WO2019213824A1 - 一种充电装置及充电系统 - Google Patents

一种充电装置及充电系统 Download PDF

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Publication number
WO2019213824A1
WO2019213824A1 PCT/CN2018/085912 CN2018085912W WO2019213824A1 WO 2019213824 A1 WO2019213824 A1 WO 2019213824A1 CN 2018085912 W CN2018085912 W CN 2018085912W WO 2019213824 A1 WO2019213824 A1 WO 2019213824A1
Authority
WO
WIPO (PCT)
Prior art keywords
charging
transport vehicle
charging device
guiding
bracket
Prior art date
Application number
PCT/CN2018/085912
Other languages
English (en)
French (fr)
Inventor
刘礼谦
Original Assignee
深圳蓝胖子机器人有限公司
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
Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to PCT/CN2018/085912 priority Critical patent/WO2019213824A1/zh
Priority to CN201880003556.2A priority patent/CN109789806B/zh
Publication of WO2019213824A1 publication Critical patent/WO2019213824A1/zh

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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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to the field of charging technologies, and in particular, to a charging device and a charging system.
  • An unmanned transport vehicle is a transport vehicle that is controlled by a control system and does not require the driver to drive.
  • the transport vehicle uses the battery as a power source to drive to the charging pile when the battery is about to run out, and to charge through the charging pile.
  • the mechanism performs charging, but during the transportation of the transport vehicle to the charging pile, the charging position of the transport vehicle and the charging mechanism may be misaligned. In this case, the charging mechanism and the charging position are charged when the charging position is plugged. The mechanism is damaged or cannot be plugged in so that the transport cannot be recharged.
  • the present invention mainly provides a charging device and a charging system, which are intended to solve the problem that the charging mechanism is not aligned with the charging position, and the charging mechanism is damaged or unplugged when it is plugged.
  • a technical solution adopted by the present invention is to provide a charging device, the charging device comprising: a bracket provided with a charging mechanism for charging a transport vehicle; and a guiding component for Adjusting a relative position of the transport vehicle and the bracket during travel of the transport vehicle adjacent to the charging device such that a charging position of the transport vehicle is aligned with the charging mechanism, thereby causing the charging The mechanism charges the transport vehicle through the charging position.
  • a charging system including a charging device and a transport vehicle
  • the charging device includes: a bracket, a charging mechanism, and a guiding component And adjusting a relative position of the transport vehicle and the bracket during running of the transport vehicle near the charging device, so that a charging position of the transport vehicle is aligned with the charging mechanism, thereby enabling The charging mechanism charges the transport vehicle through the charging position.
  • the utility model has the beneficial effects that the charging device provided by the invention comprises a bracket and a guiding assembly, the bracket is provided with a charging mechanism, the charging mechanism is used for charging the transport vehicle, and the guiding assembly is used for adjusting during the driving of the transport vehicle close to the charging device.
  • the relative position of the transport vehicle and the bracket is such that the charging position of the transport vehicle is aligned with the charging mechanism, so that the charging mechanism charges the transport vehicle through the charging position, preventing the charging mechanism from being misaligned with the charging position, and when the plugging is performed, the charging mechanism is Damaged, or unable to be plugged, the transport vehicle can not be charged, improve the life of the charging mechanism and the reliability of the transport of the transport vehicle.
  • FIG. 1 is an exploded perspective view of an embodiment of a charging system provided by the present invention
  • FIG. 2 is a schematic structural view of the charging device of Figure 1;
  • Figure 3 is a schematic view showing the initial state of the transport vehicle of Figure 1 approaching the charging device;
  • Figure 4 is a schematic view showing a state in which the transport vehicle of Figure 3 is charged
  • Figure 5 is a schematic view showing the process of rotating the bracket of Figure 3;
  • Figure 6 is a schematic view showing another state of charging of the transport vehicle of Figure 3;
  • Figure 7 is a front elevational view of the carrier and bracket of Figure 3.
  • FIG. 1 is an exploded perspective view of an embodiment of a charging system 10 provided by the present invention.
  • the charging system 10 of the present embodiment includes a transport vehicle 20 and a charging device 30.
  • the transport vehicle 20 may be equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a prescribed guiding path, and having a safety protection and various transfer and handling functions, having a driverless, high degree of automation.
  • the transport vehicle 20 uses a battery as a power source, so when the battery is about to run out, it is necessary to replace or charge the battery.
