WO2020159028A1 - Connecteur de charge, prise d'accueil et ensemble d'accueil permettant de charger une voiture électrique - Google Patents

Connecteur de charge, prise d'accueil et ensemble d'accueil permettant de charger une voiture électrique Download PDF

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Publication number
WO2020159028A1
WO2020159028A1 PCT/KR2019/011439 KR2019011439W WO2020159028A1 WO 2020159028 A1 WO2020159028 A1 WO 2020159028A1 KR 2019011439 W KR2019011439 W KR 2019011439W WO 2020159028 A1 WO2020159028 A1 WO 2020159028A1
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WO
WIPO (PCT)
Prior art keywords
connector
charging
socket
docking
guide
Prior art date
Application number
PCT/KR2019/011439
Other languages
English (en)
Korean (ko)
Inventor
이훈
신동혁
김기재
Original Assignee
(주)에바
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 (주)에바 filed Critical (주)에바
Publication of WO2020159028A1 publication Critical patent/WO2020159028A1/fr

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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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
    • H01R24/86—Parallel contacts arranged about a common axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R2201/00—Connectors or connections adapted for particular applications
    • H01R2201/26—Connectors or connections adapted for particular applications for vehicles
    • 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 invention relates to a charging connector for charging an electric vehicle, a docking socket and a docking assembly.
  • the electric vehicle is a typical transportation means that has already been commercialized, the electric vehicle is charged when the electric vehicle comes up.
  • the problem to be solved by the present invention is to provide a charging connector and a docking socket for charging a docking socket of a charging robot to a charging port of an electric vehicle and a docking assembly for charging including the docking socket of a charging robot so that an error does not occur in the docking process. Is to do.
  • a charging connector according to an aspect of the present invention for solving the above-described problem is electrically connected to a charging port of a vehicle, and the charging connector docking socket of the charging robot comprises: a case; A connector guide formed in the case and having a shape corresponding to male and female coupling with a socket guide of a docking socket; Docking is achieved by including a connector electrode portion for connecting to the socket electrode portion of the docking socket, the socket guide of the docking socket is moved to be coupled with the connector guide, and then the socket electrode portion of the docking socket is moved to connect with the connector electrode portion.
  • a docking socket for solving the above-described problem is a docking socket for a charging robot docked to a charging port or a charging connector of an electric vehicle, the case;
  • a socket guide disposed in the case and having a shape corresponding to male and female coupling to a connector guide of a charging port or a charging connector;
  • a socket electrode portion movably disposed on the socket guide and connected to a connector electrode portion of a charging port or a charging connector; After including the actuator for moving the socket electrode portion, the connector guide of the socket guide and the charging port or charging connector is coupled, the socket electrode portion is moved by driving the actuator and the connector electrode portion of the charging port or charging connector By connecting, docking can be achieved.
  • a charging connector that is electrically connected to the charging port of the electric vehicle; It is provided in a charging robot, includes a docking socket that is driven according to the position information of the charging connector and docked with the charging connector, the charging connector includes a connector guide and a connector electrode part, and the docking socket includes a socket guide and a socket electrode It includes a part and an actuator, the connector guide and the socket guide have a corresponding shape to be male and female coupled, the socket guide is coupled to the connector guide by the driving of the charging robot, and then by driving of the actuator Docking can be achieved by connecting the socket electrode portion to the connector electrode portion.
  • a charging connector electrically connected to the charging port of the electric vehicle is separately provided, and the docking socket of the charging robot senses the feature point to locate the charging connector.
  • a docking assembly capable of increasing docking accuracy by tracking and docking is provided.
  • the docking process includes a primary docking in which the docking guide and the connector guide are male and female coupled by driving of the robot arm, and a secondary docking in which the socket electrode part and the connector electrode part are connected by driving the actuator of the docking socket.
  • charging may not be initiated in the state where the docking is not completed and electric shock Accidents can also be prevented.
  • FIG. 1 is a conceptual diagram showing the process of charging the charging robot of the present invention and charging the electric vehicle at a charging station.
  • FIG. 2 is a conceptual diagram showing that the charging connector of the present invention is mounted on an electric vehicle.
  • FIG. 3 is a perspective view showing the charging connector of the present invention.
  • FIG. 4 is an exploded perspective view showing the charging connector of the present invention.
  • FIG. 5 is a perspective view showing a charging connector of a modification of the present invention.
  • FIG. 6 is a perspective view showing the charging robot of the present invention.
  • FIG. 7 is a perspective view of the charging robot of the present invention as viewed from a different point in time from FIG. 6.
  • FIG. 8(a) is a plan view showing the charging robot of the present invention
  • FIG. 8(b) is a bottom view showing the charging robot of the present invention.
  • FIG. 9 is a side sectional view showing the charging robot of the present invention.
  • FIG. 10 is a perspective view showing a docking device of the present invention.
  • FIG. 11 is a perspective view showing a docking socket of the present invention.
  • FIG. 12 is an exploded perspective view showing a docking socket of the present invention.
  • FIG 13 is an operational state diagram showing that the docking socket of the present invention is docked to the charging connector.
  • FIG. 14 (a) is a perspective view showing a case where the docking socket of the present invention is mounted on an electric vehicle so that it faces forward
  • FIG. 14 (b) is mounted on an electric vehicle so that the docking socket of the present invention faces upward. It is a perspective view showing a case.
  • the spatially relative terms “below”, “beneath”, “lower”, “above”, “upper”, etc., are as shown in the figure. It can be used to easily describe a correlation between a component and other components.
  • the spatially relative terms should be understood as terms including different directions of components in use or operation in addition to the directions shown in the drawings. For example, if a component shown in the drawing is turned over, a component described as “below” or “beneath” of another component will be placed “above” of the other component. Can.
  • the exemplary term “below” can include both the directions below and above.
  • the component can also be oriented in other directions, so that spatially relative terms can be interpreted according to the orientation.
  • one side and the other side of the z-axis shown in the drawing may be defined in the front-rear direction.
  • the direction of the arrow on the z-axis may be defined rearward, and the direction opposite to the direction of the arrow on the z-axis may be defined forward.
  • the front may be mixed with "the direction of autonomous driving of the charging robot", and the front may be defined by "the direction of autonomous driving of the charging robot".
  • one side and the other side of the x-axis shown in the drawing may be defined in the left-right direction.
  • the arrow direction of the x-axis may be defined as the right side
  • the opposite direction of the arrow direction of the x-axis may be defined as the left axis.
  • one side and the other side of the y-axis shown in the drawing may be defined in the vertical direction.
