開閉する開閉蓋を有するコンセントボ
ツクスを設け、二次電池を搭載した可動体の側壁
には、前記位置信号発振器から発せられた位置信
号を検出するセンサ手段と、前記ガイド手段に係
合すると共に前記スイツチのスイツチング動作を
行なう係合手段と、前記ソケツト手段に嵌合する
プラグ手段とを設けてなり、前記センサ手段の位
置信号の検出により可動体が前記壁面に向かつて
移動し、前記ガイド手段に係合手段が係合するこ
とにより、前記スイツチのスイツチング動作に伴
つて前記開閉蓋が開けられたソケツト手段に前記
プラグ手段を嵌合させ、二次電池を充電すること
を特徴とする。(d) Structure of the invention In order to achieve the above purpose, the movable body charging device according to the invention has a position signal oscillator, a position signal oscillator,
A secondary battery is installed by providing a guide means, a switch disposed within the guide means, a socket means, and an outlet box disposed at the entrance of the socket means and having an opening/closing lid that opens and closes in accordance with the switching operation of the switch. A side wall of the mounted movable body is provided with a sensor means for detecting a position signal emitted from the position signal oscillator, an engaging means for engaging the guide means and performing a switching operation of the switch, and a sensor means for detecting a position signal emitted from the position signal oscillator, an engaging means for engaging the guide means and performing a switching operation of the switch, and a sensor means for detecting a position signal emitted from the position signal oscillator. and plug means to be fitted, the movable body moves toward the wall surface upon detection of the position signal of the sensor means, and the engaging means engages with the guide means, thereby performing the switching operation of the switch. Accordingly, the plug means is fitted into the socket means with the opening/closing lid opened to charge the secondary battery.

(ホ) 実施例本考案による装置の一実施例を図面に基いて説
明する。(e) Embodiment An embodiment of the apparatus according to the present invention will be explained based on the drawings.

第１図は可動体の充電装置のブロツク図であ
る。この図面において、Ａは可動体、Ｂは施設
（建物）の壁面Ｃに設けられるコンセントボツク
スである。 FIG. 1 is a block diagram of a movable body charging device. In this drawing, A is a movable body, and B is an outlet box provided on a wall C of a facility (building).

可動体Ａは、搭載した二次電池１を電源として
作動し、制御部２を介して可動体Ａを自走する第
１駆動部３と、可動体Ａの作業機能を司どる第２
駆動部４とを有する。二次電池１はプラグ手段５
及び充電制御部６を介して充電される。前記制御
部２は、作業機能を果たすために、可動体Ａの周
囲の状況を鑑視する鑑視手段７、コンセントボツ
クスＢの位置信号を検出するセンサ手段８及び充
電制御部６からの各検出出力に基いて、駆動部
３，４を制御するものである。第１駆動部３は、
可動体Ａの下端に設けられる前後進用車輪と左右
進用車輪とを夫々制御するものである。また、第
２駆動部４は、可動体Ａの作業機能、たとえば清
掃の場合には、吸取用モータを駆動し、作業アー
ムにより物品の取扱いをする場合には、作業アー
ムを動かすためのアクチユエータ等を駆動するも
のである。 The movable body A operates using the mounted secondary battery 1 as a power source, and has a first drive unit 3 that drives the movable body A by itself via a control unit 2, and a second drive unit that controls the work functions of the movable body A.
It has a drive section 4. The secondary battery 1 is a plug means 5
and is charged via the charging control section 6. In order to perform the work function, the control section 2 receives various detection signals from the viewing means 7 that observes the surrounding situation of the movable body A, the sensor means 8 that detects the position signal of the outlet box B, and the charging control section 6. The drive units 3 and 4 are controlled based on the output. The first drive unit 3 is
It controls the forward and backward wheels and the left and right wheels provided at the lower end of the movable body A, respectively. Further, the second drive unit 4 controls the working function of the movable body A, for example, in the case of cleaning, drives a suction motor, and in the case of handling articles with the work arm, an actuator for moving the work arm, etc. It is what drives the.