  • the transport vehicle 20 is provided with a charging position 21.
  • the number of the charging positions 21 is two, and the two charging positions 21 are spaced apart.
  • the transport vehicle 20 is further provided with a scanning mechanism 22, which is optional, and the scanning mechanism 22 is a camera.
  • the charging device 30 is used to charge the transport vehicle 20 described above.
  • an instruction to charge the system is sent to the system, and after being allowed, the transport vehicle 20 travels toward the charging device 30 to accept the charging device 30.
  • the charging process can be used in the process of battery replacement, providing a power source for the transport vehicle 20, preventing the transport vehicle 20 from needing to be restarted after replacing the battery replacement, and inconvenience caused by factors such as reconnecting with the server, of course, This charging process can also be used directly to charge the battery without having to replace the battery.
  • FIG. 2 is a schematic structural view of the charging device 30 of FIG. 1.
  • the charging device 30 includes a bracket 31 and a guiding assembly 32.
  • the bracket 31 is provided with a charging mechanism 311 for charging the transport vehicle 20.
  • the charging mechanism 311 and the charging position 21 of the transport vehicle 20 are charged by the transporting device 20 by means of plugging.
  • the charging mechanism 311 is a charging head, and the charging position 21 of the transportation vehicle 20 is a charging base.
  • the number of charging mechanisms 311 is two, and two charging mechanisms 311 are spaced apart.
  • the guiding assembly 32 is configured to adjust the relative position of the transport vehicle 20 and the bracket 31 during the running of the transport vehicle 20 close to the charging device 30, so that the charging position 21 of the transport vehicle 20 is aligned with the charging mechanism 311, thereby causing the charging mechanism 311.
  • the transport vehicle 20 is charged by the charging position 21.
  • FIG. 3 is a schematic diagram of an initial state of the transport vehicle 20 of FIG. 1 traveling near the charging device 30, and FIG. 4 is a schematic diagram of a state in which the transport vehicle 20 of FIG. 3 is charged, wherein the guiding assembly 32
  • the first guiding mechanism 321 is disposed on the bracket 31 and located on at least one side of the charging mechanism 311, and abuts the transport vehicle 20 during the running of the transport vehicle 20 near the charging device 30, so as to facilitate transportation.
  • the vehicle 20 is steered in the guiding direction of the first guiding mechanism 321, so that the charging position 21 is moved toward the charging mechanism 311.
  • the first guiding mechanism 321 includes a guiding plate 3211, and the guiding plate 3211 is inclined with respect to the insertion direction of the charging mechanism 311, and when the transportation vehicle 20 needs to be charged and travels to the charging device 30 as shown in FIG.
  • the traveling direction of the transport vehicle 20 is changed from the initial direction A to the direction B, so that the charging position 21 moves toward the charging mechanism 311 in the direction B, that is, the charging position 21 is as shown in FIG.
  • the direction X and the direction Y are simultaneously moved toward the charging mechanism 311 until the charging mechanism 311 is aligned with the charging position 21, that is, the charging position 21 is moved in the direction Y toward the charging mechanism 311 to the same horizontal line as the charging mechanism 311.
  • the charging mechanism 311 can be plugged into the charging position 21, thereby causing the charging mechanism 311 to be plugged into the charging position 21 as shown in FIG. 4 to charge the transport vehicle 20.
  • the transport vehicle 20 can always travel in the direction B until the charging mechanism 311 can be plugged into the charging position.
  • the position where the charging mechanism 311 and the charging position 21 are pluggable is the position where the charging mechanism 311 is aligned with the charging position 21 for the first time, or may be driven in the direction B first, and the charging mechanism 311 is aligned with the charging.
  • the charging mechanism 311 and the charging position 21 are in a non-pluggable state, that is, there is still a distance between the charging mechanism 311 and the charging position 21, and at this time, the transport vehicle 20 is disengaged from the first guiding mechanism 321 Continue to travel in direction A until the charging mechanism 311 can be plugged into the charging position 21.
  • the first guiding mechanism 321 in this embodiment further includes a guiding ball 3212.
  • the guiding ball 3212 is disposed on the guiding plate 3211 and is rolled and abutted with the transport vehicle 20 during the running of the transport vehicle 20 near the charging device 30. That is, when the transport vehicle 20 is traveling in the direction B, the guide ball 3212 abuts against the transport vehicle 20 and rolls relative to the guide plate 3211 to reduce the frictional force of the transport vehicle 20 and the first guiding mechanism 321 under the abutting action and The impact force of the transport vehicle 20 on the charging device 30 reduces the impedance of the transport vehicle 20 during travel and improves the protection of the transport vehicle 20 and the charging device 30.
