Coil position adjustment mechanism and non-contact power supply system

Abstract

A coil position adjustment mechanism (1) has a coil moving mechanism (2) that displaces the position of a power supply coil (122) or a power receiving coil (112). The coil moving mechanism (2) has a support body (43) and at least one force applying member (5-7). The support body (43) supports the power supply coil (122) or the power receiving coil (112). The at least one force applying member (5-7) applies a force to the support body (43). The at least one force applying member (5-7) includes at least one of a first force applying member (5), a second force applying member (6), and a third force applying member (7). The first force applying member (5) applies a force to the support body (43) in an X direction. The second force applying member (6) applies a force to the support body (43) in a Y direction. The third force applying member (7) applies a force to the support body (43) about a central axis. The Y direction is a direction perpendicular to the X direction, and the central axis is perpendicular to a plane that includes the X direction and the Y direction.

Description

TECHNICAL FIELD

[0001] The present application relates to a coil position adjustment mechanism and a non-contact power supply system. BACKGROUND

[0002] Non-contact power supply is sometimes performed on a mobile body (see, for example, Patent Literature 1). In order to efficiently transmit power in non-contact power supply, positioning of a coil on a power receiving side and a coil on a power transmitting side needs to be appropriately performed.

[0003] The mobile body of Patent Literature 1 has a power receiving side coil, an acquisition unit that acquires efficiency information related to efficiency of non-contact power supply, a moving mechanism that moves the power receiving side coil, and a control unit that controls the moving mechanism.

[0004] The control unit of Patent Literature 1 determines whether or not the power receiving side coil needs to be moved using the efficiency information after the mobile body moves to a power supply point. The control unit of Patent Literature 1 determines that the power receiving side coil does not need to be moved when efficiency of non-contact power supply exceeds a predetermined degree, and otherwise determines that the power receiving side coil needs to be moved.

[0005] The control unit of Patent Literature 1 controls the moving mechanism to move the power receiving side coil when it is determined that the power receiving side coil needs to be moved, and determines whether or not the power receiving side coil needs to be moved again using the efficiency information.

[0006] The control unit of Patent Literature 1 repeatedly moves the power receiving side coil until it is determined that the power receiving side coil does not need to be moved. Alternatively, the control unit of Patent Literature 1 moves the power receiving side coil to a plurality of positions, and selects a position at which efficiency of non-contact power supply is the highest from among the movement destinations.

[0007] PRIOR ART DOCUMENTS

[0008] PATENT LITERATURE

[0009] Patent Literature 1: Japanese Patent Application Publication No. 2017-135833 SUMMARY

[0010] PROBLEMS TO BE SOLVED BY THE INVENTION

[0011] However, the moving mechanism described in Patent Literature 1 moves the power receiving side coil after the mobile body moves to a power supply point, and performs positioning of the coil on the power receiving side and the coil on the power transmitting side. Therefore, positioning of the coil on the power receiving side and the coil on the power transmitting side takes time.

[0012] The present application was made in view of the above-described problems, and aims to provide a coil position adjustment mechanism and a non-contact power supply system that can perform positioning of a power receiving coil and a power supply coil in a shorter time.

[0013] MEANS FOR SOLVING THE PROBLEMS

[0014] An example coil position adjustment mechanism of the present application includes a coil moving mechanism. The coil moving mechanism displaces a position of a power transmitting coil or a power receiving coil. The coil moving mechanism has a support body and at least one force applying member. The support body supports the power transmitting coil or the power receiving coil. The at least one force applying member applies a force to the support body. The at least one force applying member includes at least one of a first force applying member, a second force applying member, and a third force applying member. The first force applying member applies a force to the support body in an X direction. The second force applying member applies a force to the support body in a Y direction. The third force applying member applies a force to the support body about a central axis. The Y direction is a direction perpendicular to the X direction, and the central axis is perpendicular to a plane including the X direction and the Y direction.

[0015] An example non-contact power feeding system of the present application includes a mobile body, a power receiving device, a power feeding device, and the coil position adjustment mechanism. The power receiving device has a power receiving coil. The power feeding device has a power transmitting coil and transmits electric power from the power transmitting coil to the power receiving coil. The power receiving device is mounted on the mobile body. The coil position adjustment mechanism has the coil moving mechanism provided to the mobile body or the power feeding device.

[0016] Effects of the Invention

[0017] According to the example present application, positioning of the power receiving coil and the power transmitting coil can be performed in a shorter time. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 1 is a diagram showing a non-contact power feeding system according to an embodiment of the present application.

