WO2019015424A1 - 用于自动充电的对准机构、充电设备及充电系统 - Google Patents

用于自动充电的对准机构、充电设备及充电系统 Download PDF

Info

Publication number
WO2019015424A1
WO2019015424A1 PCT/CN2018/091495 CN2018091495W WO2019015424A1 WO 2019015424 A1 WO2019015424 A1 WO 2019015424A1 CN 2018091495 W CN2018091495 W CN 2018091495W WO 2019015424 A1 WO2019015424 A1 WO 2019015424A1
Authority
WO
WIPO (PCT)
Prior art keywords
substrate
alignment mechanism
connector
disposed
guiding
Prior art date
Application number
PCT/CN2018/091495
Other languages
English (en)
French (fr)
Inventor
吕王彪
刘昊
Original Assignee
杭州海康机器人技术有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201720879390.3U external-priority patent/CN207000208U/zh
Priority claimed from CN201720879388.6U external-priority patent/CN207000207U/zh
Priority claimed from CN201710591558.5A external-priority patent/CN110015066B/zh
Application filed by 杭州海康机器人技术有限公司 filed Critical 杭州海康机器人技术有限公司
Priority to US16/631,997 priority Critical patent/US11515668B2/en
Priority to EP18835769.3A priority patent/EP3657613B1/en
Publication of WO2019015424A1 publication Critical patent/WO2019015424A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/66—Structural association with built-in electrical component
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • 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
    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present application relates to the field of automatic charging technology, and in particular, to an alignment mechanism, a charging device, and a charging system for automatic charging.
  • Automated Guided Vehicle is an automatic guiding device equipped with electric, magnetic or optical, which can travel along a prescribed guiding path, with safety protection and various transfer functions. Drive the transporter.
  • the AGV uses a rechargeable battery as its power source and uses an automatic charging method to charge the battery.
  • the AGV retreats close to the charging device, and the connector disposed at the end of the AGV is docked with the connector of the charging device to charge the AGV.
  • An alignment mechanism is usually provided in the charging device to facilitate the docking of the connector of the AGV with the connector of the charging device.
  • Alignment mechanisms in current charging devices include a substrate and a spring. Wherein, the substrate is arranged in a vertical direction, one end of the spring is fixed on the substrate, and the connector of the charging device is fixed on the other end of the spring. During the docking of the connector of the AGV and the connector of the charging device, the spring is compressed, and the positional deviation between the connector of the AGV and the connector of the charging device is eliminated by the force of the spring, so that the connector of the AGV and the charging device are The connectors are docked.
  • the existing alignment mechanism can only eliminate the positional deviation of the connector of the AGV and the connector of the charging device in the front-rear direction.
  • the connector of the AGV and the connector of the charging device may have positional deviations in other directions, especially in the left and right direction.
  • the efficiency of automatic charging of the AGV is low.
  • the present application provides an alignment mechanism, a charging device, and a charging system for automatic charging, which can solve the above-mentioned problems in order to adapt the connector of the AGV to the connector of the charging device by repeatedly adjusting the position of the AGV, resulting in an automatic charging efficiency of the AGV. Low technical issues.
  • the present application provides an alignment mechanism for automatic charging, the alignment mechanism comprising:
  • a first spring connected at both ends to a surface opposite to the first substrate and the second substrate;
  • the limiting component comprises at least two limiting plates which are parallel to each other and located in the same horizontal plane, and two ends of each of the limiting plates are respectively rotated in a horizontal plane in which the limiting plate can be rotated a surface connection opposite to the first substrate and the second substrate;
  • the second substrate faces away from the surface of the first substrate for connecting the first connector.
  • the alignment mechanism further includes:
  • first connecting plate and a second connecting plate respectively disposed on opposite surfaces of the first substrate and the second substrate;
  • the first connecting plate and the second connecting plate are located in the same horizontal plane
  • Both ends of the limiting plate are connected to the first connecting plate and the second connecting plate through a first pin shaft and a second pin shaft, respectively.
  • first connecting plate and the second connecting plate are respectively provided with mounting holes; the two ends of the limiting plate are also provided with mounting holes;
  • the first pin shaft connects the limiting plate to the first connecting plate through a mounting hole of the first connecting plate and a mounting hole of one end of the limiting plate;
  • the second pin shaft connects the limiting plate to the second connecting plate through a mounting hole of the second connecting plate and a mounting hole of the other end of the limiting plate.
  • the mounting hole of at least one of the two ends of the limiting plate is an oblong hole
  • the oblong hole includes two arc segments that are oppositely disposed, and a straight segment that connects the two arc segments.
  • the length direction of the oblong hole is set in the front-rear direction;
  • the first pin and/or the second pin are movable along the length of the oblong hole.
  • a length of the first pin shaft located at an outer portion of the mounting hole of the first connecting plate is greater than a thickness of the limiting plate
  • the length of the second pin on the outer portion of the mounting hole of the second connecting plate is greater than the thickness of the limiting plate.
  • At least two sets of the limiting components are disposed in the alignment mechanism, and at least two sets of the limiting components are arranged in a vertical direction.
  • the alignment mechanism further includes:
  • a third substrate disposed opposite to the second substrate, the third substrate being located on a side of the second substrate facing away from the first substrate; the third substrate facing away from a surface of the second substrate for connection The first connector;
  • the third substrate is connected to the second substrate in such a manner as to be movable left and right with respect to the second substrate.
  • the alignment mechanism further includes:
  • a slide rail disposed on one of two surfaces of the second substrate and the third substrate opposite to each other, wherein a length direction of the slide rail is disposed in a left-right direction;
  • the slide rail is disposed on the second substrate, and the slider is disposed on the third substrate.
  • the dimension of the third substrate in the left-right direction is smaller than the dimension of the second substrate in the left-right direction;
  • the alignment mechanism further includes:
  • One end of the second spring is connected to the connecting member, and the other end of the second spring is connected to the third substrate.
  • the connecting member is provided with a through hole, and an axial direction of the through hole is disposed in a left-right direction;
  • the alignment mechanism further includes: a second connecting member connected to the third substrate after one end passes through the through hole in the connecting member, and the second connecting rod is movable along the axial direction of the through hole;
  • the second spring sleeve is sleeved on the second connecting member.
  • the alignment mechanism further includes: a guiding arm;
  • a longitudinal direction of the guiding arm is disposed in a front-rear direction, a rear end of the guiding arm is connected to a surface of the second substrate facing away from the first substrate, and a front end of the guiding arm is used for connecting the first connector .
  • the alignment mechanism further includes: a guiding arm;
  • a longitudinal direction of the guiding arm is disposed in a front-rear direction, a rear end of the guiding arm is connected to a surface of the third substrate facing away from the second substrate, and a front end of the guiding arm is used for connecting the first connector .
  • the alignment mechanism further includes:
  • first guide block disposed on an upper surface of the guide arm near a front end of the guide arm, and a second guide block disposed on a lower surface of the guide arm and corresponding to a position of the first guide block ;
  • the upper surface of the first guiding block includes a sloped section and a planar section which are sequentially connected from front to back, and the inclined section of the first guiding block is inclined upward; the lower surface of the second guiding block includes a forward direction The inclined section and the planar section are sequentially connected, and the inclined section of the second guiding block is inclined downward.
  • the alignment mechanism further includes:
  • first disc and a second disc on the left and right sides of the front end of the guiding arm, respectively, and the first disc and the second disc are horizontally disposed;
  • the leftmost edge of the first disc projects outwardly with respect to the leftmost edge of the guiding arm;
  • the rightmost edge of the second disc projects outwardly relative to the rightmost edge of the guide arm.
  • the alignment mechanism further includes:
  • the alignment mechanism further includes: a universal ball disposed under the second substrate.
  • the present application provides a charging device for automatic charging, the charging device comprising: an alignment mechanism and a first connector connected to the alignment mechanism;
  • the alignment mechanism is the alignment mechanism provided by the first aspect of the application.
  • the present application provides a charging system for automatic charging, the charging system including an alignment mechanism disposed in the charging device, a first connector coupled to the alignment mechanism, and an automatic setting a second connector guiding the transport vehicle and mating with the first connector;
  • the alignment mechanism is the alignment mechanism provided by the first aspect of the application.
  • At least two limiting plates are disposed between the oppositely disposed first substrate and the second substrate, and the at least two limiting plates are parallel to each other and located in the same horizontal plane, and each of the limiting positions
  • the two ends of the plate are respectively connected to the surfaces of the first substrate and the second substrate in such a manner that the limiting plate can rotate in the horizontal plane where the limiting plate is rotated. Therefore, when the second substrate is subjected to an external force, the second substrate is opposite to the first substrate.
  • a substrate can be moved in the left-right direction, and the relative positions of the second substrate and the first substrate in the front-rear direction also change.
  • the alignment mechanism provided by the present application is disposed in the charging device, the first substrate is fixed to the charging device, and the connector of the charging device is connected to the second substrate, when the connector of the AGV is charged and charged.
  • the interaction force between the connector of the AGV and the connector of the charging device causes the second substrate to move to the left or to the right, thereby driving the connector of the charging device.
  • the connector of the charging device can be automatically adapted to the position of the AGV connector, and the connector of the prior art is adapted to adapt the position of the AGV to the charging device to automatically adjust the position of the AGV.
  • the low efficiency problem enables the connector of the AGV and the connector of the charging device to be quickly and smoothly docked to improve the automatic charging efficiency.
  • FIG. 1 is a perspective structural view of an alignment mechanism for automatic charging provided by the present application
  • FIG. 2 is a schematic plan view showing an alignment mechanism for automatic charging according to the present application
  • FIG. 3 is a partial structural schematic view of a first guiding block and a second guiding block in an alignment mechanism for automatic charging according to the present application;
  • FIG. 4 is a schematic perspective structural view of a charging system for automatic charging provided by the present application.
  • FIG. 5 is a schematic diagram of a planar structure of a charging system for automatic charging provided by the present application.
  • 16-guide cylinder 161-the surface of the guide cylinder inclined upward;
  • A1 - first pin shaft a2 - second pin shaft.
  • the direction parallel to the traveling direction of the AGV is set to the front-rear direction, which will be in the horizontal plane.
  • the inner direction and the direction perpendicular to the traveling direction are set to the left-right direction, and the direction perpendicular to the traveling direction in the vertical plane is set to the vertical direction.
  • FIG. 1 is a schematic perspective view of the alignment mechanism provided in the embodiment
  • FIG. 2 is a schematic plan view of the alignment mechanism provided in the embodiment.
  • the alignment mechanism includes:
  • a first spring 3 connected at both ends to the surface opposite to the first substrate 2 and the second substrate 5;
  • the limiting component comprises at least two limiting plates 4 which are parallel to each other and located in the same horizontal plane, and the two ends of each limiting plate are respectively rotated in a manner that the limiting plate 4 can be rotated in the horizontal plane thereof a substrate 2 and a second substrate 5 opposite surfaces are connected;
  • the surface of the second substrate 5 facing away from the first substrate 2 is used to connect a first connector, which is a connector of a charging device to be charged.
  • the alignment mechanism since the first substrate 2 and the second substrate 5 are oppositely disposed, and at least two blocks are disposed between the first substrate 2 and the second substrate 5 and are parallel to each other and located in the same horizontal plane.
  • the limiting plate 4 the two ends of each of the limiting plates are respectively connected to the surfaces of the first substrate 2 and the second substrate 5 in such a manner that the limiting plate 4 is rotated in the horizontal plane where the limiting plate 4 is rotated, so that the first substrate
  • the surface opposite to the second substrate 5 and any two of the stopper plates 4 can form a structure of a parallelogram which is movable by four vertices.
  • the second substrate 5 when the second substrate 5 is subjected to an external force, the second substrate 5 can be moved in the left-right direction with respect to the first substrate 2, and the relative positions of the second substrate 5 and the first substrate 2 in the front-rear direction. It will also change.
  • the alignment mechanism provided in this embodiment is disposed in the charging device, the first substrate 2 is fixed to the charging device, and the connector of the charging device is connected to the second substrate 5 when the AGV is used.
  • the interaction force between the connector of the AGV and the connector of the charging device causes the second substrate 5 to move to the left or to the right, thereby The connector that drives the charging device moves to the left or right, thereby eliminating the positional deviation of the connector of the AGV and the connector of the charging device in the left-right direction.