  • the number of the guide balls 3212 is plural, and the plurality of guide balls 3212 are arranged on the guide plate 3211 in the guiding direction of the guide plate 3211.
  • the first guiding mechanism 321 is fixedly connected to the bracket 31.
  • the guiding plate 3211 is fixedly connected to the bracket 31.
  • the first guiding mechanism 321 can also be fixedly connected to the ground. Or it can be fixedly connected to other mechanisms that are fixedly connected to the ground.
  • the number of the first guiding mechanisms 321 is two, and the two first guiding mechanisms 321 are respectively disposed on opposite sides of the charging mechanism 311 to guide the transport vehicle 20 on opposite sides of the transport vehicle 20, in the present embodiment.
  • the two first guiding mechanisms 321 are respectively disposed on two sides of the two charging mechanisms 311 away from each other, and are symmetrically disposed.
  • the guiding assembly 32 in this embodiment further includes a second guiding mechanism 322.
  • the bracket 31 is rotatably coupled to the second guiding mechanism 322, so that when the first guiding mechanism 321 abuts the transport vehicle 20, the bracket 31 rotates. In turn, the charging mechanism 311 is moved toward the charging position 21.
  • FIG. 5 is a schematic diagram of a process of rotating the bracket 31 of FIG. 3.
  • FIG. 6 is another schematic diagram of charging of the transport vehicle 20 of FIG. 3, and the second guiding mechanism 322 includes positioning.
  • the member 3221, the bracket 31 is rotatably supported on the positioning member 3221, so that when the first guiding mechanism 321 abuts against the transport vehicle 20 as shown in FIG. 3, the first guiding mechanism 321 drives the bracket 31 relative to the abutting action.
  • the positioning member 3221 is rotated in the direction C as shown in FIG. 5, and at the same time, the transport vehicle 20 and the first guiding mechanism 321 are continuously abutted to perform steering under the guidance of the first guiding mechanism 321, and are approached.
  • the initial direction A of the charging device 30 is changed to the direction D, and is rotated in the direction C following the first guiding mechanism 321 so that the charging mechanism 311 moves toward the charging position 21 during the rotation of the bracket 31 until the charging mechanism 311 is aligned
  • the charging position 21 is further inserted into the charging position 21 as shown in FIG.
  • the positioning member 3221 is a positioning post, and the positioning member 3221 can be fixedly connected to the ground or can be fixedly connected to other mechanisms fixedly connected to the ground.
  • the second guiding mechanism 322 further includes an elastic returning member 3222.
  • One end of the elastic returning member 3222 is coupled to the bracket 31 to overcome the elasticity of the elastic returning member 3222 when the first guiding mechanism 321 abuts the transporting vehicle 20.
  • the action is rotated, and after the transport vehicle leaves the charging device 30, the bracket returns to the initial position by the elastic return member 3222, that is, when the first guiding mechanism 321 abuts the transport vehicle 20 as shown in FIG.
  • the bracket 31 is rotated relative to the positioning member 3221 by the abutting action, the bracket 31 rotates against the elastic action of the elastic returning member 3222.
  • the elastic returning member 3222 generates an elastic force opposite to the rotating direction of the bracket 31.
  • the transport vehicle 20 After the charging mechanism 311 shown in FIG. 6 charges the transport vehicle 20 through the charging position 21, the transport vehicle 20 is driven away from the charging device 30 to be disengaged from the first guiding mechanism 321 . At this time, the bracket 31 is in the above state. Under the action of the elastic force, it returns to the initial state in which the transport vehicle 20 is not in contact with the first guiding mechanism 321 to perform the next charging.
  • the number of the elastic return members 3222 is two, and the two elastic return members 3222 are respectively disposed on opposite sides of the positioning member 3221 to return the bracket 31 to the initial state in two opposite directions, that is, transport.
  • the two elastic return members 3222 return the bracket 31 to the initial state in the opposite directions.
  • the elastic return member 3222 is a spring.
  • the second guiding mechanism 322 further includes a guiding member 3223.