[0019] Figure 2 FIG. 2 is a perspective view showing a coil position adjustment mechanism according to an embodiment of the present application.

[0020] Figure 3 FIG. 3 is a plan view showing the coil position adjustment mechanism according to the embodiment of the present application.

[0021] Figure 4 FIG. 4 is a front view showing a mobile body according to the embodiment of the present application.

[0022] Figure 5 FIG. 5 is a side view showing the mobile body according to the embodiment of the present application.

[0023] Figure 6 FIG. 6 is a block diagram showing a non-contact power feeding system according to the embodiment of the present application. DETAILED DESCRIPTION

[0024] Embodiments of the present application will be described below with reference to the accompanying drawings. However, the present application is not limited to the following embodiments. Also, for portions that are described repeatedly, the description will be appropriately omitted. Also, in the drawings, the same reference numerals are assigned to the same or equivalent portions, and the description will not be repeated.

[0025] In the present specification, in order to easily understand the application, an X direction, a Y direction, and a Z direction that are perpendicular to each other are sometimes described. The X direction and the Y direction are parallel to a horizontal direction, and the Z direction is parallel to a vertical direction. Also, in the present application specification, in order to easily understand the application, the X direction is sometimes described as a front-rear direction, the Y direction is sometimes described as a left-right direction, and the Z direction is sometimes described as an up-down direction.

[0026] First, a non-contact power feeding system 100 according to the present embodiment will be described with reference to Figure 1 The non-contact power feeding system 100 according to the present embodiment will be described. Figure 1 is a view that shows the non-contact power feeding system 100 according to the present embodiment. As shown in Figure 1 , the non-contact power feeding system 100 has a mobile body 10, a power receiving device 110, and a power feeding device 120. The power receiving device 110 is mounted on the mobile body 10.

[0027] The power receiving device 110 has a power receiving coil 112, and the power feeding device 120 has a power feeding coil 122. The power feeding device 120 transmits electric power from the power feeding coil 122 to the power receiving coil 112. Specifically, when the mobile body 10 approaches the power feeding device 120, and the mobile body 10 stops at a position at which a distance between the power receiving coil 112 and the power feeding coil 122 is equal to or less than a maximum power feedable distance, electric power is non-contactly supplied from the power feeding coil 122 to the power receiving coil 112. The maximum power feedable distance corresponds to a position at which the power receiving coil 112 is farthest from the power feeding coil 122 in a power feeding range in which power transmission from the power feeding coil 122 to the power receiving coil 112 is possible. Also, the non-contact power feeding method is not particularly limited, and can be any one of, for example, an electromagnetic induction method, a magnetic field resonance method, or an electric field resonance method.

[0028] Next, the coil position adjustment mechanism 1 according to the present embodiment will be described with reference to Figure 2 and Figure 3 . Figure 2 is a perspective view that shows the coil position adjustment mechanism 1 according to the present embodiment. The non-contact power feeding system 100 described with reference to Figure 1 also has the coil position adjustment mechanism 1.

[0029] As shown in Figure 2 , the coil position adjustment mechanism 1 has a coil moving mechanism 2 and a first alignment member 8. In the present embodiment, the coil moving mechanism 2 is provided on the power feeding device 120 described with reference to Figure 1 , and the first alignment member 8 is provided on the power receiving device 110 described with reference to Figure 1The description refers to the moving body 10. Below, please refer first to... Figure 2 as well as Figure 3 The coil moving mechanism 2 of this embodiment is described.

[0030] like Figure 2 As shown, the coil moving mechanism 2 includes a base 3, a movable guide 4, a first force-applying component 5, a pair of second force-applying components 6, a first shaft 51, and a second shaft 61. In this embodiment, the coil moving mechanism 2 uses a reference... Figure 1 The positional displacement of the power supply coil 122 is described. More specifically, the coil moving mechanism 2 causes the positional displacement of the power supply pad 121 that houses the power supply coil 122. In this embodiment, the displacement of the positions of the power supply coil 122 and the power supply pad 121 includes the displacement of the positions of the power supply coil 122 and the power supply pad 121 in the X and Y directions, and the displacement relative to the reference direction. Figure 3 The displacement of the rotational position of the power supply coil 122 and the power supply pad 121 in the θ direction (rotation direction) is explained.

[0031] Furthermore, in this application specification, the side where the power supply pad 121 is located is designated as the "X side," and the opposite side is designated as the "+X side" to describe the embodiment. Additionally, the "-X side" is designated as the front side of the coil moving mechanism 2, and the "+X side" is designated as the rear side of the coil moving mechanism 2 to describe the embodiment. Furthermore, the left side of the coil moving mechanism 2 is designated as the "+Y side," and the right side of the coil moving mechanism 2 is designated as the "-Y side" to describe the embodiment.