  • the direction of the arrow on the y-axis can be defined as the upper side
  • the direction opposite to the direction of the arrow on the y-axis can be defined as the lower side.
  • the vertical direction may be mixed with the "vertical direction”.
  • FIG. 1 is a conceptual diagram showing the process of charging the electric vehicle charging the electric vehicle in the charging station of the present invention
  • Figure 2 is a conceptual diagram showing that the charging connector of the present invention is mounted on the electric vehicle
  • Figure 3 is the present invention It is a perspective view showing a charging connector
  • Figure 4 is an exploded perspective view showing a charging connector of the present invention
  • Figure 5 is a perspective view showing a charging connector of a modification of the present invention
  • Figure 6 is a perspective view showing a charging robot of the present invention
  • 7 is a perspective view of the charging robot of the present invention as viewed from a different point of view
  • FIG. 8(a) is a plan view showing the charging robot of the present invention
  • FIG. 8(b) shows the charging robot of the present invention.
  • the bottom view Figure 9 is a side sectional view showing the charging robot of the present invention
  • Figure 10 is a perspective view showing the docking device of the present invention
  • Figure 11 is a perspective view showing the docking socket of the present invention
  • Figure 12 is the present invention
  • FIG. 13 is an operational state diagram showing that the docking socket of the present invention is docked to a charging connector
  • FIG. 14(a) is mounted on an electric vehicle so that the docking socket of the present invention is facing forward.
  • 14(b) is a perspective view showing a case where the docking socket of the present invention is mounted on an electric vehicle so as to face upward.
  • the charging robot 1000 of the present invention may perform a function of charging the parked electric vehicle 1.
  • the electric vehicle 1 may be a vehicle that is moved by being provided with driving power by a battery engine, and further includes a hybrid vehicle that is moved by being supplied by driving power by a battery engine and an internal combustion engine.
  • the user parks the electric vehicle 1, mounts the charging connector 100 on the license plate 3 of the electric vehicle 1, and then charges the charging connector 100 by the cable 100-1. It can be electrically connected to the charging port 2 of (1) (see Fig. 1 (a), Fig. 2).
  • the charging robot 1000 of the present invention may be docked directly to the charging port of the electric vehicle 1, and in this case, the charging connector 100 may be omitted.
  • the charging port 2 of the electric vehicle 1 and the charging connector 100 may have substantially the same structure.
  • the charging port 2 of the electric vehicle 1 may be provided from the production and production stage of the electric vehicle 1, or alternatively, the user may be provided by remodeling the charging port 2 of the electric vehicle 1. have.
  • the user may use the user device 10 to transmit an order signal to call the charging robot 1000 of the present invention to a central server (robot management company server, parking lot management server, etc.).
  • the user device 10 may include one or more of a telecommunication device such as a smart phone, a tablet, a PDA, a laptop, and a remote controller, but is not limited thereto.
  • the parking lot may be divided into a plurality of parking areas (on the other hand, a plurality of parking areas may have mutually overlapping parts), and a plurality of parking areas with smart tags (eg, NFC tags; Near field communication Tag) may be provided (eg, attached to a pillar).
  • the user can transmit the order signal to the central server by selecting the NFC tag located in the parking area of the electric vehicle 1 using the user device 10, but the order signal of the present invention is not limited thereto.
  • the parking lot may be mapped to the central server based on the drawing of the building.
  • the parking area of the electric vehicle 1 can be specified in the mapped parking lot by the user's order signal (by processing the user's order signal).
  • the central server may issue a control command to the charging robot 1000 so that the charging robot 1000 moves to the parking area of the electric vehicle 1.
  • the charging robot 1000 of the present invention can move from the standby position to the parking area of the electric vehicle 1 (a wide range including the location where the electric vehicle is parked) by autonomous driving (FIG. 1). (b)(2-1)).
  • the charging robot 1000 of the present invention senses a "feature point" by the position sensors 820 and 830 while moving in autonomous driving, and is related to the position of the charging connector 100 (or charging port of an electric vehicle). It is possible to generate location information, and accordingly, it is possible to stop autonomous driving, change the posture, and then drive to the vicinity of the electric vehicle 1.
  • the charging robot 100 has a charging connector 100 (or electricity) in the direction of withdrawal (rear) of the docking device 400 according to location information related to the position of the charging connector 100 (or charging port of an electric vehicle). After changing the posture so that it is aligned with the direction in which the charging port of the vehicle is located, the electric vehicle 1 may move in a straight line to the vicinity.
  • the "feature points” can be located in various places in various numbers and shapes.
  • the "feature point” may be a feature point (not shown) of a parking area located in a parking area, and a charging connector 100 located in a charging connector 100 (or charging port of an electric vehicle) or a charging port of an electric vehicle ) May be a feature point 140, but the location of the "feature point" of the present invention is not limited thereto.
  • the "feature point" may have a shape such as a smart code and may be identified as a two-dimensional image by the location sensors 820 and 830, or may be identified as three-dimensional depth information by the location sensors 820 and 830 by having a specific shape. (820,830) may be identified by communicating with a specific electronic signal (eg, a beacon), but is not limited thereto.
  • a specific electronic signal eg, a beacon
  • the "location information related to the location of the charging connector 100 (or charging port of the electric vehicle)" is processed by a specific algorithm and the location (coordinates) of the charging connector 100 (or charging port of the electric vehicle) in the space of the parking lot. ) Can be interpreted as a concept encompassing all information that can be derived (calculated), and is not limited to the position (coordinate) of the charging connector 100 (or charging port of an electric vehicle) itself.
  • the charging robot 1000 of the present invention may be provided with a remote location sensor 820, the remote location sensor 820 is a feature (not shown) of the parking area and charging connector 100; or charging of the electric vehicle At least one of the feature points 140 of the former) may be sensed.
  • the charging robot 1000 of the present invention is generated by at least one of the feature points (not shown) of the parking area and the feature points 140 of the charging connector 100 (or charging port of an electric vehicle) while moving in autonomous driving.
  • the posture is changed so that the withdrawal direction of the docking device 400 of the charging robot 1000 is aligned with the direction in which the charging connector 100 (or charging port of the electric vehicle) is located, and then the electric vehicle ( It can be moved in a straight run to the vicinity of 1) (see (2-2) of FIG. 1(b)).
  • the posture may be changed so that the rear of the charging robot 1000 faces the charging connector.
  • the charging robot 1000 of the present invention can be charged to the electric vehicle 1 after being docked to the charging connector 100 (or charging port of an electric vehicle) by driving the docking device 400. .