  • the positional relationship between the connector of the AGV and the connector of the charging device in the front-rear direction can be adjusted to eliminate the position in the front-rear direction. deviation.
  • the first spring 3 can also absorb the impact of the connector of the AGV and the connector of the charging device during docking, and when the charging is completed, the second substrate 5 can be reset by the restoring force of the first spring 3 after the AGV leaves the charging device. .
  • the alignment mechanism provided in this embodiment further includes: a first connecting plate 21 and a second connecting plate 51 respectively disposed on opposite surfaces of the first substrate 2 and the second substrate 5; A connecting plate 21 and a second connecting plate 51 are located in the same horizontal plane; one end of the limiting plate 4 is connected to the first connecting plate 21 through the first pin a1, and the other end of the limiting plate 4 passes through the second pin a2 and The second connecting plates 51 are connected.
  • first connecting plate 21 and the second connecting plate 51 are located in the same horizontal plane, after the limiting plate 4 is connected with the first connecting plate 21 and the second connecting plate 51, the respective limiting plates 4 can be located in the same horizontal plane. . Both ends of the position limiting plate 4 can be rotated by the pin shaft as a center of rotation by way of pin connection.
  • the first connecting plate 21 and the second connecting plate 51 are respectively provided with mounting holes, and the two ends of the limiting plate 4 are also provided with mounting holes, and the first pin a1 sequentially passes through the first connecting plate 21
  • the upper mounting hole and the mounting hole at one end of the limiting plate 4 connect one end of the limiting plate 4 with the first connecting plate 21; the second pin a2 sequentially passes through the mounting hole and the limit on the second connecting plate 51.
  • a mounting hole at the other end of the plate 4 connects the other end of the limiting plate 4 to the second connecting plate 51.
  • the cross section of the connector of the AGV in the vertical direction is parallel to the cross section of the connector of the charging device in the vertical direction, but for the case where there is an angular deviation, the AGV There is an angle between the cross section of the connector in the vertical direction and the cross section of the connector of the charging device in the vertical direction.
  • the mounting hole of at least one end of the two ends of the limiting plate 4 is arranged as an oblong hole.
  • the oblong hole includes two oppositely disposed segments. The arc segment and the straight segment connecting the two arc segments, the length direction of the oblong hole is set in the front-rear direction.
  • the mounting hole of one end of the limiting plate 4 connected to the first connecting plate 21 may be an oblong hole, and the mounting hole of one end connected to the second connecting plate 51 may be set as a common circular hole; The mounting holes at both ends of the 4 are all set to long round holes.
  • the first pin a1 can move along the length of the oblong hole, or the second pin a2 can move along the length of the oblong hole, or both the first pin a1 and the second pin a2 can follow the length of the oblong hole Directional movement.
  • the second substrate 5 By setting the mounting hole of the at least one end of the limiting plate 4 as an oblong hole, the second substrate 5 can be inclined with respect to the first substrate 2, thereby causing the connector of the charging device to be tilted accordingly, thereby eliminating the angle. Deviation, complete the docking between the connectors.
  • the positional deviation in the up and down direction can be eliminated in that the length of the first pin shaft a1 located at the outer portion of the mounting hole of the first connecting plate 21 is greater than the thickness of the limiting plate 4; the second pin a2 is located at the The length of the outer portion of the mounting hole of the two connecting plates 51 is greater than the thickness of the limiting plate 4.
  • first pin a1 when the first pin a1 is connected to the first connecting plate 21 and the limiting plate 4, a part of the longitudinal direction thereof is located in the mounting hole of the first connecting plate 21, and the limiting plate 4 is sleeved on the first pin.
  • the shaft a1 is located outside the mounting hole of the first connecting plate 21, and when the length of the portion of the first pin a1 outside the mounting hole of the first connecting plate 21 is larger than the thickness of the limiting plate 4, the first connecting plate 21 can be along
  • the first pin axis a1 moves in the axial direction (that is, in the up and down direction).
  • the second connecting plate 51 is movable in the axial direction (i.e., the up and down direction) of the second pin a2.
  • the limiting plate 4 will also move up and down. Based on this, when the connector of the AGV and the connector of the charging device have a positional deviation in the up and down direction, in the docking process, an interaction force in the up and down direction is generated, and the interaction force causes the second substrate 5 to be opposite to the first The substrate 2 is correspondingly moved upward or downward, thereby driving the connector of the charging device to move up or down, eliminating the positional deviation in the up and down direction.
  • the number of the limiting components may be at least two groups, for example, two groups of three groups, four groups, and the like, and at least two groups of the limiting members are arranged in a vertical direction (ie, an up and down direction).
  • the number of the first connecting plate 21 and the second connecting plate 51 is also at least two, respectively.
  • the first connecting plate 21 may be integrally formed with the first substrate 2, and the second connecting plate 51 may be integrally formed with the second substrate 5.
  • the number of the limiting plates 4 in each set of the limiting components may be 2, 3, 4, etc., which is not specifically limited in this embodiment.
  • the number of the limiting plates 4 in each set of the limiting components may be the same or different.
  • the number of the first springs 3 is not particularly limited, and may be one, or two or more, for example, three, four, five, six, and the like. When the number of the first springs 3 is one, both ends of the first spring 3 may be respectively connected to the centers of the surfaces of the first substrate 2 and the second substrate 5, respectively.
  • both ends of the first spring 3 may be connected to the surfaces of the first substrate 2 and the second substrate 5 by soldering, or may be disposed on the surfaces of the first substrate 2 and the second substrate 5 opposite to each other.
  • the card slot connects the first spring 3 to the first substrate 2 and the second substrate 5 in an embedded manner.
  • a first connecting rod 101 may be respectively disposed on the opposite surfaces of the first substrate 2 and the second substrate 5, and both ends of the first spring 3 are sleeved on the first connecting rod 101 to prevent the second substrate 5 from being opposite to the second substrate 5.
  • the first substrate 2 and the second substrate 5 are parallel to each other and each has a rectangular parallelepiped shape, and the first substrate 2 and the second substrate 5 are The upper end and the lower end are flush (i.e., the height is the same), and the size of the second substrate 5 in the left-right direction is smaller than the size of the first substrate 2 in the left-right direction.
  • the positioning mechanism is provided with two sets of limiting components respectively located at the upper end and the lower end of the first substrate 2, and each set of limiting components comprises two mutually parallel limiting plates.
  • the limiting plate located at the upper end of the second substrate 5 is referred to as a first limiting plate 41
  • the limiting plate located at the lower end of the second substrate 5 is referred to as a second limiting plate 42.
  • the two first limiting plates 41 are respectively disposed at the left and right ends of the second substrate 5, and the two second limiting plates 42 are respectively located directly below the two first limiting plates 41.
  • the first connecting plate 21 is provided on each of the upper and lower ends of the first substrate 2, and the second connecting plate 51 is provided on the upper and lower ends of the second substrate 5, respectively.
  • the first limiting plate 41 is located above the first connecting plate 21 and the second connecting plate 51, wherein the first connecting plate 21 is disposed at an upper end of the first substrate 2, and the second connecting plate 51 is disposed at the second substrate The upper end of 5.
  • the second limiting plate 42 is located below the first connecting plate 21 and the second connecting plate 51, wherein the first connecting plate 21 is disposed at a lower end of the first substrate 2, and the second connecting plate 51 is disposed at the second substrate The lower end of 5.
  • the mounting hole of the first limiting plate 41 connected to the first connecting plate 21 disposed at the upper end of the first substrate 2 is an oblong hole, and the mounting hole of one end connected to the second connecting plate 51 disposed at the upper end of the second substrate 5 It is an ordinary round hole.
  • the mounting hole of the second limiting plate 42 connected to the first connecting plate 21 disposed at the lower end of the first substrate 2 is an oblong hole, and the mounting hole of one end connected to the second connecting plate 51 disposed at the lower end of the second substrate 5 It is an ordinary round hole.
  • the number of the first springs 3 is four, two of which are close to the upper end of the second substrate 5 and are respectively located directly below the two first limiting plates 41, and the other two are close to the second substrate.
  • the lower ends of the 5 are located directly below the two first limiting plates 41.
  • the alignment mechanism provided in this embodiment may further include: a third substrate 8 disposed opposite to the second substrate 5, the third substrate 8 being located away from the first substrate of the second substrate 5.
  • One side of the second substrate 8 faces away from the surface of the second substrate 5 for connecting the first connector.
  • the third substrate 8 is connected to the second substrate 5 so as to be movable left and right with respect to the second substrate 5.
  • the connector of the charging device when the third substrate 8 is disposed in the alignment mechanism, the connector of the charging device is connected to the surface of the third substrate 8 facing away from the second substrate 5.
  • the connector of the charging device can be driven to move left and right.
  • the positional deviation of the connector of the charging device and the connector of the AGV in the left-right direction can be eliminated.
  • the third substrate 8 and the second substrate 5 are disposed in parallel with each other, and thus, the range of left and right movement of the connector of the charging device can be maximized.
  • the third substrate 8 can be connected to the second substrate 5 in the following manner.
  • the alignment mechanism further includes: the second substrate 5 and the third substrate 8 are disposed.
  • a slider 6 that is coupled to the slide rail 7 is coupled to the slide rail 7 .
  • Slide rails 7 may be provided at both upper and lower ends of the second substrate 5, and sliders 6 that cooperate with the slide rails 7 are provided at upper and lower ends of the third substrate 8.
  • a slider may be disposed on a surface of the second substrate 5 facing away from the first substrate 2, and a slide rail may be disposed on a surface of the third substrate 8 opposite to the second substrate 5.
  • the slide rail 7 may be a rectangular parallelepiped, and a sliding groove in the left and right direction is respectively formed on the upper and lower surfaces of the slide rail 7.
  • the slider 6 may be a rectangular parallelepiped, and the surface of the rectangular parallelepiped is provided with an opening having a C-shaped cross section, wherein a surface opposite to a surface provided with a C-shaped opening is fixed to the third substrate 8 opposite to the second substrate 5.
  • the upper and lower surfaces of the C-shaped opening are provided with projections that cooperate with the above-described chute.
  • the dimension of the third substrate 8 in the left-right direction may be smaller than the dimension of the second substrate 5 in the left-right direction.
  • the alignment mechanism further includes: a connecting member respectively fixed to the left and right sides of the surface of the second substrate 5 facing away from the first substrate 2; and a second spring 9 respectively located on the left and right sides of the third substrate 8; One end of the two springs 9 is connected to the connecting member, and the other end of the second spring 9 is connected to the third substrate 8.
  • the third substrate 8 can be positioned in the middle of the second substrate 5 in the initial state, and the third substrate 8 can be made to the left or the direction during the connector docking process. At the time of the right shift, the third substrate 8 can be reset by the second springs 9 on the left and right sides.
  • the second springs 9 on the left and right sides are coaxial.
  • a through hole disposed in the left and right direction of the axial direction may be disposed on the connecting member, and a second connecting rod 102 is disposed.
  • One end of the second connecting rod 102 passes through the through hole in the connecting member and is connected to the third substrate 8, and the second spring 9 sets are on the second connecting rod 102, and the second connecting rod 102 is movable in the axial direction of the through hole, that is, in the left and right direction.
  • the specific form of the connecting member may be that the connecting member includes a third connecting plate 52 perpendicular to the third substrate 8 and disposed in the vertical direction, and a fourth connecting plate 53 parallel to the second substrate 5.
  • the fourth connecting plate 53 is fixed to the surface of the second substrate 5 facing away from the first substrate 2, and one end of the third connecting plate 52 in the front-rear direction is fixed to the fourth connecting plate 53.
  • two third connecting plates 52 on the left and right sides of the third substrate 8 are oppositely disposed.
  • One end of the second spring 9 is fixed on the opposite surfaces of the two third connecting plates 52, and the other end is fixed on the third substrate.
  • the through hole described above is opened on the third connecting plate 52.
  • the specific form of the connecting member may also be a rectangular parallelepiped or a rectangular connecting block, and the opposite surfaces of the connecting blocks on the left and right sides of the third substrate 8 are used to fix the second spring 9.
  • the alignment mechanism provided in this embodiment may further include: a guiding arm 11 whose longitudinal direction is disposed in the front-rear direction.
  • the rear end of the guiding arm 11 ie, the end of the guiding arm 11 close to the third substrate 8
  • the rear end of the guiding arm 11 is fixed on the surface of the third substrate 8 facing away from the second substrate 5.
  • the rear end of the guiding arm 11 ie, the end of the guiding arm 11 adjacent to the second substrate 5