  • the bracket 31 is provided with a guiding slot 312 that cooperates with the guiding member 3223, and the other end of the elastic returning member 3222 is connected with the guiding member 3223 so that the bracket 31 is at the guiding member 3223 and
  • the guiding groove 312 is returned to the initial state, that is, both ends of the elastic returning member 3222 are respectively connected with the guiding member 3223 and the bracket 31 to overcome the elasticity of the elastic returning member 3222 by the guiding member 3223 when the bracket 31 is rotated. Acting and rotating in the guiding direction of the guiding groove 312, after the transporting vehicle 20 leaves the charging device 30, the bracket 31 returns to the initial state in the guiding direction of the guiding groove 312 under the upper elastic force.
  • the guiding member 3223 is a guiding post, and the guiding member 3223 can be fixedly connected to the ground or can be fixedly connected to other mechanisms fixedly connected to the ground.
  • the number of the guiding members 3223 is two, and the two guiding members 3223 are respectively connected to the two elastic returning members 3222.
  • the number of the guiding slots 312 is two, and the two guiding slots 312 are respectively disposed in cooperation with the two guiding members 3223.
  • the guiding groove 312 is a circular arc groove centered on the positioning member 3221.
  • the above-mentioned relative position of the transport vehicle 20 and the bracket 31 is adjusted by the guide assembly 20 so that the charging position 21 of the transport vehicle 20 is aligned with the charging mechanism 311, and can be adjusted by the first guiding mechanism 321 alone. That is, in other embodiments, the guide assembly 20 may include only the first guiding mechanism 321 or may be adjusted together with the second guiding mechanism 322 by the first guiding mechanism 321 as described above.
  • the charging device 30 of the embodiment further includes an adsorption mechanism 33 for adsorbing and fixing the transport vehicle 20 when the transport vehicle 20 as shown in FIG. 4 or FIG. 6 is charged to ensure that the transport vehicle 20 is in the Stability during charging.
  • the adsorption mechanism 33 is a magnetic adsorption mechanism.
  • the adsorption mechanism 33 is disposed between the two charging mechanisms 311.
  • the charging device 30 of the present embodiment further includes an identification mechanism 34 for providing the identification mark 341 to the transport vehicle 20 such that the transport vehicle 20 identifies the charging device 30 by the identification mark 341.
  • the transport vehicle 20 when the transport vehicle 20 is operated by the system for charging, it is first necessary to find the charging device 30. At this time, the transport vehicle 20 can scan the surrounding environment through the scanning mechanism 22 and issue an identification request to the system, and the system confirms the surrounding according to the identification request. Whether there is an identification mark 341 in the environment to determine whether the charging device 30 is present, and when it is confirmed that the charging device 30 is present, it is determined whether the charging device 30 is in an idle state according to the identification flag 341, and if so, a confirmation command is issued, and the transport vehicle 20 is issued. The vehicle is driven toward the charging device 30 in accordance with the confirmation command.
  • the identification mark 341 is an identification code.
  • the identification mechanism 34 includes a carrier 342 that is disposed on the carrier 342 toward the direction of travel of the transport vehicle 20 adjacent to the charging device 30.
  • the height of the carrier 342 is greater than the height of the bracket 31, so that the identification mark 341 can be exposed to the bracket 31 in the traveling direction of the transport vehicle 20 near the charging device 30, so that the scanning mechanism 22 of the transport vehicle 20 can scan.
  • the height of the carrier 342 is prevented from being too low, so that the identification mark 341 is blocked by the bracket 31.
  • the carrier 342 is fixedly connected to the bracket 31.
  • the charging device provided by the present invention comprises a bracket and a guiding assembly, the bracket is provided with a charging mechanism, the charging mechanism is used for charging the transport vehicle, and the guiding assembly is used for adjusting the transportation during the running of the transport vehicle close to the charging device.