  • the charging robot 1000 of the present invention may be provided with a short-range position sensor 830, the short-range position sensor 830 in the vicinity of the electric vehicle 1, the charging connector 100; or charging of the electric vehicle The feature point 140 of the former) may be sensed.
  • the docking device 400 of the charging robot 1000 of the present invention is a robot arm 410 that is linearly driven in three axes and a charging connector 100 disposed on the robot arm 410 or a charging port of an electric vehicle. ) May include a docking socket 500 that is docked.
  • the docking device 400 moves the charging robot 1000 to the vicinity of the electric vehicle 1, and then generates the “position” generated by the feature point 140 of the charging connector 100 (or charging port of the electric vehicle).
  • Information In more detail, the primary docking in which the robot arm 410 is driven according to the "location information" of the charging connector 100 (or charging port of an electric vehicle) and the actuator 540 of the docking socket 500 are charging connectors ( The docking socket 500 may be docked to the charging connector 100 (or charging port of the electric vehicle) by secondary docking driven according to “location information” of 100; or charging location of the electric vehicle).
  • the charging robot 1000 of the present invention docks the electrical energy of the electrical energy storage device 300 with a docking socket 500, a charging connector 100, a cable 100-1, and a charging port of the electric vehicle 1
  • the electric vehicle 1 can be charged through the process of transferring it to the electric vehicle 1 through (2) (see (c) of FIG. 1 ).
  • the charging robot 1000 of the present invention moves to the charging station 20 shown in Fig. 1(d), and the charging connector 100 It can be charged by being docked to the charging station connector 20-1 in the same way as it is docked to.
  • the charging station connector 20-1 and the charging connector 100 may have substantially the same structure.
  • the charging robot 1000 of the present invention can move from the standby position to the parking area of the electric vehicle 1 by autonomous driving.
  • the parking region of the electric vehicle 1 is a user's order signal. It may be a region specified in the parking lot mapped by.
  • the charging robot 1000 changes the posture according to the "location information” and then the electric vehicle in the parking area of the electric vehicle 1. It can move to the vicinity of (1), and the docking device 400 can be driven by driving according to “location information”.
  • the remote location sensor 820 may generate “location information” when the charging robot 1000 moves to the vicinity of the electric vehicle 1, and the short-range location sensor 830 may be equipped with the docking device 400. When driving, it is possible to generate "location information”.
  • the process of charging the electric vehicle 1 by the charging robot 1000 of the present invention is not limited thereto, and some processes may be omitted.
  • the charging robot 1000 of the present invention moves to autonomous driving to the vicinity of the electric vehicle 1 by the user's order signal, and then docks the device according to the location information generated by the short-range position sensor 830 ( 400) may be driven and docked in the charging connector 100 (or charging port of an electric vehicle), in which case, the far location sensor 820 may be omitted.
  • the charging connector 100 of the present invention can be electrically connected to the charging port 2 of the electric vehicle 1 by a cable 100-1, and the license plate 3 of the electric vehicle 1 It can be mounted on and fixed (see FIG. 2).
  • the charging connector 100 of the present invention may include a case 110, a connector guide 120, a connector electrode part 130, a feature point 140, a base 150, and a posture changing part (not shown).
  • the case 110 of the charging connector 100 is a member that forms the appearance of the charging connector 100, and may be manufactured by injection molding of synthetic resin.
  • the connector guide 120 of the charging connector 100 may have a shape corresponding to male and female coupling with the socket guide 520 of the docking socket 500. Therefore, the connector guide 120 may be formed to protrude, or may be formed to be recessed, and may be formed to be partially protruded and partially recessed.
  • the connector guide 120 may have a groove shape recessed in the front surface of the case 110.
  • the connector guide 120 may be coupled to the socket guide 520 of the docking socket 500 during the primary docking. That is, the connector guide 120 may receive the socket guide 520 of the docking socket 500 during the first docking.
  • the charging robot 1000 drives the robot arm 410 three-axis linearly according to the "location information" for the charging connector 100 (or charging port of an electric vehicle), thereby allowing the docking socket 500 to be driven.
  • the socket guide 520 may be introduced into the connector guide 120.
  • the connector electrode part 130 and the socket electrode part of the docking socket 500 may be arranged to face each other. Therefore, when the first docking is completed, a movement path of the socket electrode part 530 of the docking socket 500 during the second docking may be correctly formed.
  • the connector guide 120 is provided to perform the primary docking, so that the docking path of the docking socket 500 of the charging robot 1000 is finely deviated from the normal path and is primary docked. Even if it proceeds, the movement path of the socket electrode part 530 of the docking socket 500 during the second docking may be correctly formed.
  • the groove of the connector guide 120 may be formed with a taper at least in part such that the cross-sectional area of the bottom surface is smaller than that of the ceiling opening. That is, the groove of the connector guide 120 may be formed with a taper having a narrow cross-sectional area toward the primary docking direction.
  • the gap between the connector guide 120 and the socket guide 520 of the docking socket 500 is gradually reduced. , The docking socket 500 can be guided naturally.
  • the connector electrode portion 130 of the charging connector 100 may be disposed to be exposed to the outside of the bottom surface of the connector guide 120.
  • the connector electrode unit 130 may be electrically connected to the socket electrode unit 530 of the docking socket 500 during secondary docking.
  • the charging robot 1000 controls the actuator 540 of the docking socket 500, sliding the socket electrode 3300 of the docking socket 500 to dock with the connector electrode part 130 The socket electrode 3300 of the socket 500 may be connected.
  • the connector electrode part 130 and the socket electrode part 530 of the docking socket 500 are arranged to face each other, so a separate charging connector 100; or an electric vehicle Without simply “sliding" the socket electrode portion 530 of the docking socket 500 without “location information" for the charging port of the connector electrode portion 130 and the socket electrode portion 530 of the docking socket 500 ) Can be docked.
  • the connector electrode part 130 of the charging connector 100 may include a connector charging electrode 131, a connector signal electrode 132, and a connector ground electrode 133.
  • the connector charging electrode 131 may be electrically connected to the docking charging electrode 531 of the docking socket 500, and the connector signal electrode 132 may be docked signal electrode of the docking socket 500 In combination with 532, it may be electrically connected, and the connector ground electrode 133 may be electrically connected to the docking ground electrode 533 of the docking socket 500.
  • the connector charging electrode 131 may be an electrode used as a channel for charging
  • the connector signal electrode 132 may be an electrode that generates a signal for checking whether docking
  • the connector ground electrode 133 is a reference It may be an electrode provided for voltage supply or grounding.