コンセントボツクスＢは、位置信号発振器１１
と、ガイド手段１２と、ソケツト手段１３とを有
し、このソケツト手段は凹所１４内に設けられ、
この凹所１４の前面には、開閉蓋１５が設けられ
る。この開閉蓋は制御手段１６にて開閉制御さ
れ、この制御手段は可動体Ａに設けた係合手段９
がガイド手段１２に係合されるときに閉成するス
イツチ１７を有し、このスイツチの閉成時に作動
して開閉蓋１５を開成して、可動体Ａの側壁１０
に設けたプラグ手段５が、ソケツト手段１３に嵌
合することを許容する。 The outlet box B is a position signal oscillator 11.
, guide means 12 , and socket means 13 , the socket means being disposed in a recess 14 ,
An opening/closing lid 15 is provided on the front surface of this recess 14. This opening/closing lid is controlled to open and close by a control means 16, and this control means is an engagement means 9 provided on the movable body A.
has a switch 17 that closes when the movable body A is engaged with the guide means 12, and operates when this switch is closed to open the opening/closing lid 15 and close the side wall 10 of the movable body A.
The plug means 5 provided in the socket allow the plug means 5 to fit into the socket means 13.

第２図はコンセントボツクスの斜視図、第３図
は同断面図である。これらの図面から明らかな如
く、ガイド手段１２は凹孔１８とその凹孔の開口
端に設けた傾斜案内面１９とを有し、凹孔１８の
内壁にスイツチ１７のノブ１７₁が臨んでいる。
１３₁はソケツト手段１３の給電刃であり、商用
電源に接続されている。 FIG. 2 is a perspective view of the outlet box, and FIG. 3 is a sectional view thereof. As is clear from these drawings, the guide means 12 has a recessed hole 18 and an inclined guide surface 19 provided at the open end of the recessed hole, and the knob ₁₇₁ of the switch 17 faces the inner wall of the recessed hole 18. .
₁₃₁ is a power supply blade of the socket means 13, which is connected to a commercial power source.

第４図は可動体Ａの側壁１０に設けられるセン
サ手段８、係合手段９及びプラグ手段５の側面図
である。 FIG. 4 is a side view of the sensor means 8, the engagement means 9, and the plug means 5 provided on the side wall 10 of the movable body A.

以上の構成において、コンセントボツクスＢの
発振器１１からの位置信号を、可動体Ａのセンサ
手段８が検知し、二次電池１の残存電気量が少な
いとき、制御部２の指令により、第１駆動部３を
制御して可動体ＡがコンセントボツクスＢに近づ
く。近づくにつれ、位置信号強度が次第に増し、
係合手段９がガイド手段１２に対抗するよう、可
動体Ａの位置制御が第１駆動部３によりなされ、
係合手段９がガイド手段１２に係合するよう、可
動体Ａが移動する。この場合に係合手段９とガイ
ド手段１２の微妙なずれは、ガイド手段１２の傾
斜案内面１９に沿って係合手段９が滑動すること
によつて調整される。このようにして係合手段９
がガイド手段１２に係合することにより、スイツ
チ１７が閉成され、制御手段１６により開閉蓋１
５が開成されてプラグ手段５がソケツト手段１３
に嵌合し、二次電池１の充電が開始する。 In the above configuration, when the sensor means 8 of the movable body A detects the position signal from the oscillator 11 of the outlet box B, and the amount of remaining electricity in the secondary battery 1 is small, the first drive The movable body A approaches the outlet box B by controlling the section 3. As you get closer, the position signal strength gradually increases,
The position of the movable body A is controlled by the first drive unit 3 so that the engagement means 9 opposes the guide means 12,
The movable body A moves so that the engaging means 9 engages with the guide means 12. In this case, the slight misalignment between the engagement means 9 and the guide means 12 is adjusted by the engagement means 9 sliding along the inclined guide surface 19 of the guide means 12. In this way, the engaging means 9
When the switch 17 is engaged with the guide means 12, the switch 17 is closed, and the control means 16 causes the opening/closing lid 1 to be closed.
5 is opened and the plug means 5 connects to the socket means 13.
, and charging of the secondary battery 1 starts.