  • the front end of the guide arm 11 i.e., the end of the guide arm 11 away from the third substrate 8 or the second substrate 5 is used to connect a connector of the charging device.
  • the force of the connector of the charging device interacting with the connector of the AGV can be transmitted to the second substrate 5 and the third substrate 8 through the guiding arm 11, so that the second substrate 5 and the third substrate 8 move in corresponding directions, thereby driving the charging.
  • the connector of the device moves in the corresponding direction, so that the connector of the charging device automatically adapts to the position of the connector of the AGV, and the docking between the connectors is completed.
  • the guiding member that cooperates with the guiding arm 11 can be disposed on the AGV to improve the ability of the alignment mechanism to automatically adapt to the AGV position, thereby improving the docking speed of the connector.
  • the length direction of the guiding arm 11 is perpendicular to the second substrate 5; when the guiding arm 11 and the third substrate When the first substrate 2, the second substrate 5, and the third substrate 8 are fixed to each other, the longitudinal direction of the guide arm 11 is perpendicular to the third substrate 8.
  • a rib 111 may be provided between the guide arm 11 and a surface fixed thereto.
  • the alignment mechanism provided in this embodiment may further include: a first guiding block 131 disposed on an upper surface of the guiding arm 11 near a front end of the guiding arm 11, and a guiding arm disposed on the guiding arm The lower surface of the 11 and the second guide block 132 corresponding to the position of the first guide block 131. As shown in FIG. 1 and FIG. 2, the alignment mechanism provided in this embodiment may further include: a first guiding block 131 disposed on an upper surface of the guiding arm 11 near a front end of the guiding arm 11, and a guiding arm disposed on the guiding arm The lower surface of the 11 and the second guide block 132 corresponding to the position of the first guide block 131. As shown in FIG.
  • the upper surface of the first guiding block 131 includes a sloped section and a planar section which are sequentially connected from the front to the rear, and the inclined section of the first guiding block 131 is inclined upward; the lower of the second guiding block 132
  • the surface includes a bevel segment and a planar segment that are sequentially connected from front to back, and the bevel segment of the second guide block 132 is inclined downward. It can be understood that the plane segment 1312 of the first guiding block 131 and the plane segment 1322 of the second guiding block are respectively parallel to the upper and lower surfaces of the guiding arm 11.
  • first guiding block 131 and the second guiding block 132 it is advantageous to move the second substrate 5 up and down, thereby eliminating the positional deviation between the connector of the charging device and the connector of the AGV.
  • the planar section 1312 of the first guiding block 131 and the planar section 1322 of the second guiding block are respectively parallel to the upper and lower surfaces of the guiding arm 11 respectively: the plane of the first guiding block 131
  • the segment 1312 and the planar segment 1322 of the second guiding block are respectively parallel to the upper and lower surfaces of the rectangular parallelepiped.
  • the planar section 1312 of the first guiding block 131 and the planar section 1322 of the second guiding block are respectively parallel to the upper and lower surfaces of the guiding arm 11 including: the planar section 1312 of the first guiding block 131 and the first The horizontal planes are parallel, and the planar section 1322 of the second guiding block is parallel to the second horizontal plane, and the first horizontal plane and the second horizontal plane are respectively tangent to the upper and lower ends of the outer circumferential surface of the cylinder.
  • the alignment mechanism provided in this embodiment may further include: a first disk 121 and a second disk 122 respectively disposed on the left and right sides of the front end of the guiding arm 11, and
  • the first disk 121 and the second disk 122 are horizontally disposed (ie, the axial directions of the first disk 121 and the second disk 122 are arranged in the up and down direction); the leftmost edge of the first disk 121 is opposite to the guiding arm 11 The leftmost edge projects outwardly; the rightmost edge of the second disc 122 projects outwardly relative to the rightmost edge of the guide arm 11.
  • first disc 121 and the second disc 122 may be bearings.
  • the edge of the first disc 121 and the second disc 122 protruding outward relative to the guiding arm 11 along the guiding member during the mating of the connector of the AGV with the connector of the charging device
  • the movement facilitates the movement of the second substrate 5 to the left and right, thereby eliminating the positional deviation between the connector of the charging device and the connector of the AGV in the left-right direction.
  • the number of the first disks 121 includes, but is not limited to, two, and when a plurality of first disks 121 are provided, the plurality of first disks 121 are arranged in the front-rear direction.
  • the number of the second discs 122 includes, but is not limited to, two, and when a plurality of second discs 122 are provided, the plurality of second discs 122 are arranged in the front-rear direction.
  • a connecting shaft may be provided on the guide arm 11, and the first disc 121 and the second disc 122 may be sleeved on the connecting shaft (it is understood that the axis of the connecting shaft is disposed in the up and down direction).
  • the first disk 121 and the second disk 122 are rotatable about the connecting shaft.
  • the guide member disposed on the AGV can take the form of a guide cylinder 16 as shown in FIGS. 4 and 5.
  • the guide cylinder 16 includes a rectangular parallelepiped cylinder having one end fixed to the AGV and having an opening at the end that accommodates the connector of the AGV (i.e., the second connector 17 of Figures 4 and 5).
  • the other end of the cylinder is open, and the four surfaces of the cylinder are respectively connected to the upwardly inclined surface 161, the downwardly inclined surface 163, the leftwardly inclined surface 162, and the rightwardly inclined surface 164.
  • the upwardly inclined surface 161 of the guiding cylinder 16 is inclined to a degree corresponding to the inclination of the inclined section of the first guiding block 131, and the downwardly inclined surface 163 is inclined to such an extent as to the inclination of the inclined section of the second guiding block 132.
  • the surface 164 of the guiding cylinder 16 inclined to the right cooperates with the outwardly protruding edge of the first disc 121 with respect to the guiding arm 11, and the leftwardly inclined surface 162 is opposite to the second disc 122 with respect to the guiding arm 11
  • the outwardly projecting edges fit together.
  • the leftwardly inclined surface 163 and the rightwardly inclined surface 164 are inclined to a greater extent than the upwardly inclined surface 161 and the downwardly inclined surface 162.
  • the AGV travels backward, and the first guiding block 131 and the second guiding block 132 are respectively inclined along the guiding cylinder 16 to the upwardly inclined surface 161 and the downwardly inclined inclined surface 163.
  • the outwardly convex edges of the first disc 121 and the second disc 122 with respect to the guiding arm 11 are respectively inclined along the surface 164 which is inclined to the right of the guiding cylinder 16 and the surface 162 which is inclined obliquely to the left.
  • the guide cylinder 16 moves inside.
  • the second substrate 5 and the third substrate 8 can be made by the interaction between the first guiding block 131, the second guiding block 132, the first disk 121 and the second disk 122 and the corresponding inclined surfaces of the guiding cylinder 16. Movement in the corresponding direction eliminates positional deviation between the connector of the charging device and the connector of the AGV.
  • the present embodiment provides that the alignment mechanism can be divided into three units: a first substrate 2, a second substrate 5, a first spring 3, and a limit. a first movable unit of the board 4 and related components, including a third substrate 8, a slide rail 7, a slider 6, a second spring 9 and a second movable unit of related components, and a guiding arm 11, a first guiding block 131, The guiding unit of the second guiding block 132, the first disc 121, the second disc 122 and related components. At least one of the above three sections may be provided in the alignment mechanism according to actual use conditions.
  • only the first movable unit is disposed, and the connector of the charging device is directly fixed on the surface of the second substrate 5 facing away from the first substrate 2.
  • This method is mainly applicable to connectors in which the connector is a surface contact type, and the control precision of the AGV is high, and the positional deviation in the left and right direction is not large.
  • the first movable unit and the second movable unit are provided, and the connector of the charging device is fixed on the surface of the third substrate 8 facing away from the second substrate 5.
  • This method is mainly suitable for the connector with the surface contact type, and the control precision of the AGV is low, and there is a large position deviation in the left and right direction.
  • the first movable unit and the guiding unit are disposed, and the rear end of the guiding arm 11 is directly fixed on the surface of the second substrate 5 facing away from the first substrate 2, and the connector of the charging device is fixed on the guiding arm 11 Front end.
  • This method is suitable for the case where the control accuracy of the AGV is high and the positional deviation in the left and right direction is not large.
  • This method is suitable for all types of connectors, especially for tab-and-socket connectors.
  • the first movable unit, the second movable unit and the guiding unit are simultaneously disposed, and the rear end of the guiding arm 11 is fixed on the surface of the third substrate 8 facing away from the second substrate 5, and the connector of the charging device It is fixed to the front end of the guide arm 11.
  • This method is suitable for the case where the control accuracy of the AGV is low and the positional deviation in the left and right direction is large.
  • This method is suitable for all types of connectors, especially for tab-and-socket connectors.
  • the alignment mechanism provided in this embodiment may further include: a fourth substrate 1 fixed to a surface of the first substrate 2 facing away from the second substrate 5 .
  • the alignment mechanism as a whole is made more stable by providing the fourth substrate 1.
  • the fourth substrate 1 may be disposed in a vertical direction, that is, in parallel with the first substrate 2, or may be disposed at an angle to the first substrate 2.
  • the fixing of the first substrate 2 can be achieved by fixing the fourth substrate 1 with the charging device.
  • the charging device usually has a housing that can directly serve as a fourth substrate 1 on a certain surface of the housing of the charging device.
  • the first substrate 2 and the fourth substrate 1 can be fixed by a third connecting rod 103.
  • the alignment mechanism provided in this embodiment may further include: a universal ball 15 disposed under the second substrate 5 .
  • the universal ball 15 can support the entire alignment mechanism.
  • the number of universal balls 15 includes, but is not limited to, two.
  • the present embodiment utilizes a spring, a slide rail, a slider and the like to provide an alignment mechanism that can automatically adapt the connector of the charging device to the position of the connector of the AGV during the automatic charging of the AGV.
  • the alignment mechanism provided by the embodiment, when the AGV performs automatic charging, the AGV can be kept in the backward driving state, and the connector of the charging device can be automatically adapted to the position of the AGV connector by the action of the alignment mechanism.
  • the alignment mechanism provided by the embodiment has a simple structure and a low cost.
  • the alignment mechanism provided in this embodiment is movable and rechargeable.
  • Equipment that uses the battery as a power source and that is charged in an automatic charging mode is applicable, including but not limited to a sweeping robot.
  • the present embodiment also provides a charging device for automatic charging, the charging device comprising: an alignment mechanism and a first connector 14 connected to the alignment mechanism.
  • the alignment mechanism is the alignment mechanism provided by the embodiment shown in FIGS. 1 and 2 above.
  • the automatic charging of the charging device provided by the embodiment to the device such as the AGV can effectively improve the automatic charging efficiency.
  • the first connector 14 is directly fixed on the surface of the second substrate 5 facing away from the first substrate 2; when the alignment mechanism is provided, the third substrate 8, the slide rail 7, the slider 6, the second spring 9 and When the second movable unit of the component is related, the first connector 14 is fixed on the surface of the third substrate 8 facing away from the second substrate 5; when the alignment mechanism is provided with the guiding arm 11, the first guiding block 131, and the second guiding The first connector 14 is fixed to the front end of the guide arm 11 when the block 132, the first disk 121, the second disk 122, and the guide unit of the related member are used.
  • the charging device provided in this embodiment includes a housing, an electronic control system and the like in addition to the alignment mechanism and the first connector 14.
  • the specific arrangement of the housing and the electronic control system is not limited in this embodiment, and the conventional arrangement in the art can be used.
  • FIG. 4 is a schematic perspective view of a charging system provided by the embodiment
  • FIG. 5 is a charging system provided by the embodiment.
  • Schematic diagram of a planar structure including an alignment mechanism disposed in the charging device, a first connector 14 coupled to the alignment mechanism, and a second connector disposed on the AGV and mated with the first connector 14 17.
  • the alignment mechanism is the alignment mechanism provided by the embodiment shown in FIGS. 1 and 2 above.
  • the first connector 14 is directly fixed on the surface of the second substrate 5 facing away from the first substrate 2; when the alignment mechanism is provided, the third substrate 8, the slide rail 7, the slider 6, the second spring 9 and In the second movable unit of the related component, the first connector 14 is fixed on the surface of the third substrate 8 facing away from the second substrate 5; when the alignment mechanism is disposed, including the guiding arm 11, the first guiding block 131, and the second When the guide block 132, the first disk 121, the second disk 122, and the guide unit of the related member are guided, the first connector 14 is fixed to the front end of the guide arm 11.
  • the charging system provided in this embodiment further includes: a guiding cylinder 16 fixed at one end to the AGV; and the guiding cylinder 16 is fixed to the AGV.
  • the upper end has an opening that can accommodate the second connector 17; the guiding cylinder 16 is open away from the end of the AGV, and has a surface 161 that is inclined upward, a surface 162 that is inclined downward, a surface 163 that is inclined to the left, and a slope that is inclined to the right.
  • Surface 164 is