  • connection signal occurs through the connector signal electrode 132 and the docking signal electrode 532 (or at the same time), and charging starts through the connector charging electrode 131 and the docking charging electrode 531.
  • connection signal occurs through the connector signal electrode 132 and the docking signal electrode 532 (or at the same time), and charging starts through the connector charging electrode 131 and the docking charging electrode 531.
  • the connector charging electrode 131, the connector signal electrode 132, and the connector ground electrode 133 may be provided in various forms.
  • the connector charging electrode 131 and the connector signal electrode 132 are two pin types. It can be an electrode or two pin hole type electrodes (2 pin electrodes, 2 pin hole electrodes) (dock charging electrode and docking signal electrode and male and female fastening type), and the connector ground electrode 133 is one pin type electrode Or it may be a single pin hole type electrode (1 pin electrode, 1 pin hole electrode) (docking ground electrode and male and female fastening type), but is not limited thereto.
  • the connector electrode part 130 may be an electrode in the form of a 5 pin, 5 pin hole.
  • the feature point 140 is sensed by the position sensors 820 and 830 of the charging robot 1000 to provide "location information" for the charging connector 100 (or charging port of an electric vehicle) to the charging robot 1000.
  • the feature point 140 may be disposed adjacent to the open surface of the hearing of the connector guide 120.
  • the feature point 140 may be disposed above the connector guide 120.
  • the feature points 140 may be used for various types of identification structures that can be sensed by the position sensors 820 and 830, regardless of whether they are contact or non-contact.
  • a smart code or the like may be used as the feature point 140.
  • the feature point 140 is formed on a charging connector 100 (or charging port of an electric vehicle) on a two-dimensional plane, and the charging robot 1000 It is possible to provide "location information" for the charging connector 2000 (or charging port of an electric vehicle) in three-dimensional coordinates.
  • the "location information" may be data (coordinate values of the charging connector on the three-dimensional coordinates) for the distance d and the angle ⁇ between the location sensors 820 and 830 and the charging connector 100.
  • the base 150 of the charging connector 100 may be disposed adjacent to the case 110.
  • the base 150 may be disposed to face the rear surface of the case 110.
  • the posture changing unit (not shown) of the charging connector 100 may elastically connect the case 110 and the base 150.
  • the posture change unit may be provided in a “spring” form.
  • the posture changing unit is configured such that the connector guide 120 and the socket guide 520 of the docking socket 500 are aligned during the first docking of the connector guide 120 and the socket guide 520 of the docking socket 500. 120) can change the posture.
  • the posture changing unit is provided in the form of a torsion spring, and by rotating the case 110 based on an axis perpendicular to a direction in which the socket guide 520 of the docking socket 500 moves to engage the connector guide 120, the connector The posture of the guide 120 can be changed.
  • the charging connector 100 of the present invention may be provided with a plurality of hooks on the rear surface of the case 110 to be mounted on the license plate 3 of the electric vehicle 1.
  • the charging connector 100 during the first and second docking, by the external force according to the movement of the socket guide 520 and the socket electrode part 530 of the docking socket 500, the electric vehicle (1) Problems falling from the number plate 3 may occur.
  • the charging connector 100 has a socket of the docking socket 500 in a direction opposite to the moving direction of the socket electrode 3300 of the docking socket 500 in at least one of the case 110 and the connector guide 120.
  • a retaining portion (not shown) supporting the guide 520 may be formed. The retaining portion primarily supports the socket guide 520 of the docking socket 500, so that the external force by the movement of the socket guide 520 and the socket electrode portion 530 of the docking socket 500 is charged with the charging connector 100. It is possible to prevent the direct transmission to the connecting portion (multiple hooks) of the license plate 3 of the electric vehicle 1.
  • the charging connector 2000 of the modified example of the present invention does not need the cable 100-1, and does not need to be mounted on the license plate 3, and charges the electric vehicle 1 It can be docked directly to the sphere 2 (see FIG. 6; simple).
  • the mounting structure eg, a plurality of hooks
  • the charging connector 2000 of the modification of the present invention may include another configuration of the charging connector 100 of the present invention, and in this case, the configuration of the charging connector 100 of the present invention may be inferred and applied. .
  • the charging connector 2000 of the modification of the present invention may further include a sub-connector 2200 and a hinge link 2300.
  • the sub-connector 2200 may be docked to the charging port 2 of the electric vehicle 1, and the hinge link 2300 may connect the case 110 and the sub-connector 2000 to enable hinge driving. Therefore, the charging connector 100 of the modified example of the present invention can be changed in posture while docked with the charging port 2 of the electric vehicle 1.
  • the hinge connector 2300 may change the posture of the case 110 based on various axes, and may be replaced with various types of connectors such as spherical connectors.
  • the charging robot 1000 of the present invention includes a case 200, an electric energy storage device 300, a docking device 400, a base 600, a mobile device 700, a sensing device 800, and an emergency button 900. , A bumper 1100 and an electronic control device (not shown).
  • the case 200 may be configured to form the appearance of the charging robot 1000. Meanwhile, a shutter 210 may be disposed behind the case 200 of the charging robot 1000. The shutter 210 is selectively opened during docking driving and charging of the charging robot 1000 to provide an opening portion so that the docking device 400 is drawn out.
  • a first compartment 201 in which the electrical energy storage device 300 is accommodated and a second compartment 202 in which the docking device 400 is accommodated may be formed in the case 200.
  • the first compartment 201 may be disposed in front of the second compartment 202, and accordingly, the relatively heavy electric energy storage device 300 is located in the front and the relatively light weight docking device. 400 is located at the rear, the overall center of gravity of the charging robot 1000 may be biased forward.
  • the electric energy storage device 300 may store electric energy for charging the electric vehicle 1.
  • the electrical energy storage device 300 may be built in the case 200. In this case, the electrical energy storage device 300 may be disposed in front of the docking device 400. Meanwhile, the electrical energy storage device 300 may be a rechargeable secondary battery.
  • the docking device 400 may be docked with the charging port 2 or the charging connector 100 of the electric vehicle 1 to be configured to charge the electric vehicle 1. To this end, the docking device 400 may be electrically connected to the electrical energy storage device 300, and may include a robot arm 410 and a docking socket 500.
  • the robot arm 410 may drive linearly in three axes (x, y, and z axes).
  • a docking socket 500 may be disposed on the robot arm 410, and the docking socket 500 moves according to the docking driving of the robot arm 410 during the first docking, thereby charging the charging port 2 of the electric vehicle 1 ) Or the charging connector 100.