  • the relative position of the vehicle and the bracket is such that the charging position of the transport vehicle is aligned with the charging mechanism, so that the charging mechanism charges the transport vehicle through the charging position, preventing the charging mechanism from being misaligned with the charging position, and the charging mechanism is damaged when plugged in. , or the situation that the transport vehicle cannot be charged without being plugged in, the service life of the charging mechanism and the charging reliability of the transport vehicle are improved.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本发明提供了一种充电装置及充电系统，该充电装置包括支架及导向组件，支架设有充电机构，充电机构用于为运输车充电；导向组件用于在运输车靠近充电装置的行驶过程中，调整运输车与支架的相对位置，以使得运输车的充电位置对准于充电机构，进而使得充电机构通过充电位置为运输车充电，防止充电机构与充电位置不对准而在插接时，充电机构被损坏，或者无法插接而使得运输车无法充电的情况，提高充电机构的使用寿命及运输车的充电可靠性。

Description

一种充电装置及充电系统
【技术领域】
本发明涉及充电技术领域，特别是涉及一种充电装置及充电系统。
【背景技术】
无人运输车是一种通过控制系统控制而不需要驾驶员驾驶的运输车，该运输车通过电池作为动力源，在电池电量即将耗尽时，驶向充电桩，并通过充电桩上的充电机构进行充电，但是在运输车向充电桩行驶的过程中，会出现运输车的充电位置与充电机构不对准的情况，在这种情况下，会导致充电机构与充电位置在插接时，充电机构被损坏，或者无法插接而使得运输车无法充电。
【发明内容】
本发明主要是提供一种充电装置及充电系统，旨在解决充电机构与充电位置不对准而导致充电机构插接时被损坏或无法插接的问题。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种充电装置，所述充电装置包括：支架，设有充电机构，所述充电机构用于为运输车充电；导向组件，用于在所述运输车靠近所述充电装置的行驶过程中，调整所述运输车与所述支架的相对位置，以使得所述运输车的充电位置对准于所述充电机构，进而使得所述充电机构通过所述充电位置为所述运输车充电。
为解决上述技术问题，本发明采用的又一个技术方案是：提供一种充电系统，所述充电系统包括充电装置及运输车，其中，所述充电装置包括：支架，设有充电机构；导向组件，用于在所述运输车靠近所述充电装置的行驶过程中，调整所述运输车与所述支架的相对位置，以使得所述运输车的充电位置对准于所述充电机构，进而使得所述充电机构通过所述充电位置为所述运输车充电。
本发明的有益效果是：本发明提供的充电装置包括支架及导向组件，支架设有充电机构，充电机构用于为运输车充电；导向组件用于在运输车靠近充电装置的行驶过程中，调整运输车与支架的相对位置，以使得运输车的充电位置对准于充电机构，进而使得充电机构通过充电位置为运输车充电，防止充电机构与充电位置不对准而在插接时，充电机构被损坏，或者无法插接而使得运输车无法充电的情况，提高充电机构的使用寿命及运输车的充电可靠性。
【附图说明】
图1是本发明提供的充电系统实施例的分解示意图；
图2是图1中充电装置的结构示意图；
图3是图1中运输车靠近充电装置行驶的初始状态示意图；
图4是图3中运输车充电的一状态示意图；
图5是图3中支架转动的过程示意图；
图6是图3中运输车充电的另一状态示意图；
图7是图3中承载件与支架正面示意图。
【具体实施方式】
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参阅图1，图1是本发明提供的充电系统10实施例的分解示意图，本实施例的充电系统10包括运输车20及充电装置30。
运输车20可以是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、搬运功能的运输车，具有无人驾驶、自动化程度高的有点，该运输车20通过电池作为动力源，因此，当电池的电量即将耗尽时，需要更换电池或为电池充电。