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Details Of Connecting Devices For Male And Female Coupling (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本申请公开了一种用于自动充电的对准机构、充电设备及充电系统，属于自动充电技术领域。其中对准机构包括：沿竖直方向设置的第一基板；与第一基板相对设置的第二基板；两端分别与第一基板和第二基板相对的表面连接的第一弹簧；以及设置在第一基板和第二基板之间的限位组件；限位组件包括至少两块相互平行且位于同一个水平面内的限位板，每块限位板的两端分别以可使限位板在其所在的水平面内转动的方式与第一基板和第二基板相对的表面连接。该对准机构可自动适应AGV的位置，将该对准机构设置在充电设备中，并使充电设备的接插件与第二基板背离第一基板的表面连接，从而在AGV自动充电时，使充电设备的接插件与AGV的接插件快速对接。

Description

用于自动充电的对准机构、充电设备及充电系统
本申请要求于2017年07月19日提交中国国家知识产权局、申请号分别为201710591558.5、201720879390.3、201720879388.6，发明名称均为“用于自动充电的对准机构、充电设备及充电系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动充电技术领域，特别涉及一种用于自动充电的对准机构、充电设备及充电系统。
背景技术
自动导引运输车(Automated Guided Vehicle，简称AGV)是一种装备有电、磁或光学等自动导引装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的无人驾驶运输车。AGV以可充电的蓄电池作为动力来源，并采用自动充电的方式对蓄电池进行充电。当需要充电时，AGV以后退的方式靠近充电设备，使设置在AGV尾部的接插件与充电设备的接插件对接，从而对AGV进行充电。充电设备中通常设置有对准机构，以便于AGV的接插件与充电设备的接插件的对接。
目前的充电设备中的对准机构包括基板和弹簧。其中，基板沿竖直方向设置，弹簧的一端固定在基板上，充电设备的接插件固定在弹簧的另一端。在AGV的接插件与充电设备的接插件对接过程中，弹簧被压缩，通过弹簧的作用力消除AGV的接插件与充电设备的接插件之间的位置偏差，使AGV的接插件与充电设备的接插件对接。
现有的对准机构仅能消除AGV的接插件与充电设备的接插件在前后方向上的位置偏差。但是由于控制精度等方面的原因，AGV的接插件与充电设备的接插件在其他方向上，尤其是左右方向上也会存在位置偏差。当AGV的接插件与充电设备的接插件在其他方向上存在位置偏差时，需要通过反复调整AGV的位置，使AGV适应充电设备的位置来完成AGV的接插件与充电设备 的接插件的对接，导致AGV自动充电的效率较低。
发明内容
本申请提供了一种用于自动充电的对准机构、充电设备及充电系统，能够解决上述为了使AGV的接插件适应充电设备的接插件需要通过反复调整AGV的位置，导致AGV自动充电效率较低的技术问题。
具体而言，包括以下的技术方案：
第一方面，本申请提供了一种用于自动充电的对准机构，所述对准机构包括：
沿竖直方向设置的第一基板；
与所述第一基板相对设置的第二基板；
两端分别与所述第一基板和所述第二基板相对的表面连接的第一弹簧；
以及，设置在所述第一基板和所述第二基板之间的限位组件；
所述限位组件包括至少两块相互平行且位于同一个水平面内的限位板，每块所述限位板的两端分别以可使所述限位板在其所在的水平面内转动的方式与第一基板和第二基板相对的表面连接；
所述第二基板背离所述第一基板的表面用于连接第一接插件。
可选地，所述对准机构还包括：
分别设置在所述第一基板和所述第二基板相对的表面上的第一连接板和第二连接板；
所述第一连接板和所述第二连接板位于同一个水平面内；
所述限位板的两端分别通过第一销轴和第二销轴与所述第一连接板和所述第二连接板连接。
可选地，所述第一连接板和所述第二连接板上均设置有安装孔；所述限位板的两端也均设置有安装孔；
所述第一销轴穿过所述第一连接板上的安装孔和所述限位板的一端的安装孔将所述限位板与所述第一连接板连接；
所述第二销轴穿过所述第二连接板上的安装孔和所述限位板的另一端的安装孔将所述限位板与所述第二连接板连接。
可选地，所述限位板的两端中至少一端的安装孔为长圆孔，所述长圆孔包括相对设置的两段圆弧段以及连接两段所述圆弧段的直线段，所述长圆孔的长 度方向沿前后方向设置；
所述第一销轴和/或所述第二销轴可沿所述长圆孔的长度方向运动。
可选地，所述第一销轴位于所述第一连接板的安装孔外部部分的长度大于所述限位板的厚度；
所述第二销轴位于所述第二连接板的安装孔外部部分的长度大于所述限位板的厚度。
可选地，所述对准机构中设置有至少两组所述限位组件，至少两组所述限位组件沿竖直方向排列。
可选地，所述对准机构还包括：
与所述第二基板相对设置的第三基板，所述第三基板位于所述第二基板背离所述第一基板的一侧；所述第三基板背离所述第二基板的表面用于连接所述第一接插件；
所述第三基板以相对于所述第二基板可左右移动的方式与所述第二基板连接。
可选地，所述对准机构还包括：
设置在所述第二基板和所述第三基板相对的两个表面中的其中一个表面上的滑轨，所述滑轨的长度方向沿左右方向设置；
以及，设置在所述第三基板与所述第二基板相对的两个表面中的另一个表面上、且与所述滑轨相配合的滑块。
可选地，所述滑轨设置在所述第二基板上，所述滑块设置在所述第三基板上。
可选地，所述第三基板左右方向的尺寸小于所述第二基板左右方向的尺寸；
所述对准机构还包括：
分别固定在所述第二基板背离所述第一基板的表面的左右两侧的连接件；
以及，分别位于所述第三基板左右两侧的第二弹簧；
所述第二弹簧的一端与所述连接件连接，所述第二弹簧的另一端与所述第三基板连接。
可选地，所述连接件上设置有通孔，所述通孔的轴线方向沿左右方向设置；
所述对准机构还包括：一端穿过连接件上的通孔后与所述第三基板连接的第二连接件，所述第二连接杆可沿所述通孔的轴线方向运动；
所述第二弹簧套在所述第二连接件上。
可选地，所述对准机构还包括：导向臂；
所述导向臂的长度方向沿前后方向设置，所述导向臂的后端与所述第二基板背离所述第一基板的表面连接，所述导向臂的前端用于连接所述第一接插件。
可选地，所述对准机构还包括：导向臂；
所述导向臂的长度方向沿前后方向设置，所述导向臂的后端与所述第三基板背离所述第二基板的表面连接，所述导向臂的前端用于连接所述第一接插件。
可选地，所述对准机构还包括：
设置在所述导向臂的上表面靠近所述导向臂的前端的第一导向块，以及设置在所述导向臂的下表面、且与所述第一导向块的位置相对应的第二导向块；
所述第一导向块的上表面包括由前向后顺次连接的斜面段和平面段，且所述第一导向块的斜面段向上倾斜；所述第二导向块的下表面包括由前向后顺次连接的斜面段和平面段，且所述第二导向块的斜面段向下倾斜。
可选地，所述对准机构还包括：
分别设置在所述导向臂的前端的左右两侧的第一圆盘和第二圆盘，且所述第一圆盘和所述第二圆盘水平设置；
所述第一圆盘最左侧的边缘相对于导向臂最左侧的边缘向外凸出；
所述第二圆盘最右侧的边缘相对于导向臂最右侧的边缘向外凸出。
可选地，所述对准机构还包括：
与所述第一基板背离所述第二基板的表面固定的第四基板。
可选地，所述对准机构还包括：设置在所述第二基板下方的万向球。
第二方面，本申请提供了一种用于自动充电的充电设备，所述充电设备包括：对准机构以及与所述对准机构连接的第一接插件；
其中，所述对准机构为本申请第一方面提供的对准机构。
第三方面，本申请提供了一种用于自动充电的充电系统，所述充电系统包括设置在充电设备中的对准机构，与所述对准机构连接的第一接插件，以及设置在自动导引运输车上且与所述第一接插件相配合的第二接插件；
其中，所述对准机构为本申请第一方面提供的对准机构。
本申请提供的技术方案的有益效果是：
本申请提供的对准机构中，在相对设置的第一基板和第二基板之间设置有至少两块限位板，该至少两块限位板相互平行且位于同一水平面内，每块限位板的两端分别以可使限位板在其所在的水平面内转动的方式与第一基板和第二基板相对的表面连接，因此，当第二基板受到外力作用时，第二基板相对于第一基板可以进行左右方向的运动，同时第二基板与第一基板在前后方向的相对位置也会发生变化。由此，在实际应用时，将本申请提供的对准机构设置在充电设备中，将第一基板与充电设备固定，将充电设备的接插件与第二基板连接，当AGV的接插件与充电设备的接插件在对接过程中存在左右方向的偏差时，AGV的接插件与充电设备的接插件之间的相互作用力会使得第二基板向左或者向右移动，从而带动充电设备的接插件向左或者向右移动，进而消除AGV的接插件与充电设备的接插件左右方向的位置偏差，再配合设置在第一基板和第二基板之间的第一弹簧，即可调整AGV的接插件与充电设备的接插件在前后方向上的位置关系，消除前后方向上的位置偏差。
采用本申请提供的对准机构，可使充电设备的接插件自动适应AGV接插件的位置，克服现有技术中为使AGV的接插件适应充电设备的接插件需要反复调整AGV的位置导致自动充电效率低的问题，使AGV的接插件与充电设备的接插件能够快速、顺利完成对接，提高自动充电效率。
附图说明
为了更清楚地说明本申请中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍。
图1为本申请提供的一种用于自动充电的对准机构的立体结构示意图；
图2为本申请提供的一种用于自动充电的对准机构的平面结构示意图；
图3为本申请提供的一种用于自动充电的对准机构中第一导向块和第二导向块的局部结构示意图；
图4为本申请提供的一种用于自动充电的充电系统的立体结构示意图；
图5为本申请提供的一种用于自动充电的充电系统的平面结构示意图。
图中的附图标记分别表示：
1-第四基板；                   2-第一基板；
21-第一连接板；                 3-第一弹簧；
4-限位板；                      41-第一限位板；
42-第二限位板；                 5-第二基板；
51-第二连接板；                 52-第三连接板；
53-第四连接板；                 6-滑块；
7-滑轨；                        8-第三基板；
9-第二弹簧；                    101-第一连接杆；
102-第二连接杆；                103-第三连接杆；
11-导向臂；                     111-肋板；
121-第一圆盘；                  122-第二圆盘；
131-第一导向块；                1311-第一导向块的斜面段；
1312-第一导向块的平面段；       132-第二导向块；
1321-第二导向块的斜面段；       1322-第二导向块的平面段；
14-第一接插件；                 15-万向球；