  • the robot arm 410 is a first rail 411, a second rail 412, an arm part 413, a first robot arm drive part 414, a second robot arm drive part 415, and a third for driving the three axes.
  • 3 may include a robot arm driving unit 416.
  • the first rail 411 may extend in the left-right direction (x-axis), and the second rail 412 is left-right direction (x-axis) along the first rail 411 by the first robot arm driver 414. Can move straight.
  • the second rail 412 may extend in a vertical direction (y-axis; up-down direction), and the arm portion 413 is vertically along the second rail 412 by the second robot arm driving unit 415 (y-axis). ) To move straight.
  • the arm part 413 may be linearly moved in the front-rear direction (z-axis) by the third robot arm driving part 416.
  • first rail 411 and the second rail 412 may be provided in the form of a ball screw or lead screw, and the arm portion 413 may be provided in the form of an “x-link lift”.
  • various types of electric motors (for example, step motors) or hydraulic machines may be used as the first robot arm driving unit 414, the second robot arm driving unit 415, and the third robot arm driving unit 416.
  • the reason for providing the first rail 411 and the second rail 412 in the form of a ball screw or a lead screw is to stably support the arm portion 413 and precisely move it.
  • the reason why the arm part 413 is provided in the form of an “x-link lift” is that it does not require much storage space when folded (reduced the length of the charging robot's length) when compared with other drawing devices, and can secure a sufficient drawing length when unfolded. Because.
  • the first robot arm driving unit 414 and the second robot arm driving unit 415 are first driven (x, y-axis driving), and in two-dimensional coordinates (for example, xy coordinates).
  • the docking socket 500 may be aligned with the charging port 2 or charging connector 100 of the electric vehicle 1.
  • the third robot arm driving unit 416 is driven (z-axis driving), and through the arm unit 413 is pulled out in the rear (direction of the z-axis arrow), the docking socket 500 of the electric vehicle (1)
  • the charging port 2 or the charging connector 100 may be first docked.
  • the electrical energy storage device 300 may be disposed at the rear, and the docking device 400 may be disposed in the front, and in this case, the arm 413 may be pulled forward. have.
  • the robot arm 410 of the driving device 400 has been described above, and a detailed description of the docking socket 500 will be described later.
  • the base 600 may perform one of forming a lower surface (lower plate) of the case 200 and supporting the case 200. That is, the base 600 may be a member integrally formed with the case 200 or may be disposed under the case 200 as a separate member from the case 200 to support the case 200. Furthermore, the base 600 may be a member composed of a single layer, or may be a member that is stacked to form a plurality of layers.
  • the base 600 may include a main body 610 that overlaps the case 200 in the vertical direction (y-axis) and a protrusion 620 that does not overlap the case 200 and the vertical direction (y-axis).
  • the protrusion 620 may protrude rearward from the body 610 of the base 600.
  • the protrusion 620 may be drawn under the body of the electric vehicle 1.
  • the center of gravity of the charging robot 1000 of the present invention is positioned to be deflected forward by the relatively heavy energy storage device 300, accordingly, the base 600 is projected rearward to charge The robot 1000 was prevented from being easily collapsed during driving and charging (especially, to fall forward).
  • the portion 611 that overlaps with the first compartment 201 in the body 610 of the base 600 in the vertical direction overlaps with the second compartment 202 in the body 610 of the base 600. It may be located above the portion 612. That is, a step may be formed in the main body 610 of the base 600.
  • the docking device 400 accommodated in the second compartment 202 is relatively lower than the first compartment 201 in order to be docked with the charging port 2 or the charging connector 100 of the electric vehicle 1. It could be because it needs to be located.
  • the main driving direction of the charging robot 1000 is the front (autonomous driving direction; however, after changing the posture, the vehicle travels backward)
  • the diameter of the charging robot 1000 needs to be efficiently transmitted. By arranging the large wheel, it may be because the first compartment 201 moves upward as much as the placement space occupied by the wheel having a large diameter (or as much as the accommodation space of the wheel driving unit).
  • the main body 610 of the base 600 is made from the body 610 of the base 600 and the portion 611 overlapping the first compartment 201 in the vertical direction from the body 610 of the base 600.
  • a reinforcing frame 610-1 may be formed to obliquely connect the part 612 overlapping the two compartments 202 in the vertical direction.
  • the reinforcing frame 610-1 is formed to be inclined downward toward the portion 612 that overlaps with the second compartment 202 in the vertical direction from the body 610 of the base 600, and is relatively positioned on the upper side.
  • the second compartment 202 having a heavy weight may be stably supported.
  • the mobile device 700 may be configured to move the charging robot 1000 of the present invention.
  • the mobile device 700 may include a first wheel 710, a second wheel 720, a third wheel 730, a fourth wheel 740 and a wheel driver 750.
  • the first wheel 710 and the second wheel 720 may be driving wheels driven by the wheel driving unit 750, and the third wheel 730 and the fourth wheel 740 may be the first wheel 710 and the first wheel 710. It may be a driven wheel driven to drive the two-wheel (720).
  • the first wheel 710 and the second wheel 720 are the main body 610 of the base 600 It can be placed in front to generate moving power.
  • the third wheel 730 and the fourth wheel 740 are disposed on the protrusion 620 of the base 600 to support the base 600 from the rear, and the first wheel 710 and the second wheel 720 ).
  • the first wheel 710 may be located on the right side of the edge of the body 610 of the base 600
  • the second wheel 720 may be located on the edge of the body 610 of the base 600. It may be located on the left side
  • the third wheel 730 may be located on the right side of the edge of the protrusion 620 of the base 600
  • the fourth wheel 740 of the protrusion 620 of the base 600 It can be located on the left side of the edge.
  • first wheel 710 and the second wheel 720 which are driving wheels, may have a larger diameter than the third wheel 730 and the fourth wheel 740, which are driven wheels.
  • the protrusion 620 of the base 600 may be drawn under the body of the electric vehicle 1 when the charging robot 1000 of the present invention moves adjacent to the electric vehicle 1. have.
  • the top of the protrusion 620 from the bottom of the third wheel 730 and the fourth wheel 740 The length up to may be shorter than the length of the minimum ground clearance of the electric vehicle 1.
  • the length from the bottom of the third wheel 730 and the fourth wheel 740 to the top of the protrusion 620 may vary according to the minimum ground height according to laws and regulations of individual countries, for example, may be 15 cm or less.