其中，运输车20设有充电位置21，可选的，该充电位置21的数量为两个，两个充电位置21间隔设置。
进一步的，运输车20还设有扫描机构22，可选的，该扫描机构22为摄像头。
充电装置30即用于为上述的运输车20充电，当运输车20需要充电时，向系统发送充电请求的指令，并在被允许后，运输车20向充电装置30行驶，以接受充电装置30的充电，该充电过程可用于电池更换的过程中，为运输车20提供动力源，防止运输车20在更换电池更换后，需要重启，且需要重新与服务器连接等因素带来的不便，当然，该充电过程也可以直接用于为电池充电，而不需要更换电池。
参阅图2，图2是图1中充电装置30的结构示意图，该充电装置30包括支架31及导向组件32。
支架31设有充电机构311，该充电机构311用于为运输车20充电，在本实施例中，充电机构311与运输车20的充电位置21通过插接的方式为运输车20充电，可选的，该充电机构311为充电头，运输车20的充电位置21为充电座。
可选的，充电机构311的数量为两个，两个充电机构311间隔设置。
导向组件32用于在运输车20靠近充电装置30的行驶过程中，调整运输车20与支架31的相对位置，以使得运输车20的充电位置21对准于充电机构311，进而使得充电机构311通过充电位置21为运输车20充电。
共同参阅图2、图3及图4，图3是图1中运输车20靠近充电装置30行驶的初始状态示意图，图4是图3中运输车20充电的一状态示意图，其中，导向组件32包括第一导向机构321，第一导向机构321设置于支架31上且位于充电机构311的至少一侧，并在运输车20靠近充电装置30的行驶过程中与运输车20抵接，以使得运输车20在第一导向机构321的引导方向上进行转向，进而使得充电位置21朝向充电机构311运动。
具体的，第一导向机构321包括导向板3211，导向板3211相对于充电机构311的插接方向倾斜设置，进而当运输车20需要充电而如图3所示的向充电装置30行驶时，在导向板3211的引导作用下，运输车20的行驶方向，从初始方向A转变为方向B，以使得充电位置21在该方向B上朝向充电机构311运动，也即充电位置21在如图3所示的方向X和方向Y上同时朝向充电机构311运动，直至充电机构311对准于充电位置21，也即充电位置21在方向Y上朝向充电机构311运动至与充电机构311在同一水平线上，从而使得充电机构311可插接于充电位置21，进而使得充电机构311如图4所示的，插接于充电位置21以为运输车20充电。
可以理解的，在上述运输车20靠近充电装置30，直至充电机构311可插接于充电位置21的过程中，运输车20可一直在方向B上行驶，直至充电机构311可插接于充电位置21，也即充电机构311与充电位置21可插接的位置为充电机构311第一时间对准于充电位置21的位置，也可以先在方向B上行驶，并在充电机构311对准于充电位置21时，充电机构311与充电位置21处于不可插接的状态，也即充电机构311与充电位置21之间仍然有一段距离，此时，运输车20与第一导向机构321脱离抵接而继续在方向A上行驶，直至充电机构311可插接于充电位置21。
进一步的，本实施例中的第一导向机构321还包括导向滚珠3212，导向滚珠3212设置于导向板3211上，并在运输车20靠近充电装置30的行驶过程中与运输车20滚动抵接，也即运输车20在方向B上行驶时，导向滚珠3212与运输车20抵接而相对于导向板3211滚动，以减小运输车20与第一导向机构321在抵接作用下的摩擦力以及运输车20对充电装置30的冲击力，降低运输车20行驶过程中的阻抗，并提高对运输车20和充电装置30的保护作用。
可选的，导向滚珠3212的数量为多个，多个导向滚珠3212在导向板3211的引导方向上排布于导向板3211上。
可选的，第一导向机构321与支架31固定连接，在本实施例中，也即导向板3211与支架31固定连接，在其他实施例中，第一导向机构321也可以与地面固定连接，或者与其他与地面固定连接的机构固定连接。
可选的，第一导向机构321的数量为两个，两个第一导向机构321分别设置于充电机构311相对的两侧，以在运输车20相对的两侧引导运输车20，在本实施例中，两个第一导向机构321分别设置于两个充电机构311相互远离的两侧，且呈对称设置。
可选的，本实施例中的导向组件32还包括第二导向机构322，支架31与第二导向机构322转动连接，以使得第一导向机构321与运输车20抵接时，支架31进行转动，进而使得充电机构311朝向充电位置21运动。