16-导向筒；                     161-导向筒向上倾斜的表面；
162-导向筒向左倾斜的表面；      163-导向筒向下倾斜的表面；
164-导向筒向右倾斜的表面；      17-第二接插件；
a1-第一销轴；                   a2-第二销轴。
具体实施方式
为使本申请的技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。除非另有定义，本申请所用的所有技术术语均具有与本领域技术人员通常理解的相同的含义。
为了使对本申请技术方案的描述更加清楚、简洁，本申请中，将在AGV的接插件与充电设备的接插件对接过程中，与AGV的行驶方向平行的方向设定为前后方向，将在水平面内、与上述行驶方向垂直的方向设定为左右方向，将在竖直面内，与上述行驶方向垂直的方向设定为上下方向。上述各个方向的设定，并不用以限定本申请。
接下来，将结合附图对本申请提供的用于自动充电的对准机构进行详细介 绍。图1为本实施例提供的对准机构的立体结构示意图，图2为本实施例提供的对准机构的平面结构示意图，如图1和图2所示，该对准机构包括：
沿竖直方向设置的第一基板2；
与第一基板2相对设置的第二基板5；
两端分别与第一基板2和第二基板5相对的表面连接的第一弹簧3；
以及，设置在第一基板2和第二基板5之间的限位组件。
其中，限位组件包括至少两块相互平行且位于同一个水平面内的限位板4，每块限位板的两端分别以可使限位板4在其所在的水平面内转动的方式与第一基板2和第二基板5相对的表面连接；
第二基板5背离第一基板2的表面用于连接第一接插件，该第一接插件为待充电的充电设备的接插件。
本实施例提供的对准机构中，由于第一基板2和第二基板5相对设置，并且，在第一基板2和第二基板5之间设置有至少两块相互平行且位于同一水平面内的限位板4，每块限位板的两端分别以可使限位板4在其所在的水平面内转动的方式与第一基板2和第二基板5相对的表面连接，因此，第一基板2和第二基板5相对的表面以及任意两块限位板4能够形成近似于四个顶点可活动的平行四边形的结构。基于平行四边形的结构特点，当第二基板5受到外力作用时，第二基板5相对于第一基板2可以进行左右方向的运动，同时第二基板5与第一基板2在前后方向的相对位置也会发生变化。
基于以上所述，在实际应用时，将本实施例提供的对准机构设置在充电设备中，将第一基板2与充电设备固定，将充电设备的接插件与第二基板5连接，当AGV的接插件与充电设备的接插件在对接过程中存在左右方向的偏差时，AGV的接插件与充电设备的接插件之间的相互作用力会使得第二基板5向左或者向右移动，从而带动充电设备的接插件向左或者向右移动，进而消除AGV的接插件与充电设备的接插件左右方向的位置偏差。同时，再配合设置在第一基板2和第二基板5之间的第一弹簧3，即可调整AGV的接插件与充电设备的接插件在前后方向上的位置关系，消除前后方向上的位置偏差。
第一弹簧3还可吸收AGV的接插件与充电设备的接插件在对接时的冲击，并且当充电完成，AGV离开充电设备后，第二基板5可在第一弹簧3恢复力的作用下复位。
对于上述限位板与第一基板2和第二基板5的连接方式的具体实现形式， 本实施例提供以下可选技术方案：
如图1和图2所示，本实施例提供的对准机构还包括：分别设置在第一基板2和第二基板5相对的表面上的第一连接板21和第二连接板51；第一连接板21和第二连接板51位于同一个水平面内；限位板4的一端通过第一销轴a1与第一连接板21连接，限位板4的另一端通过第二销轴a2与第二连接板51连接。
由于第一连接板21和第二连接板51位于同一个水平面内，将限位板4与第一连接板21和第二连接板51连接后，可使各个限位板4位于同一个水平面内。通过销轴连接的方式，可使限位板4的两端以销轴作为旋转中心进行旋转。
本实施例中，在第一连接板21和第二连接板51上均设置有安装孔，限位板4的两端也设置有安装孔，第一销轴a1依次穿过第一连接板21上的安装孔和限位板4的一端的安装孔，将限位板4的一端与第一连接板21连接；第二销轴a2依次穿过第二连接板51上的安装孔和限位板4的另一端的安装孔，将限位板4的另一端与第二连接板51连接。可以理解的是，第一销轴a1和第二销轴a2的轴线沿竖直方向设置，并且，第一销轴a1和第二销轴a2与相应的安装孔之间间隙配合。
进一步地，在AGV的接插件与充电设备的接插件对接过程中，除了存在前后方向和左右方向的位置偏差外，还可能存在角度的偏差。对于仅存在前后方向和左右方向的位置偏差的情况，AGV的接插件沿竖直方向的截面与充电设备的接插件沿竖直方向的截面是平行的，但是对于存在角度偏差的情况，AGV的接插件沿竖直方向的截面与充电设备的接插件沿竖直方向的截面之间存在夹角。
针对上述存在角度偏差的情况，本实施例提供的对准机构中，限位板4的两端中至少一端的安装孔设置为长圆孔，如图1所示，长圆孔包括相对设置的两段圆弧段以及连接两段圆弧段的直线段，长圆孔的长度方向沿前后方向设置。例如，可以将限位板4与第一连接板21连接的一端的安装孔设置为长圆孔，与第二连接板51连接的一端的安装孔设置为普通的圆孔；也可以将限位板4的两端的安装孔均设置为长圆孔。第一销轴a1可沿长圆孔的长度方向运动，或者，第二销轴a2可沿长圆孔的长度方向运动，或者，第一销轴a1和第二销轴a2均可沿长圆孔的长度方向运动。通过将限位板4至少一端的安装孔设置为长圆孔，可使第二基板5相对于第一基板2发生倾斜，从而带动充电设 备的接插件发生相应的倾斜，以此来消除角度上的偏差，完成接插件之间的对接。
进一步地，在AGV的接插件与充电设备的接插件对接过程中还可能存在上下方向的位置偏差。本实施例中，可采用以下方式来消除上下方向的位置偏差：第一销轴a1位于第一连接板21的安装孔外部部分的长度大于限位板4的厚度；第二销轴a2位于第二连接板51的安装孔外部部分的长度大于限位板4的厚度。
可以理解的是，第一销轴a1连接第一连接板21和限位板4时，其长度方向上的一部分位于第一连接板21的安装孔内，限位板4套设在第一销轴a1位于第一连接板21的安装孔外部的部分，当第一销轴a1位于第一连接板21的安装孔外部的部分长度大于限位板4的厚度时，第一连接板21可沿第一销轴a1的轴线方向(也即上下方向)运动。同理，第二连接板51可沿第二销轴a2的轴线方向(也即上下方向)运动。第一连接板21和第二连接板51上下运动时，限位板4也将随之上下运动。基于此，当AGV的接插件与充电设备的接插件存在上下方向的位置偏差时，在对接过程中，将会产生上下方向的相互作用力，该相互作用力使第二基板5相对于第一基板2相应的向上或者向下运动，从而带动充电设备的接插件向上或者向下运动，消除上下方向的位置偏差。
本实施例提供的对准机构中，限位组件的数量可以为至少两组，例如两组三组、四组等，并且至少两组限位组件沿竖直方向(即上下方向)排列。相应地，第一连接板21和第二连接板51的数量也分别为至少2块。第一连接板21可以与第一基板2一体成型，第二连接板51可以与第二基板5一体成型。
每组限位组件中的限位板4的数量可以为2块、3块、4块等，本实施例不作特殊限定。每组限位组件中的限位板4的数量可以相同，也可以不同。
本实施例提供的对准机构中，第一弹簧3的数量没有特殊限定，可以为1条，也可以为2条或者2条以上，例如3条、4条、5条、6条等。当第一弹簧3的数量为1条时，第一弹簧3的两端可分别与第一基板2和第二基板5相对的表面的中心连接。
本实施例中，第一弹簧3的两端可以通过焊接的方式与第一基板2和第二基板5相对的表面连接，也可通过在第一基板2和第二基板5相对的表面上设置卡槽，将第一弹簧3的两端以嵌入的方式，将第一弹簧3分别与第一基板2和第二基板5连接。还可在第一基板2和第二基板5相对的表面上分别设置第 一连接杆101，将第一弹簧3的两端套设在第一连接杆101上，以防止第二基板5相对于第一基板2运动时，第一弹簧3错位，第一基板2上的第一连接杆101和第二基板5上的第一连接杆101之间应留有合适的距离，以防止对第二基板5的运动产生影响。
如图1和图2所示，在本实施例一种可选的实施方式中，第一基板2和第二基板5相互平行且均为长方体形板，且第一基板2和第二基板5的上端和下端分别平齐(即高度相同)，第二基板5左右方向的尺寸小于第一基板2左右方向的尺寸。对准机构中设置有两组限位组件，分别位于第一基板2的上端和下端，每组限位组件包括两块相互平行的限位板。为了便于区分，将位于第二基板5上端的限位板称为第一限位板41，将位于第二基板5下端的限位板称为第二限位板42。两块第一限位板41分别设置在靠近第二基板5的左右两端，两块第二限位板42分别位于两块第一限位板41的正下方。
具体来说，在该实施方式中，在第一基板2的上下两端分别设置有第一连接板21，在第二基板5的上下两端分别设置有第二连接板51。第一限位板41位于第一连接板21和第二连接板51的上方，其中，该第一连接板21设置在第一基板2的上端，以及该第二连接板51设置在第二基板5的上端。第二限位板42位于第一连接板21和第二连接板51的下方，其中，该第一连接板21设置在第一基板2的下端，以及该第二连接板51设置在第二基板5的下端。第一限位板41与设置在第一基板2上端的第一连接板21相连的一端的安装孔为长圆孔，与设置在第二基板5上端的第二连接板51相连的一端的安装孔为普通的圆孔。第二限位板42与设置在第一基板2下端的第一连接板21相连的一端的安装孔为长圆孔，与设置在第二基板5下端的第二连接板51相连的一端的安装孔为普通的圆孔。
并且，在该实施方式中，第一弹簧3的数量为4条，其中两条靠近第二基板5的上端且分别位于两块第一限位板41的正下方，另外两条靠近第二基板5的下端且分别位于两块第一限位板41的正下方。
进一步地，如图1和图2所示，本实施例提供的对准机构还可以包括：与第二基板5相对设置的第三基板8，第三基板8位于第二基板5背离第一基板2的一侧；第三基板8背离第二基板5的表面用于连接第一接插件。第三基板8以相对于第二基板5可左右移动的方式与第二基板5连接。
可以理解的是，当对准机构中设置有第三基板8时，充电设备的接插件与 第三基板8背离第二基板5的表面连接。当第三基板8相对于第二基板5左右运动时，可带动充电设备的接插件左右运动。通过第三基板8相对于第二基板5的左右运动以及第二基板5相对于第一基板2的左右运动的协同作用，可以消除充电设备的接插件与AGV的接插件左右方向的位置偏差。通过设置第三基板8，一方面可以扩大充电设备的接插件左右运动的范围，另一方面，可以减少第一弹簧3的形变量，提高对准机构整体的使用寿命。
另外，在一些实施例中，第三基板8与第二基板5相互平行设置，如此，可以最大限度的扩大充电设备的接插件左右运动的范围。
在一种可能的实现方式中，第三基板8可以通过以下方式与第二基板5连接，如图1和图2所示，对准机构还包括：设置在第二基板5和第三基板8相对的两个表面中的其中一个表面上的滑轨7，滑轨7的长度方向沿左右方向设置，以及，设置在第三基板8与第二基板5相对的两个表面中的另一个表面上、且与滑轨7相配合的滑块6。当滑块6沿着滑轨7左右滑动时，即可使第三基板8相对于第二基板5左右移动。可以在第二基板5的上下两端均设置滑轨7，在第三基板8的上下两端设置与滑轨7相配合的滑块6。
在一些实施例中，滑块7可以设置在第二基板5上，滑块6设置在第三基板8上。