  • the sensing device 800 may include an obstacle sensor 810, position sensors 820, 830 and a bumper sensor (not shown).
  • the obstacle sensor 810 may be disposed in the case 200 and sense an obstacle.
  • the obstacle sensor 810 may mainly sense an obstacle when moving.
  • the obstacle sensor 810 moves when the charging robot 1000 moves to the parking area of the electric vehicle 1 by autonomous driving and moves linearly (driving after a posture change) adjacent to the electric vehicle 1.
  • An obstacle may be detected in at least one of the cases.
  • the charging robot 1000 may move by stopping movement or changing a path after searching for another path.
  • the obstacle sensor 810 various types may be used for the obstacle sensor 810.
  • a lidar an ultrasonic sensor, a 3D camera module, an RGBD camera module, and a kinect sensor may be used as the obstacle sensor 810, but is not limited thereto.
  • the lidar 811 may have a sensing area (scanning area) of two dimensions (xz plane), and an obstacle at a specific height (for example, approximately 60 cm from the ground; can fit a child's height). It is determined whether or not it exists, and it is possible to generate an effect that the sensing region is substantially three-dimensional.
  • the obstacle sensor 810 when different types of sensors are used as the obstacle sensor 810, there is an advantage of covering insufficient sensing conditions (eg, ambient illuminance, etc.) and the sensing area between each other (eg, lidar and ultrasonic wave). Combination of sensors).
  • insufficient sensing conditions eg, ambient illuminance, etc.
  • the sensing area between each other eg, lidar and ultrasonic wave.
  • the obstacle sensor 810 may be disposed on the front surface (front plate) of the case 200.
  • the main sensing direction of the obstacle sensor 810 (see (1-1) in FIG. 8; as an example) , A direction in which the sensing area gradually expands, a direction in which the center of the sensing area is formed, etc. may be an autonomous driving direction (front) of the charging robot 1000 in a plan view.
  • the main sensing direction of the obstacle sensor 810 is forward, and it is not that the obstacle sensor 810 cannot sense the left and right sides of the charging robot 1000.
  • the obstacle sensor 810 may also cover the left side (front left) and the right side (front right) of the charging robot 1000, so that the charging robot 1000 is adjacent to the electric vehicle 1 after changing the posture. Even when driving in the rear, it is possible to sense that obstacles appear on the left and right sides.
  • the position sensors 820 and 830 may sense the charging connector 100 (or charging port of the electric vehicle) to generate “location information” of the charging connector 100 (or charging port of the electric vehicle).
  • the position sensors 820 and 830 may be provided as a single type of sensor, and may include heterogeneous sensors, such as the remote position sensor 820 and the short-range position sensor 830, but are not limited thereto.
  • the position sensors 820 and 830 may perform sensing in various ways.
  • at least one of a lidar, an ultrasonic sensor, a 3D camera module, an RGBD camera module, and a kinect sensor may be used as the position sensors 820 and 830, and the position sensors 820 and 830 are various types of “features It is possible to generate "location information" by sensing ", but is not limited thereto.
  • the feature point 140 may be imaged to generate "location information" (applied to the image analysis algorithm).
  • the position sensors 820 and 830 may include a long-range position sensor 820 and a short-range position sensor 830 according to the distance from the sensing target.
  • the remote location sensor 820 may generate “location information” when the charging robot 1000 moves autonomously and to the vicinity of the electric vehicle 1, and the short-range location sensor 830 ) May generate “location information” when the charging robot 1000 moves to the vicinity of the electric vehicle 1 and then the docking device 400 is driven.
  • the remote location sensor 820 may sense the feature point 140 to generate location information related to the location of the charging connector 100 (or charging port of an electric vehicle).
  • the position of the charging connector 100 may be derived by sensing the feature point 140 located at the charging connector 100 (or charging port of the electric vehicle). It may be derived by processing and analyzing location information generated by sensing a feature point (not shown) located in the parking area of 1) (for example, a QR code by sensing a QR code placed in a building structure of a parking area of an electric vehicle) After acquiring the location coordinates for, it is possible to derive the location of the charging connector by substituting the distance between the building structure previously stored in the database and the expected parking location of the electric vehicle from the coordinates of the QR code).
  • the far position sensor 820 may be disposed on at least one of the right side (right side plate) and the left side (left side plate) of the case 200.
  • the remote location sensor 820 may include a first remote location sensor 821 and a second remote location sensor 822.
  • the main sensing direction of the remote position sensor 820 (see (1-2) and (1-3) in FIG. 8; for example, the direction in which the sensing area is gradually expanded, the center of the sensing area (optical axis in the case of a camera module)
  • the formation direction, etc. may be inclined with the autonomous driving direction (front) of the charging robot 1000 on a plan view.
  • the main sensing direction of the remote location sensor 820 may be perpendicular to the autonomous driving direction of the charging robot 1000 in a plan view.
  • the charging robot 1000 first performs autonomous driving toward the parking area of the electric vehicle 1 toward the front, and senses a characteristic point of the charging connector 100 (or charging port of the electric vehicle) during the autonomous driving process to charge the charging connector 100; Alternatively, the posture is changed so that the rear side faces the charging connector 100 (or the charging port of the electric vehicle) according to the "location information" of the charging port of the electric vehicle, and the vehicle is driven rearward to the charging connector 100; Charging port).
  • the remote location sensor in order to sense the feature points of the charging connector 100 (or charging port of the electric vehicle) located on the left and right sides of the autonomous driving path of the charging robot 1000, the remote location sensor ( It is preferable that the main sensing direction of 820 is inclined or perpendicular to the autonomous driving direction (front) of the charging robot 1000.
  • the first remote location sensor 821 may be disposed on the right side (right side plate) of the case 200 of the charging robot 1000, and the main sensing direction is the autonomous driving direction of the charging robot 1000 on a plan view. It can be inclined to the right or vertical.
  • the second remote position sensor 822 may be disposed on the left side (left side plate) of the case 200 of the charging robot 1000, and the main sensing direction is the autonomous driving direction and the left side of the charging robot 1000 on a plan view. Can be sloped or vertical.
  • the main sensing direction of the remote location sensor 820 is inclined or perpendicular to the autonomous driving direction (front) of the charging robot 1000, and the remote location sensor 820 is a charging robot ( 1000) does not mean that it does not sense the front or rear.
  • the emergency button 900 may be arranged to be exposed from the case 200 of the charging robot 1000 to the outside.