充電の進行により二次電池１が所定充電状態に
達すると、充電制御部６が充電電流を遮断すると
共に制御部２に充電完了信号を送り、制御部２の
指令に基き、第１駆動部３が作動して、可動体Ａ
が移動する。このためプラグ手段５がソケツト手
段１３から外れると共に係合手段９もガイド手段
１２から外れ、制御手段１６の作動により開閉蓋
１５が閉成し、通行人等の指がソケツト手段１３
の給電刃１３₁に触れないようにしている。 When the secondary battery 1 reaches a predetermined state of charge as the charging progresses, the charging control section 6 cuts off the charging current and sends a charging completion signal to the control section 2. Based on the command from the control section 2, the first drive section 3 is activated, and the movable body A
moves. As a result, the plug means 5 is disengaged from the socket means 13, and the engaging means 9 is also disengaged from the guide means 12, and the opening/closing lid 15 is closed by the operation of the control means 16, so that the finger of a passerby or the like will not touch the socket means 13.
Avoid touching the power supply blade 13 ₁ .

(ヘ) 考案の効果従つて、上述の構成によつて、プラグ手段をソ
ケツト手段に挿入する際に、センサ手段の位置信
号の検出に基づいて可動体のプラグ手段を予め施
設の壁面のソケツト手段付近に移動させた後、係
合手段をガイド手段に係合させることによつて、
プラグ手段とソケツト手段との正確な位置決めを
行うことができる。(f) Effects of the invention Therefore, with the above-described configuration, when inserting the plug means into the socket means, the plug means of the movable body is inserted into the socket means on the wall of the facility in advance based on the detection of the position signal of the sensor means. By engaging the engaging means with the guide means after moving the guide means,
Accurate positioning of the plug means and socket means can be achieved.

また、可動体の充電時以外においては、施設の
壁面に設けられたソケツト手段は開閉蓋で覆われ
ており、施設の外部から通行人の指等が簡単に触
れられないようになつており、更に可動体の充電
の際には、係合手段のガイド手段での係合に伴つ
て、その係合手段がソケツト手段内のスイツチを
操作することによつて開閉蓋が開き、この後プラ
グ手段はソケツト手段に嵌合でき、二次電池を自
動的に充電することができる。 In addition, when the movable body is not being charged, the socket means provided on the wall of the facility is covered with an opening/closing lid so that it cannot be easily touched by the fingers of passersby from outside the facility. Further, when charging the movable body, as the engaging means is engaged with the guide means, the engaging means operates a switch in the socket means to open the opening/closing lid, and then the plug means is opened. can be fitted into the socket means and can automatically charge the secondary battery.

[Brief explanation of the drawing]

図面は本考案による可動体の充電装置の一実施
例を示し、第１図は同装置のブロツク図、第２図
はコンセントボツクスの斜視図、第３図は同断面
図、第４図は可動体のセンサ手段、係合手段及び
プラグ手段の側面図である。Ｃ……壁面、１１……位置信号発振器、１２…
…ガイド手段、１３……ソケツト手段、Ｂ……コ
ンセントボツクス、１……二次電池、Ａ……可動
体、１０……側壁、８……センサ手段、９……係
合手段、５……プラグ手段。 The drawings show an embodiment of the movable body charging device according to the present invention; FIG. 1 is a block diagram of the device, FIG. 2 is a perspective view of the outlet box, FIG. 3 is a sectional view of the same, and FIG. 4 is a movable body charging device. Figure 3 is a side view of the body sensor means, engagement means and plug means; C... Wall surface, 11... Position signal oscillator, 12...
... Guide means, 13 ... Socket means, B ... Outlet box, 1 ... Secondary battery, A ... Movable body, 10 ... Side wall, 8 ... Sensor means, 9 ... Engagement means, 5 ... plug means.

Claims

[Scope of utility model registration request]

Position signal oscillators, guide means,
A movable electrical outlet box equipped with a secondary battery is provided, which includes a switch disposed within the guide means, a socket means, and an outlet box disposed at the entrance of the socket means and having an opening/closing lid that opens and closes in accordance with the switching operation of the switch. A side wall of the body includes a sensor means for detecting a position signal emitted from the position signal oscillator, an engaging means for engaging the guide means and performing a switching operation of the switch, and a means for fitting into the socket means. a plug means, the movable body moves toward the wall surface upon detection of the position signal of the sensor means, and the engaging means engages with the guide means,
A charging device for a movable body, characterized in that the plug means is fitted into the socket means whose opening/closing lid is opened in response to a switching operation of the switch, thereby charging a secondary battery.