当然，在另一些实施例中，也可在第二基板5背离第一基板2的表面上设置滑块，在第三基板8与第二基板5相对的表面上设置滑轨。
在具体实现时，滑轨7可以为长方体，在滑轨7上下两个表面上分别开设左右方向的滑槽。滑块6则可以为一长方体，且该长方体的表面开设有截面形状呈C字形的开口，其中，与设置有C字形开口的表面相对的表面固定在第三基板8与第二基板5相对的表面上，C字形开口的相对的上下表面上设置有与上述滑槽相配合的凸起。
进一步地，本实施例提供的对准机构中，第三基板8左右方向的尺寸可以小于第二基板5左右方向的尺寸。与此同时，对准机构还包括：分别固定在第二基板5背离第一基板2的表面的左右两侧的连接件；以及，分别位于第三基板8左右两侧的第二弹簧9；第二弹簧9的一端与连接件连接，第二弹簧9的另一端与第三基板8连接。
通过调整左右两侧的第二弹簧9的预紧程度，可以使第三基板8在初始状态下位于第二基板5的中间，当在接插件对接过程中使第三基板8产生向左或 者向右的偏移时，通过左右两侧的第二弹簧9可使第三基板8复位。可选地，左右两侧的第二弹簧9同轴。
可以在连接件上开设轴线方向沿左右方向设置的通孔，并设置第二连接杆102，第二连接杆102的一端穿过连接件上的通孔后与第三基板8连接，第二弹簧9套在第二连接杆102上，并且，第二连接杆102可沿通孔的轴线方向、也即左右方向运动。通过第二连接102的设置，可以防止第二弹簧9发生错位。
本实施例中，连接件的具体形式可以为：连接件包括与第三基板8垂直且沿竖直方向设置的第三连接板52，以及与第二基板5平行的第四连接板53。第四连接板53固定在第二基板5背离第一基板2的表面上，第三连接板52沿前后方向的一端与第四连接板53固定。可以理解的是，第三基板8左右两侧的两块第三连接板52相对设置，第二弹簧9的一端固定在两块第三连接板52相对的表面上，另一端固定在第三基板8的左端(或右端)。上述的通孔则开设在第三连接板52上。
连接件的具体形式还可以为长方体形或者正方体形的连接块，第三基板8左右两侧的连接块相对的表面用于固定第二弹簧9。
进一步地，如图1和图2所示，本实施例提供的对准机构还可以包括：导向臂11，导向臂11的长度方向沿前后方向设置。当对准机构中设置有上述的第三基板8及相关部件时，导向臂11的后端(即导向臂11靠近第三基板8的一端)固定在第三基板8背离第二基板5的表面上；当对准机构中没有设置上述的第三基板8及相关部件时，导向臂11的后端(即导向臂11靠近第二基板5的一端)固定在第二基板5背离第一基板2的表面上。导向臂11的前端(即导向臂11远离第三基板8或第二基板5的一端)用于连接充电设备的接插件。
充电设备的接插件与AGV的接插件相互作用的力可通过导向臂11传递给第二基板5和第三基板8，使第二基板5和第三基板8发生相应方向的运动，从而带动充电设备的接插件向相应的方向运动，进而使充电设备的接插件自动适应AGV的接插件的位置，完成接插件之间的对接。可通过在AGV上设置与该导向臂11配合的导向部件，以提高对准机构自动适应AGV位置的能力，提高接插件的对接速度。
可选地，当导向臂11与第二基板5固定、且第一基板2和第二基板5相互平行时，导向臂11的长度方向与第二基板5垂直；当导向臂11与第三基板8固定、且第一基板2、第二基板5和第三基板8相互平行时，导向臂11的长 度方向与第三基板8垂直。
为了加强导向臂11的强度，如图1所示，可以在导向臂11和与其固定的表面之间设置肋板111。
进一步地，如图1和图2所示，本实施例提供的对准机构还可以包括：设置在导向臂11的上表面靠近导向臂11的前端的第一导向块131，以及设置在导向臂11的下表面、且与第一导向块131的位置相对应的第二导向块132。如图3所示，第一导向块131的上表面包括由前向后顺次连接的斜面段和平面段，且所述第一导向块131的斜面段向上倾斜；第二导向块132的下表面包括由前向后顺次连接的斜面段和平面段，且第二导向块132的斜面段向下倾斜。可以理解的是，第一导向块131的平面段1312和第二导向块的平面段1322分别与导向臂11的上下表面平行。
通过上述第一导向块131和第二导向块132的设置，有利于使第二基板5上下运动，从而消除充电设备的接插件与AGV的接插件之间上下方向的位置偏差。
需要说明的是，当导向臂11为长方体形时，第一导向块131的平面段1312和第二导向块的平面段1322分别与导向臂11的上下表面平行包括：第一导向块131的平面段1312和第二导向块的平面段1322分别与长方体的上下表面平行。当导向臂11为圆柱体形时，第一导向块131的平面段1312和第二导向块的平面段1322分别与导向臂11的上下表面平行包括：第一导向块131的平面段1312与第一水平面平行，第二导向块的平面段1322与第二水平面平行，该第一水平面和第二水平面分别与圆柱体的外圆周面的上下两端相切。
进一步地，如图1和图2所示，本实施例提供的对准机构还可以包括：分别设置在导向臂11的前端的左右两侧的第一圆盘121和第二圆盘122，且第一圆盘121和第二圆盘122水平设置(即第一圆盘121和第二圆盘122的轴线方向沿上下方向设置)；第一圆盘121最左侧的边缘相对于导向臂11最左侧的边缘向外凸出；第二圆盘122最右侧的边缘相对于导向臂11最右侧的边缘向外凸出。
具体实现时，第一圆盘121和第二圆盘122可以采用轴承。
当AGV上设置有导向部件时，在AGV的接插件与充电设备的接插件对接过程中，第一圆盘121和第二圆盘122相对于导向臂11向外凸出的边缘沿着导向部件运动，有利于使第二基板5左右运动，从而消除充电设备的接插件 与AGV的接插件之间左右方向的位置偏差。
第一圆盘121的数量包括但不限于两个，当设置有多个第一圆盘121时，多个第一圆盘121沿前后方向排列。第二圆盘122的数量包括但不限于两个，当设置有多个第二圆盘122时，多个第二圆盘122沿前后方向排列。
进一步地，可以在导向臂11上设置连接轴，并将第一圆盘121和第二圆盘122套设在连接轴上(可以理解的是，连接轴的轴线沿上下方向设置)。第一圆盘121和第二圆盘122可以绕连接轴转动，如此，第一圆盘121和第二圆盘122与其他导向部件相接触时的摩擦为滚动摩擦，摩擦阻力较小。
举例来说，设置在AGV上的导向部件可以采用如图4和图5所示的导向筒16的形式。导向筒16包括长方体形的筒体，筒体的一端固定在AGV上，并且在该端部上设置有可容纳AGV的接插件(即图4和图5中的第二接插件17)的开口；筒体的另一端开放，并且筒体的四个表面分别连接向上倾斜的表面161、向下倾斜的表面163、向左倾斜的表面162以及向右倾斜的表面164。
其中，导向筒16向上倾斜的表面161倾斜的程度与第一导向块131中斜面段的倾斜程度相配合，向下倾斜的表面163倾斜的程度与第二导向块132中斜面段的倾斜程度相配合，导向筒16向右倾斜的表面164则与第一圆盘121相对于导向臂11向外凸出的边缘相配合，向左倾斜的表面162则与第二圆盘122相对于导向臂11向外凸出的边缘相配合。可选地，向左倾斜的表面163和向右倾斜的表面164倾斜的程度大于向上倾斜的表面161和向下倾斜的表面162的倾斜程度。
在充电设备的接插件和AGV的接插件对接过程中，AGV向后行驶，第一导向块131和第二导向块132分别沿着导向筒16向上倾斜的表面161和向下倾斜倾斜的表面163向导向筒16内部运动，第一圆盘121和第二圆盘122相对于导向臂11向外凸出的边缘分别沿着导向筒16向右倾斜的表面164和向左倾斜倾斜的表面162向导向筒16内部运动。通过第一导向块131、第二导向块132、第一圆盘121和第二圆盘122与导向筒16相应的倾斜的表面之间的相互作用，可以使第二基板5和第三基板8沿着相应的方向运动，从而消除充电设备的接插件和AGV的接插件之间的位置偏差。
根据以上对本实施例提供的对准机构的结构的描述可以看出，本实施例提供对准机构可以划分为三个单元：包括第一基板2、第二基板5、第一弹簧3、限位板4及相关部件的第一活动单元，包括第三基板8、滑轨7、滑块6、第二 弹簧9及相关部件的第二活动单元，以及包括导向臂11、第一导向块131、第二导向块132、第一圆盘121、第二圆盘122及相关部件的导向单元。可以根据实际的使用条件，在对准机构中设置上述三个部分中的至少一个单元。
举例来说，一种可选的实施方式中，只设置第一活动单元，充电设备的接插件直接固定在第二基板5背离第一基板2的表面上。该方式主要适用于接插件为面接触式的接插件，且AGV的控制精度较高，左右方向的位置偏差不是很大的情况。
另一种可选的实施方式中，设置第一活动单元和第二活动单元，充电设备的接插件固定在第三基板8背离第二基板5的表面上。该方式主要适用于接插件为面接触式的接插件，且AGV的控制精度较低，左右方向存在较大位置偏差的情况。
又一种可选的实施方式中，设置第一活动单元和导向单元，导向臂11的后端直接固定在第二基板5背离第一基板2的表面，充电设备的接插件固定在导向臂11的前端。该方式适用于AGV的控制精度较高，左右方向的位置偏差不是很大的情况。该方式对各种形式的接插件均适用，尤其适用于插片-插孔式的接插件。
在一种可选的实施方式中，同时设置第一活动单元、第二活动单元和导向单元，导向臂11的后端固定在第三基板8背离第二基板5的表面，充电设备的接插件固定在导向臂11的前端。该方式适用于AGV的控制精度较低，左右方向的位置偏差较大的情况。该方式对各种形式的接插件均适用，尤其适用于插片-插孔式的接插件。
进一步地，如图1和图2所示，本实施例提供的对准机构还可以包括：与第一基板2背离第二基板5的表面固定的第四基板1。通过设置第四基板1使对准机构整体更加稳定。第四基板1可以沿竖直方向设置，即与第一基板2平行，也可以与第一基板2成一定夹角的形式设置。当将对准机构设置在充电设备中时，可通过将第四基板1与充电设备固定实现第一基板2的固定。充电设备通常具有壳体，可以直接以充电设备的壳体的某个表面作为第四基板1。第一基板2与第四基板1之间可通过第三连接杆103固定。
进一步地，如图1和图2所示，本实施例提供的对准机构还可以包括：设置在第二基板5下方的万向球15。万向球15可以对整个对准机构起到支撑作用。万向球15的数量包括但不限于2个。当第二基板5的下端设置有第二连 接板51时，可以将万向球15安装在第二连接板51的下表面。
综上，本实施例综合运用弹簧、滑轨、滑块等结构，提供了一种在AGV自动充电过程中可使充电设备的接插件自动适应AGV的接插件的位置的对准机构。采用本实施例提供的对准机构，当AGV进行自动充电时，只需使AGV保持向后行驶的状态，即可通过对准机构的作用，使充电设备的接插件自动适应AGV接插件的位置，快速消除充电设备的接插件与AGV接插件之间左右、前后、上下方向的位置偏差以及角度偏差，完成充电设备的接插件与AGV接插件之间的对接，提高自动充电效率，并且降低对AGV控制精度的要求。并且，本实施例提供的对准机构结构简单，成本较低。
本领域技术人员可以理解的是，本实施例中仅是以AGV为例，对本实施例提供的对准机构的工作原理进行说明，本实施例提供的对准机构对于其他可移动、以可充电蓄电池作为动力来源、且以自动充电方式进行充电的设备均适用，包括但不限于扫地机器人。
基于上述用于自动充电的对准机构，本实施例还提供了一种用于自动充电的充电设备，该充电设备包括：对准机构以及与对准机构连接的第一接插件14。其中，对准机构为上述图1和图2所示实施例提供的对准机构。