  • the emergency button 900 may be operated by a touch operation of a user, a manager, or a nearby person, and when the emergency button 900 is touched, the movement of the charging robot 1000 is stopped and the electric vehicle 1 is charged. At least one of stopping things can be performed.
  • the emergency button 900 is charged in the case of an emergency (for example, when the charging robot maintains driving despite obstacles, when children are in danger of electric shock by approaching sockets and connectors during charging) It can be used when the operation of the robot 1000 is suddenly stopped.
  • the emergency button 900 may include at least one of the first emergency button 910 and the second emergency button 920, and the first emergency button 910 is the right side of the case 200 (right side panel). It may be located on the top, the second emergency button 910 may be located on the upper left side (left panel) of the case 200.
  • the bumper 1100 may be configured to perform a function of buffering when the charging robot 1000 is impacted. When the impact accident of the charging robot 1000 occurs, it is possible to prevent the charging robot 1000 from falling or the impact object being injured by the bumper 1100.
  • the bumper 1100 may be disposed on the base 600.
  • the bumper 1100 is supported by an elastic member, and may perform buffer driving by reciprocating movement in response to elastic deformation and restoration of the elastic member upon impact (air bumper).
  • a bumper sensor (not shown) may be disposed on the bumper 1100 and sense the impact of the bumper 1100.
  • the bumper sensor can mainly sense the impact when moving.
  • the bumper sensor is at least one of the case where the charging robot 1000 moves autonomously to the parking area of the electric vehicle 1 and when the vehicle moves in a straight line driving (driving after a posture change) adjacent to the electric vehicle 1.
  • the impact of the bumper 1100 can be sensed.
  • the charging robot 1000 may move by stopping the movement or changing a path after searching for another path.
  • the charging robot 1000 of the present invention can detect the obstacle by the obstacle sensor 810 and the bumper sensor, and in the case of an impact with an obstacle in a sudden situation, can act as a buffer and detect the impact. , Accordingly, the movement may be stopped by changing the path after stopping the movement or searching for another path.
  • the bumper 1100 is disposed at the rear of the base 600, the first bumper 1100 for cushioning the rear impact, and the second bumper 1200 and the base 600 for cushioning the right impact disposed on the right side of the base 600.
  • the first bumper 1100 may be disposed on the protruding portion 620 of the base 600, and upon impact, may perform a buffer drive in the front-rear direction (z-axis).
  • the second bumper 1200 and the third bumper 1300 may be disposed on the main body 610 of the base 600, and may perform buffer driving in the left and right directions (x-axis) when impacted.
  • the electronic control device (not shown) communicates with various components of the central server and the charging robot 1000 to process various signals and information, and accordingly, controls the components of the charging robot 1000 to charge the charging robot 1000 Can operate.
  • the electronic control device may receive information on the runner area of the electric vehicle 1 from the central server, process it, and control the charging robot 1000 to autonomously drive to the parking area of the electric vehicle 1. have.
  • the electronic control device processes the "location information" related to the location of the "obstacle information” generated by the sensing device 600 and the charging connector 100 (or charging port of the electric vehicle), and accordingly, the docking device 400 ) And the mobile device 700 to control the docking driving, driving stop and route re-search function.
  • the electronic control device receives the touch signal of the emergency button 900, and accordingly, controls the electric energy storage device 300 and the mobile device 700 to perform a function of stopping charging or stopping driving. can do.
  • the docking socket 500 is docked and driven by the robot arm 410 according to location information related to the position of the charging connector 100 (or charging port of the electric vehicle), thereby charging the connector 100 (or charging port of the electric vehicle). It may be a configuration docked in.
  • the socket electrode unit 530 is performed.
  • the charging connector 100 is performed by performing secondary docking, which is moved by driving the actuator 540 and coupled (connected) to the connector electrode portion 130 of the charging connector 100 (or charging port of an electric vehicle). Can be docked on.
  • the docking socket 500 may include a case 510, a socket guide 520, a socket electrode part 530, an actuator 540 and a short-range position sensor 830.
  • the case 510 of the docking socket 500 may be a member that forms the exterior of the docking socket 500, and may be manufactured by injection molding of synthetic resin.
  • the socket guide 520 of the docking socket 500 may have a corresponding shape to be male and female coupled with the connector guide 120 of the charging connector 100 (or charging port of an electric vehicle). Therefore, the socket guide 520 may be formed to protrude, or may be formed to be recessed, and may be formed to be partially protruded and partially recessed.
  • the socket guide 520 may have a shape protruding rearward from the rear surface of the case 510.
  • the socket guide 520 may be accommodated in the connector guide 120 of the charging connector 100 (or charging port of an electric vehicle) during the primary docking.
  • the charging robot 1000 drives the robot arm 410 in a 3-axis linear manner according to the "location information" related to the position of the charging connector 100 (or charging port of an electric vehicle) to charge the connector 100 Alternatively, the socket guide 520 of the charging port of the electric vehicle) may be drawn into the connector guide 120.
  • the socket electrode unit 530 and the charging connector ( 100; or the connector electrode part 130 of the charging port of the electric vehicle) is arranged to face each other, so that when the first docking is completed, the movement path of the socket electrode part 530 during the second docking may be correctly formed.
  • the socket guide 520 is tapered at least in part so that the cross-sectional area of the rear end is smaller than the cross-sectional area of the front end so as to correspond to the socket guide 520 of the charging connector 2000 (or charging port of an electric vehicle). Can be formed. That is, a taper having a narrow cross-sectional area toward the primary docking direction may be formed at the protrusion of the socket guide 520.
  • the socket electrode part 530 of the docking socket 500 may be disposed to be movable on the socket guide 520.
  • the movement of the socket electrode unit 530 may be performed by the actuator 540 provided separately in the docking socket 500.
  • the socket electrode part 530 slides by driving of the actuator 540 to electrically connect with the connector electrode part 130 of the charging connector 100 (or charging port of an electric vehicle). Can be connected.
  • the socket electrode part 530 is aligned to face the connector electrode part 130 of the charging connector 100 (or charging port of an electric vehicle), so that the charging connector 100 ;
  • the charging connector 100 can be docked precisely by a linear sliding movement.
  • the socket electrode unit 530 may be in a state in which at least a portion of the socket 510 is accommodated in the initial state, and when the second docking is performed, the sliding electrode is driven by the actuator 540 to move the outside of the case 510. Can be exposed as.