共同参阅图2、图3、图5及图6，图5是图3中支架31转动的过程示意图，图6是图3中运输车20充电的另一状态示意图，第二导向机构322包括定位件3221，支架31转动支撑于定位件3221上，以使得第一导向机构321如图3所示的，与运输车20抵接时，第一导向机构321在抵接作用下带动支架31相对于定位件3221，在如图5所示的方向C上转动，与此同时，运输车20与第一导向机构321持续抵接，以在第一导向机构321的引导作用下也进行转向，从靠近充电装置30的初始方向A转变为方向D，并跟随第一导向机构321在方向C上转动，从而使得充电机构311在支架31转动的过程中朝向充电位置21运动，直至充电机构311对准于充电位置21，进而如图6所示的插接于充电位置21。
可选的，定位件3221为定位柱，定位件3221可与地面固定连接，也可以与其他与地面固定连接的机构固定连接。
进一步的，第二导向机构322还包括弹性复位件3222，弹性复位件3222的一端与支架31连接，以在第一导向机构321与运输车20抵接时，支架31克服弹性复位件3222的弹性作用进行转动，并在运输车驶离充电装置30后，支架在弹性复位件3222的作用下回复至初始位置，也即当第一导向机构321如图3所示的与运输车20抵接，并在抵接作用下带动支架31相对于定位件3221转动时，支架31克服弹性复位件3222的弹性作用进行转动，在转动过程中，弹性复位件3222产生与支架31的转动方向相反的弹力，并在如图6所示的充电机构311通过充电位置21为运输车20充电结束之后，运输车20驶离充电装置30而与第一导向机构321脱离抵接状态，此时，支架31在上述弹力的作用下回复至运输车20未与第一导向机构321抵接的初始状态，以进行下一次的充电。
可选的，弹性复位件3222的数量为两个，两个弹性复位件3222分别设置于定位件3221相对的两侧，以在两个相反的方向上使得支架31回复至初始状态，也即运输车20通过两个第一导向机构321使得支架31在相反的方向上转动时，两个弹性复位件3222在该两个相反的方向上使得支架31回复至初始状态。
可选的，弹性复位件3222为弹簧。
进一步的，第二导向机构322还包括导向件3223，支架31设有与导向件3223配合的导向槽312，弹性复位件3222的另一端与导向件3223连接，以使得支架31在导向件3223与导向槽312的引导作用下回复初始状态，也即弹性复位件3222的两端分别与导向件3223和支架31连接，以在上述的支架31转动时，通过导向件3223克服弹性复位件3222的弹性作用，并沿导向槽312的引导方向转动，从而在运输车20驶离充电装置30后，支架31在上弹力作用下，沿导向槽312的引导方向回复至初始状态。
可选的，导向件3223为导向柱，导向件3223可与地面固定连接，也可以与其他与地面固定连接的机构固定连接。
可选的，导向件3223的数量为两个，两个导向件3223分别与两个弹性复位件3222连接。
可选的，导向槽312的数量为两个，两个导向槽312分别与两个导向件3223配合设置。
其中，导向槽312为以定位件3221为中心的圆弧槽。
可以理解的，上述通过导向组件20调整运输车20与支架31的相对位置，以使得运输车20的充电位置21对准于充电机构311的过程，可单独通过第一导向机构321进行调整，也即在其他实施例中，导向组件20可仅包括第一导向机构321，也可以通过如上述的第一导向机构321与第二导向机构322共同调整。
进一步的，本实施例的充电装置30还包括吸附机构33，吸附机构33用于在如图4或如图6所示的运输车20充电时，吸附固定运输车20，以保证运输车20在充电过程中的稳定性。
可选的，吸附机构33为磁性吸附机构。
可选的，吸附机构33设置于两个充电机构311之间。
进一步的，本实施例的充电装置30还包括识别机构34，识别机构34用于为运输车20提供识别标志341，以使得运输车20通过该识别标志341识别充电装置30。
比如，当运输车20被系统运行进行充电时，首先需要找到充电装置30，此时，运输车20即可通过扫描机构22扫描周围环境，并向系统发出识别请求，系统根据该识别请求确认周围环境中是否有识别标志341，以确定是否存在充电装置30，并在确认存在充电装置30时，根据识别标志341判断该充电装置30是否处于空闲状态，若是，则发出确认指令，运输车20则根据该确认指令朝向充电装置30行驶。
可选的，识别标志341为识别码。
共同参阅图3及图7，识别机构34包括承载件342，识别标志341朝向运输车20靠近充电装置30的行驶方向上设置于承载件342上。
可选的，承载件342的高度大于支架31的高度，以使得识别标志341在运输车20靠近充电装置30的行驶方向上，可外露于支架31，从而使得运输车20的扫描机构22可扫描到识别标志341，防止承载件342的高度过低，导致识别标志341被支架31遮挡。
可选的，承载件342与支架31固定连接。