由于采用了上述图1和图2所示实施例提供的对准机构，将本实施例提供的充电设备应用于AGV等设备的自动充电可以有效提高自动充电效率。
根据上述图1和图2所示实施例中的描述，当对准机构中仅设置有包括第一基板2、第二基板5、第一弹簧3、限位板4及相关部件的第一活动单元时，第一接插件14直接固定在第二基板5背离第一基板2的表面上；当对准机构中设置有包括第三基板8、滑轨7、滑块6、第二弹簧9及相关部件的第二活动单元时，第一接插件14固定在第三基板8背离第二基板5的表面上；当对准机构中设置有包括导向臂11、第一导向块131、第二导向块132、第一圆盘121、第二圆盘122及相关部件的导向单元时，第一接插件14固定在导向臂11的前端。
可以理解的是，本实施例提供的充电设备中，除了对准机构和第一接插件14外，还包括壳体、电控系统等部件。对于壳体、电控系统的具体设置方式本实施例不做特殊限定，本领域常规的设置方式均可。
此外，本申请还提供了一种用于自动充电的充电系统，请参考图4和图5，图4为本实施例提供的充电系统的立体结构示意图，图5为本实施例提供的充电系统的平面结构示意图，该充电系统包括设置在充电设备中的对准机构，与对准机构连接的第一接插件14，以及设置在AGV上且与第一接插件14相配合的第二接插件17。其中，对准机构为上述图1和图2所示实施例提供的对准机构。
根据上述图1和图2所示实施例中的描述，当对准机构中仅设置有包括第一基板2、第二基板5、第一弹簧3、限位板4及相关部件的第一活动单元时，第一接插件14直接固定在第二基板5背离第一基板2的表面上；当对准机构中设置有包括第三基板8、滑轨7、滑块6、第二弹簧9及相关部件的第二活动单元时，第一接插件14固定在第三基板8背离第二基板5的表面上；当对准机构中设置有包括包括导向臂11、第一导向块131、第二导向块132、第一圆盘121、第二圆盘122及相关部件的导向单元时，第一接插件14固定在导向臂11的前端。
进一步地，如图4和图5所示，针对对准机构中设置上述导向单元的情况，本实施例提供的充电系统还包括：一端固定在AGV上的导向筒16；导向筒16固定在AGV上的一端具有可容纳第二接插件17的开口；导向筒16远离AGV的一端开放，且具有分别向上倾斜的表面161、向下倾斜的表面162、向左倾斜的表面163以及向右倾斜的表面164。
导向筒16的具体结构可以参见上述图1和图2所示实施例中的描述，在此不再赘述。
以上所述仅是为了便于本领域的技术人员理解本申请的技术方案，并不用以限制本申请。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种用于自动充电的对准机构，其特征在于，所述对准机构包括：
    沿竖直方向设置的第一基板(2)；
    与所述第一基板(2)相对设置的第二基板(5)；
    两端分别与所述第一基板(2)和所述第二基板(5)相对的表面连接的第一弹簧(3)；
    以及，设置在所述第一基板(2)和所述第二基板(5)之间的限位组件；
    所述限位组件包括至少两块相互平行且位于同一个水平面内的限位板(4)，每块所述限位板的两端分别以可使所述限位板在其所在的水平面内转动的方式与第一基板(2)和第二基板(5)相对的表面连接；
    所述第二基板(5)背离所述第一基板(2)的表面用于连接第一接插件，所述第一接插件为待充电的充电设备的接插件。
  2. 根据权利要求1所述的对准机构，其特征在于，所述对准机构还包括：
    分别设置在所述第一基板(2)和所述第二基板(5)相对的表面上的第一连接板(21)和第二连接板(51)；
    所述第一连接板(21)和所述第二连接板(51)位于同一个水平面内；
    所述限位板(4)的一端通过第一销轴(a1)与所述第一连接板(21)连接，所述限位板(4)的另一端通过第二销轴(a2)与所述第二连接板(51)连接。
  3. 根据权利要求2所述的对准机构，其特征在于，所述第一连接板(21)和所述第二连接板(51)上均设置有安装孔；所述限位板(4)的两端也均设置有安装孔；
    所述第一销轴(a1)依次穿过所述第一连接板(21)上的安装孔和所述限位板(4)的一端的安装孔，将所述限位板(4)的一端与所述第一连接板(21)连接；
    所述第二销轴(a2)依次穿过所述第二连接板(51)上的安装孔和所述限位板(4)的另一端的安装孔，将所述限位板(4)的另一端与所述第二连接板(51)连接。
  4. 根据权利要求3所述的对准机构，其特征在于，所述限位板(4)的两端中至少一端的安装孔为长圆孔，所述长圆孔包括相对设置的两段圆弧段以及连接两段所述圆弧段的直线段，所述长圆孔的长度方向沿前后方向设置；
    所述第一销轴(a1)可沿所述长圆孔的长度方向运动，或者，所述第二销轴(a2)可沿所述长圆孔的长度方向运动，或者，所述第一销轴(a1)和所述第二销轴(a2)均可沿所述长圆孔的长度方向运动。
  5. 根据权利要求3所述的对准机构，其特征在于，所述第一销轴(a1)位于所述第一连接板(21)的安装孔外部部分的长度大于所述限位板(4)的厚度；
    所述第二销轴(a2)位于所述第二连接板(51)的安装孔外部部分的长度大于所述限位板(4)的厚度。
  6. 根据权利要求1的对准机构，其特征在于，所述对准机构中设置有至少两组所述限位组件，至少两组所述限位组件沿竖直方向排列。
  7. 根据权利要求1所述的对准机构，其特征在于，所述对准机构还包括：
    与所述第二基板(5)相对设置的第三基板(8)，所述第三基板(8)位于所述第二基板(5)背离所述第一基板(2)的一侧；所述第三基板(8)背离所述第二基板(5)的表面用于连接所述第一接插件；
    所述第三基板(8)以相对于所述第二基板(5)可左右移动的方式与所述第二基板(5)连接。
  8. 根据权利要求7所述的对准机构，其特征在于，所述对准机构还包括：
    设置在所述第二基板(5)和所述第三基板(8)相对的两个表面中的其中一个表面上的滑轨(7)，所述滑轨(7)的长度方向沿左右方向设置；
    以及，设置在所述第三基板(8)与所述第二基板(5)相对的两个表面中的另一个表面上、且与所述滑轨(7)相配合的滑块(6)。
  9. 根据权利要求8所述的对准机构，其特征在于，
    所述滑轨(7)设置在所述第二基板(5)上，所述滑块(6)设置在所述第三基板(8)上。
  10. 根据权利要求7所述的对准机构，其特征在于，所述第三基板(8)左右方向的尺寸小于所述第二基板(5)左右方向的尺寸；
    所述对准机构还包括：
    分别固定在所述第二基板(5)背离所述第一基板(2)的表面的左右两侧的连接件；
    以及，分别位于所述第三基板(8)左右两侧的第二弹簧(9)；
    所述第二弹簧(9)的一端与所述连接件连接，所述第二弹簧(9)的另一端与所述第三基板(8)连接。
  11. 根据权利要求10所述的对准机构，其特征在于，所述连接件上设置有通孔，所述通孔的轴线方向沿左右方向设置；
    所述对准机构还包括：一端穿过连接件上的通孔后与所述第三基板(8)连接的第二连接件(102)，所述第二连接杆(102)可沿所述通孔的轴线方向运动；
    所述第二弹簧(9)套在所述第二连接件(102)上。
  12. 根据权利要求1所述的对准机构，其特征在于，所述对准机构还包括：导向臂(11)；
    所述导向臂(11)的长度方向沿前后方向设置，所述导向臂(11)的后端与所述第二基板(5)背离所述第一基板(2)的表面连接，所述导向臂(11)的前端用于连接所述第一接插件。
  13. 根据权利要求7所述的对准机构，其特征在于，所述对准机构还包括：导向臂(11)；
    所述导向臂(11)的长度方向沿前后方向设置，所述导向臂(11)的后端与所述第三基板(8)背离所述第二基板(5)的表面连接，所述导向臂(11)的前端用于连接所述第一接插件。
  14. 根据权利要求12或13所述的对准机构，其特征在于，所述对准机构还包括：
    设置在所述导向臂(11)的上表面靠近所述导向臂(11)的前端的第一导 向块(131)，以及设置在所述导向臂(11)的下表面、且与所述第一导向块(131)的位置相对应的第二导向块(132)；
    所述第一导向块(131)的上表面包括由前向后顺次连接的斜面段和平面段，且所述第一导向块(131)的斜面段向上倾斜；所述第二导向块(132)的下表面包括由前向后顺次连接的斜面段和平面段，且所述第二导向块(132)的斜面段向下倾斜。
  15. 根据权利要求12或13所述的对准机构，其特征在于，所述对准机构还包括：
    分别设置在所述导向臂(11)的前端的左右两侧的第一圆盘(121)和第二圆盘(122)，且所述第一圆盘(121)和所述第二圆盘(122)水平设置；
    所述第一圆盘(121)最左侧的边缘相对于导向臂(11)最左侧的边缘向外凸出；
    所述第二圆盘(122)最右侧的边缘相对于导向臂(11)最右侧的边缘向外凸出。
  16. 根据权利要求1所述的对准机构，其特征在于，所述对准机构还包括：
    与所述第一基板(2)背离所述第二基板(5)的表面固定的第四基板(1)。
  17. 根据权利要求1所述的对准机构，其特征在于，所述对准机构还包括：设置在所述第二基板(5)下方的万向球(15)。
  18. 一种用于自动充电的充电设备，所述充电设备包括：对准机构以及与所述对准机构连接的第一接插件(14)；
    其特征在于，
    所述对准机构为权利要求1～17任一项所述的对准机构。
  19. 一种用于自动充电的充电系统，所述充电系统包括设置在充电设备中的对准机构，与所述对准机构连接的第一接插件(14)，以及设置在自动导引运输车上且与所述第一接插件(14)相配合的第二接插件(17)；
    其特征在于，
    所述对准机构为权利要求1～17任一项所述的对准机构。
  20. 根据权利要求19所述的充电系统，其特征在于，所述充电系统还包括：一端固定在所述自动导引运输车上的导向筒(16)；
    所述导向筒(16)固定在所述自动导引运输车上的一端具有可容纳所述第二接插件的开口；
    所述导向筒(16)远离所述自动导引运输车的一端开放，且具有分别向上倾斜的表面、向下倾斜的表面、向左倾斜的表面以及向右倾斜的表面。
PCT/CN2018/091495 2017-07-19 2018-06-15 用于自动充电的对准机构、充电设备及充电系统 WO2019015424A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/631,997 US11515668B2 (en) 2017-07-19 2018-06-15 Alignment mechanism, charging device and charging system for automatic charging
EP18835769.3A EP3657613B1 (en) 2017-07-19 2018-06-15 Alignment mechanism, charging device, and charging system for automatic charging