  • the socket electrode part 530 corresponds to the connector electrode part 130 of the charging connector 100 (or charging port of the electric vehicle), similar to the connector electrode part 130 of the charging connector 100 (or charging port of the electric vehicle). It may include a docking charging electrode 531, a docking signal electrode 532 and a docking ground electrode 533. Therefore, during the second docking, a "connection signal” occurs (or simultaneously) through the docking signal electrode 532 and the connector signal electrode 132, and then charging starts through the docking charging electrode 533 and the connector charging electrode 133. Can be.
  • the actuator 540 of the docking socket 500 may be a driving member that moves the socket electrode part 530.
  • the actuator 540 may be disposed inside the case 510.
  • Various driving members may be used as the actuator 540, and for example, the actuator 540 may be a linear step motor, but is not limited thereto.
  • the posture changing unit (not shown) of the docking socket 500 may elastically connect the case 510 and the socket guide 520.
  • the posture change unit may be provided in a “spring” form.
  • the posture changing unit is the first docking (when engaged) of the connector guide 120 of the socket guide 520 and the charging connector 100 (or charging port of an electric vehicle), the socket guide 520 and the charging connector 100; or electricity
  • the orientation of the socket guide 520 may be changed such that the connector guide 120 of the charging port of the vehicle is aligned.
  • the posture changing unit is provided in the form of a torsion spring, and rotates the socket guide 520 based on an axis perpendicular to a direction in which the socket guide 520 moves to engage the connector guide 120, thereby allowing the socket guide 520 to rotate. You can change your posture.
  • the short-range position sensor 830 is a sensor that senses the feature point 140 of the charging connector 100 (charging port of an electric vehicle) to generate "location information" regarding the position of the charging connector 100 (or charging port of an electric vehicle).
  • a lidar for example, a lidar, an ultrasonic sensor, a 3D camera module, an RGBD camera module, a Kinect sensor, and the like, but are not limited thereto.
  • the short-range position sensor 830 may be used when the charging robot 1000 performs docking driving with the docking device 400 in the vicinity of the electric vehicle 1.
  • the short-range position sensor 830-1 may be a sensor for 3-axis linear driving of the docking device 400 during the first docking, and the robot arm 410 may be a charging connector 100 on three-dimensional coordinates or an electric vehicle.
  • the primary docking may be completed by moving the docking socket 500 toward a coordinate at which the charging port is located.
  • At least one (one, the other, or both) of the charging connector 100 and the docking socket 500 of the present invention may further include a first docking sensor 4100 and a second docking sensor 4200.
  • the first docking sensor 4100 senses whether the connector guide 120 of the charging connector 100 (or charging port of an electric vehicle) is coupled to the socket guide 520 of the docking socket 500 during the first docking."
  • the first docking completion signal may be generated.
  • the socket electrode part 530 is connected to (connected to) the connector electrode part 130 of the charging connector 100 (or charging port of an electric vehicle) by driving the actuator 540 after the “first docking completion signal” occurs. Can move.
  • the second docking sensor 4200 senses whether the connector electrode part 130 of the charging connector 100 (or charging port of an electric vehicle) is connected to the socket electrode part 530 of the docking socket 500 during the second docking. By doing so, a "second docking completion signal" can be generated.
  • the charging robot 1000 may start charging after the “second docking completion signal” occurs.
  • the second docking sensor 4200 may perform a function substantially similar to the above-described connector signal electrode 132 and the docking signal electrode 532, and accordingly, if one exists, the other may be omitted. .
  • first docking sensor 4100 and the second docking sensor 4200 may include load cells, Infrared/ultrasonic distance sensors, and the like, but is not limited thereto.
  • the first docking sensor 4100 and the second docking sensor 4200 can perform a stable docking procedure in a step-by-step manner, and occurs when charging current is applied in a state where docking is not completed. Safety accidents.
  • the charging connector 100 of the present invention may be mounted on the electric vehicle 1 such that the connector guide 120 and the connector electrode portion 130 face forward (see FIG. 14(a) ), but is limited to this. It does not work.
  • the charging connector 100 of the present invention may be mounted on the electric vehicle 1 such that the connector guide 120 and the connector electrode unit 130 face upward.
  • the robot arm 410 may perform two-axis driving and then move the docking socket 500 downward to perform the primary docking.
  • the socket electrode unit 530 may be moved downward by the actuator 540 to perform secondary docking.
  • the charging connector ( The feature point 140 of the 100) includes a first feature point 141 (eg, located on the front face) and a second feature point 142 (eg, the top face) located on different sides of the case 110 of the charging connector 100.
  • the short-range position sensor 830 may sense the first feature point 141 when two-axis driving of the robot arm 410 to provide "location information", and the second feature point 142 at the first docking. ) To provide "location information".
  • the above-described configuration of the present invention can have various embodiments within a range that does not change the essential characteristics by those skilled in the art.
  • some components of the charging connector 100 may be provided in the docking socket 500 instead of the charging connector 100 (or charging port of the electric vehicle), or a part of the docking socket 500
  • the configuration may be provided on the charging connector 100 (or charging port of an electric vehicle) instead of the docking socket 500.

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
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  • Power Engineering (AREA)
  • Transportation (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

La présente invention concerne : un connecteur de charge et une prise d'accueil, qui peuvent accueillir de façon précise une prise d'accueil d'un robot de charge de voiture électrique avec un port de charge d'une voiture électrique de sorte qu'aucune erreur ne se produise dans le processus d'accueil du robot de charge ; et un ensemble d'accueil comprenant le connecteur de charge et la prise d'accueil. L'ensemble d'accueil comprend : un connecteur de charge électriquement connecté à un port de charge d'une voiture électrique ; et une prise d'accueil disposée sur un robot de charge et entraînée en fonction d'informations de position du connecteur de charge de manière à accueillir le connecteur de charge. Le connecteur de charge comprend un guide de connecteur et une unité d'électrode de connecteur. La prise d'accueil comprend un guide de prise, une unité d'électrode de prise et un actionneur. Le guide de connecteur et le guide de prise présentent des formes correspondantes de manière à réaliser un couplage mâle/femelle. Le guide de prise est couplé au guide de connecteur par l'entraînement du robot de charge, et l'unité d'électrode de prise est ensuite connectée à l'unité d'électrode de connecteur par l'entraînement de l'actionneur, ce qui permet d'établir un accueil.
PCT/KR2019/011439 2019-02-01 2019-09-05 Connecteur de charge, prise d'accueil et ensemble d'accueil permettant de charger une voiture électrique WO2020159028A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20190013386 2019-02-01
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WO2023101337A1 (fr) * 2021-12-03 2023-06-08 주식회사 에바 Ensemble connecteur d'accueil pour chargeur de véhicule électrique
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