区别于现有技术，本发明提供的充电装置包括支架及导向组件，支架设有充电机构，充电机构用于为运输车充电；导向组件用于在运输车靠近充电装置的行驶过程中，调整运输车与支架的相对位置，以使得运输车的充电位置对准于充电机构，进而使得充电机构通过充电位置为运输车充电，防止充电机构与充电位置不对准而在插接时，充电机构被损坏，或者无法插接而使得运输车无法充电的情况，提高充电机构的使用寿命及运输车的充电可靠性。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (20)

  1. 一种充电装置，其中，所述充电装置包括：
    支架，设有充电机构，所述充电机构用于为运输车充电；
    导向组件，用于在所述运输车靠近所述充电装置的行驶过程中，调整所述运输车与所述支架的相对位置，以使得所述运输车的充电位置对准于所述充电机构，进而使得所述充电机构通过所述充电位置为所述运输车充电。
  2. 根据权利要求1所述的充电装置，其中，所述导向组件包括第一导向机构，所述第一导向机构设置于所述支架上且位于所述充电机构的至少一侧，并在所述运输车靠近所述充电装置的行驶过程中与所述运输车抵接，以使得所述运输车在所述第一导向机构的引导方向进行转向，进而使得所述充电位置朝向所述充电机构运动。
  3. 根据权利要求2所述的充电装置，其中，所述第一导向机构与所述支架固定连接，所述导向组件进一步包括第二导向机构，所述支架与所述第二导向机构转动连接，以使得所述第一导向机构与所述运输车抵接时，所述支架进行转动，进而使得所述充电机构朝向所述充电位置运动。
  4. 根据权利要求2所述的充电装置，其中，所述第一导向机构包括导向板，所述导向板相对于所述充电机构的接插方向倾斜设置。
  5. 根据权利要求4所述的充电装置，其中，所述第一导向机构进一步包括导向滚珠，所述导向滚珠设置于所述导向板上，并在所述运输车靠近所述充电装置的行驶过程中与所述运输车滚动抵接。
  6. 根据权利要求3所述的充电装置，其中，所述第二导向机构包括定位件，所述支架转动支撑于所述定位件上，以使得所述第一导向机构与所述运输车抵接时，所述支架相对于所述定位件进行转动。
  7. 根据权利要求6所述的充电装置，其中，所述第二导向机构进一步包括弹性复位件，所述弹性复位件的一端与所述支架连接，在所述第一导向机构与所述运输车抵接时，所述支架克服所述弹性复位件的弹性作用进行转动，并在所述运输车驶离所述充电装置后，所述支架在所述弹性复位件的作用下回复至初始位置。
  8. 根据权利要求7所述的充电装置，其中，所述第二导向机构进一步包括导向件，所述支架设有与所述导向件配合的导向槽，所述弹性复位件的另一端与所述导向件连接，以使得所述支架在所述导向件和所述导向槽的引导作用上回复至所述初始位置。
  9. 根据权利要求8所述的充电装置，其中，所述导向槽为以所述定位件为中心的圆弧槽。
  10. 根据权利要求8所述的充电装置，其中，所述弹性复位件的数量为两个，所述两个弹性复位件分别设置于所述定位件相对的两侧，以在两个相反的方向上使得所述支架回复至所述初始位置。
  11. 根据权利要求10所述的充电装置，其中，所述导向件的数量为两个，所述两个导向件分别与所述两个弹性复位件连接。
  12. 根据权利要求2所述的充电装置，其中，所述第一导向机构的数量为两个，所述两个第一导向机构分别设置于所述充电机构相对的两侧，以在所述运输车相对的两侧引导所述运输车。
  13. 根据权利要求1所述的充电装置，其中，所述充电装置进一步包括吸附机构，所述吸附机构用于在所述运输车充电时，吸附固定所述运输车。
  14. 根据权利要求13所述的充电装置，其中，所述吸附机构为磁性吸附机构。
  15. 根据权利要求13所述的充电装置，其中，所述充电机构的数量为两个，所述两个充电机构间隔设置，所述吸附机构设置于所述两个充电机构之间。
  16. 根据权利要求1所述的充电装置，其中，所述充电装置进一步包括识别机构，所述识别机构用于为所述运输车提供识别标志，以使得所述运输车通过所述识别标志识别所述充电装置。
  17. 根据权利要求16所述的充电装置，其中，所述识别机构包括承载件，所述识别标志朝向所述运输车靠近所述充电装置的行驶方向设置于所述承载件上。
  18. 根据权利要求17所述的充电装置，其中，所述承载件的高度大于所述支架的高度，以使得所述识别标志在所述运输车靠近所述充电装置的行驶方向上，可外露于所述支架。
  19. 根据权利要求16所述的充电装置，其中，所述识别标志为识别码。
  20. 一种充电系统，其中，所述充电系统包括充电装置及运输车，其中，所述充电装置包括：
    支架，设有充电机构；
    导向组件，用于在所述运输车靠近所述充电装置的行驶过程中，调整所述运输车与所述支架的相对位置，以使得所述运输车的充电位置对准于所述充电机构，进而使得所述充电机构通过所述充电位置为所述运输车充电。
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