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201720879388.6 2017-07-19
CN201720879390.3 2017-07-19
CN201720879390.3U CN207000208U (zh) 2017-07-19 2017-07-19 用于自动充电的对准机构、充电设备及充电系统
CN201710591558.5 2017-07-19
CN201720879388.6U CN207000207U (zh) 2017-07-19 2017-07-19 用于自动充电的对准机构、充电设备及充电系统
CN201710591558.5A CN110015066B (zh) 2017-07-19 2017-07-19 用于自动充电的对准机构、充电设备及充电系统

Publications (1)

Publication Number Publication Date
WO2019015424A1 true WO2019015424A1 (zh) 2019-01-24

Family

ID=65016547

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/091495 WO2019015424A1 (zh) 2017-07-19 2018-06-15 用于自动充电的对准机构、充电设备及充电系统

Country Status (3)

Country Link
US (1) US11515668B2 (zh)
EP (1) EP3657613B1 (zh)
WO (1) WO2019015424A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108891275A (zh) * 2018-06-21 2018-11-27 安徽灵图壹智能科技有限公司 一种新能源汽车智能充电的方法及系统
CN110048480A (zh) * 2019-04-22 2019-07-23 上海快仓智能科技有限公司 充电头浮动机构及具有该机构的充电桩
CN111114353A (zh) * 2019-12-05 2020-05-08 国创新能源汽车智慧能源装备创新中心(江苏)有限公司 一种电动汽车充电用连接器
CN112549879A (zh) * 2020-12-22 2021-03-26 宁波舜宇贝尔自动化有限公司 一种浮动对接机构
WO2021084001A1 (de) * 2019-10-30 2021-05-06 Hirschmann Automotive Gmbh Flexible lagerung eines steckerkopfes einer vorrichtung zum laden eines elektrofahrzeuges
CN112768995A (zh) * 2020-12-27 2021-05-07 路巧玲 一种用于新能源汽车充电桩的防脱落插座

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112242639A (zh) * 2019-07-17 2021-01-19 名硕电脑(苏州)有限公司 连接器安装机构
CN110957776B (zh) * 2019-11-15 2021-12-31 深圳市优必选科技股份有限公司 供电结构、充电结构、充电调节装置及机器人充电系统
CN111002853B (zh) * 2019-11-27 2024-02-13 青岛特来电新能源科技有限公司 一种充电终端
JP7528732B2 (ja) 2020-11-12 2024-08-06 株式会社デンソー 移動体用の外部電気機器接続装置
US12109903B2 (en) * 2020-11-13 2024-10-08 Mission Critical Electronics, LLC Systems and methods for delivery of power or fluids
CN113682178A (zh) * 2021-08-31 2021-11-23 无锡市江松科技有限公司 一种agv小车供电设备
CN114454760B (zh) * 2021-12-24 2024-07-05 广州极飞科技股份有限公司 充电方法、装置、系统、设备及介质
CN114447691A (zh) * 2021-12-28 2022-05-06 捷螺系统(苏州)有限公司 一种自走车导正充电座
CN114407710B (zh) * 2022-01-29 2023-01-10 南京酷朗电子有限公司 一种电动车辆的车位充电装置和方法
CN114559843B (zh) * 2022-03-17 2023-08-25 安徽合力股份有限公司 一种充电对接自适应调节结构
CN114572035B (zh) * 2022-03-28 2024-02-09 同辉电子科技股份有限公司 一种充电枪自动匹配汽车充电口位置的充电桩及使用方法
CN115817227A (zh) * 2022-11-25 2023-03-21 上汽通用五菱汽车股份有限公司 充电刷块装置及agv
FR3146626A1 (fr) * 2023-03-14 2024-09-20 Mob-Energy Dispositif autonome incluant un systeme de couplage pour la recharge d’une batterie d’un vehicule
CN116788089A (zh) * 2023-07-25 2023-09-22 深圳汉阳科技有限公司 充电桩及扫雪系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080220636A1 (en) * 2007-03-06 2008-09-11 International Business Machines Corporation Arrangement for powering usb keys
JP2009027851A (ja) * 2007-07-20 2009-02-05 Toyota Motor Corp 車両の充電口構造
CN102904307A (zh) * 2012-10-18 2013-01-30 武汉大学 一种巡线机器人太阳能充电基站的充电对接与分离装置
CN103441376A (zh) * 2013-09-09 2013-12-11 山东省科学院自动化研究所 一种自动行走装置柔性充电对接机构
CN206322938U (zh) * 2016-12-06 2017-07-11 张正 一种适用于汽车充电的充电插接机构
CN207000208U (zh) * 2017-07-19 2018-02-13 杭州海康机器人技术有限公司 用于自动充电的对准机构、充电设备及充电系统
CN207000207U (zh) * 2017-07-19 2018-02-13 杭州海康机器人技术有限公司 用于自动充电的对准机构、充电设备及充电系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0788211B1 (en) * 1996-01-30 2002-08-28 Sumitomo Wiring Systems, Ltd. A connection system and a connection method
US9266440B2 (en) * 2011-09-26 2016-02-23 GM Global Technology Operations LLC Robotically operated vehicle charging station
CN104859455B (zh) * 2015-06-16 2017-09-08 中车株洲电力机车有限公司 一种集电头装置
CN104901382B (zh) * 2015-06-16 2018-08-03 中车株洲电力机车有限公司 一种充电系统
US10661669B1 (en) * 2017-09-07 2020-05-26 Apple Inc. Charging station with passive alignment mechanism
US11485242B2 (en) * 2019-11-13 2022-11-01 Ford Global Technologies, Llc Vehicle charging system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080220636A1 (en) * 2007-03-06 2008-09-11 International Business Machines Corporation Arrangement for powering usb keys
JP2009027851A (ja) * 2007-07-20 2009-02-05 Toyota Motor Corp 車両の充電口構造
CN102904307A (zh) * 2012-10-18 2013-01-30 武汉大学 一种巡线机器人太阳能充电基站的充电对接与分离装置
CN103441376A (zh) * 2013-09-09 2013-12-11 山东省科学院自动化研究所 一种自动行走装置柔性充电对接机构
CN206322938U (zh) * 2016-12-06 2017-07-11 张正 一种适用于汽车充电的充电插接机构
CN207000208U (zh) * 2017-07-19 2018-02-13 杭州海康机器人技术有限公司 用于自动充电的对准机构、充电设备及充电系统
CN207000207U (zh) * 2017-07-19 2018-02-13 杭州海康机器人技术有限公司 用于自动充电的对准机构、充电设备及充电系统

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108891275A (zh) * 2018-06-21 2018-11-27 安徽灵图壹智能科技有限公司 一种新能源汽车智能充电的方法及系统
CN110048480A (zh) * 2019-04-22 2019-07-23 上海快仓智能科技有限公司 充电头浮动机构及具有该机构的充电桩
WO2021084001A1 (de) * 2019-10-30 2021-05-06 Hirschmann Automotive Gmbh Flexible lagerung eines steckerkopfes einer vorrichtung zum laden eines elektrofahrzeuges
CN111114353A (zh) * 2019-12-05 2020-05-08 国创新能源汽车智慧能源装备创新中心(江苏)有限公司 一种电动汽车充电用连接器
CN111114353B (zh) * 2019-12-05 2023-08-11 国创新能源汽车智慧能源装备创新中心(江苏)有限公司 一种电动汽车充电用连接器
CN112549879A (zh) * 2020-12-22 2021-03-26 宁波舜宇贝尔自动化有限公司 一种浮动对接机构
CN112768995A (zh) * 2020-12-27 2021-05-07 路巧玲 一种用于新能源汽车充电桩的防脱落插座

Also Published As

Publication number Publication date
EP3657613A1 (en) 2020-05-27
US11515668B2 (en) 2022-11-29
EP3657613B1 (en) 2023-08-16
US20200235522A1 (en) 2020-07-23
EP3657613A4 (en) 2020-08-05

Similar Documents

Publication Publication Date Title
WO2019015424A1 (zh) 用于自动充电的对准机构、充电设备及充电系统
CN207000207U (zh) 用于自动充电的对准机构、充电设备及充电系统
CN110015066B (zh) 用于自动充电的对准机构、充电设备及充电系统
CN106494810B (zh) 移载装置以及移载装置的控制方法
TW201721040A (zh) 位移機構
US9739414B2 (en) Multi-axis carrying device
CN109301625B (zh) 充电装置及充电站
CN210337643U (zh) 一种连杆锁止装置
JP2022534275A (ja) 自動結合器アセンブリ
CN108331404B (zh) 立体车库及其充电接驳装置
WO2024140551A1 (zh) 推送机构及检测系统
CN219151075U (zh) 一种片盒夹取机构及晶圆清洗设备
CN115891533A (zh) 一种用于飞行汽车的对接锁紧结构及汽车飞行系统
CN115036579A (zh) 合芯设备
CN109469389B (zh) 一种接驳装置及立体车库
CN210232218U (zh) 简易自适应调节平台
CN209859061U (zh) 一种工业控制服务器pci转接卡定位装置
CN112549879B (zh) 一种浮动对接机构
WO2020093745A1 (zh) 数据接口装置及滑槽
CN217561907U (zh) 激光投影设备
CN112319433A (zh) 连杆锁止装置
CN221477048U (zh) 换电设备及换电站
CN113830319B (zh) 一种无人机换电定位机构和无人机基站
CN113492692B (zh) 连接装置、电池端连接装置、电动汽车及电池包组件
CN214586762U (zh) 一种可防尘的一体式计算机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18835769

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2018835769

Country of ref document: EP

Effective date: 20200219