[0032] The base 3 is fixed to the ground or floor surface, for example. More specifically, the base 3 has a base portion 31. The base portion 31 has a through hole 3a extending in the vertical direction (Z direction). The through hole 3a penetrates the base portion 31. A fastening member such as a bolt is inserted into the through hole 3a to fix the base 3 to the ground or floor surface. In this specification, the side on which the base 3 is disposed is designated as the "-Z side" and the opposite side is designated as the "+Z side" to describe the embodiment. Furthermore, the embodiment is described with the "-Z side" as the lower side and the "+Z side" as the upper side.

[0033] In addition to the base portion 31, the base 3 also has a first wall portion 32 and a second wall portion 33. The first wall portion 32 and the second wall portion 33 protrude upward (towards the +Z side) from the base portion 31 of the base 3. The first wall portion 32 and the second wall portion 33 are opposite each other in the front-rear direction (X direction). More specifically, the first wall portion 32 is provided at the front end (end on the -X side) of the base portion 31 of the base 3, and the second wall portion 33 is provided at the rear end (end on the +X side) of the base portion 31 of the base 3.

[0034] The first shaft 51 is a rod-shaped member extending in the front-rear direction (X direction) and is fixed to the base 3. More specifically, one end of the first shaft 51 is fixed to the first wall portion 32, and the other end of the first shaft 51 is fixed to the second wall portion 33.

[0035] The movable guide 4 has a first movable body 41, a second movable body 42, and a third movable body 43. The movable guide 4 of the present embodiment will be described with reference to Figure 1 The power supply coil 122 is guided in the X direction, the Y direction, and the θ direction described with reference to Figure 3 More specifically, the movable guide 4 guides the power supply pad 121 in the X direction, the Y direction, and the θ direction.

[0036] The first movable body 41 is disposed above the base portion 31 of the base 3. Alternatively, the first movable body 41 is slidably disposed on the upper surface of the base portion 31 of the base 3.

[0037] The first movable body 41 has a first through-hole extending in the front-rear direction. The first through-hole penetrates the first movable body 41. The first shaft 51 is inserted into the first through-hole and guides the first movable body 41 in the front-rear direction (X direction). Thus, the first shaft 51 functions as a guide member that guides the first movable body 41 in the X direction. Preferably, the first movable body 41 has a first bearing portion disposed in the first through-hole. The first bearing portion slidably supports the first shaft 51 in the front-rear direction (X direction).

[0038] In addition, in the case where the first movable body 41 is disposed on the upper surface of the base portion 31 of the base 3, the coil moving mechanism 2 can have one first shaft 51 or a plurality of first shafts 51. On the other hand, in the case where the first movable body 41 is disposed above the base portion 31 of the base 3, in order to stably support the first movable body 41, the coil moving mechanism 2 preferably has a plurality of first shafts 51.

[0039] The first biasing member 5 biases the first movable body 41 in the X direction. In the present embodiment, the first biasing member 5 is a spring. Specifically, the first biasing member 5 is attached to the first shaft 51. One end of the first biasing member 5 is in contact with the rear surface of the first movable body 41, and the other end of the first biasing member 5 is in contact with the second wall portion 33. Alternatively, one end of the first biasing member 5 is fixed to the rear surface of the first movable body 41, and the other end of the first biasing member 5 is fixed to the second wall portion 33. The first biasing member 5 biases the first movable body 41 to the front side (-X side). In other words, the first biasing member 5 biases the first movable body 41 toward the first wall portion 32. In addition, the number of the first biasing members 5 can be the same as the number of the first shafts 51 or less than the number of the first shafts 51.

[0040] The second movable body 42 is arranged above the first movable body 41. Alternatively, the second movable body 42 is slidably arranged on the upper surface of the first movable body 41. More specifically, the second movable body 42 has a base portion 421, and the base portion 421 of the second movable body 42 is arranged above or on the upper surface of the first movable body 41. The length of the base portion 421 of the second movable body 42 in the left-right direction (Y direction) is longer than the length of the first movable body 41 in the left-right direction (Y direction), and both end portions of the base portion 421 of the second movable body 42 in the left-right direction protrude from the first movable body 41.

[0041] The second movable body 42 has a third wall portion 422 and a fourth wall portion 423 in addition to the base portion 421. The third wall portion 422 and the fourth wall portion 423 protrude downward (-Z side) from the base portion 421 of the second movable body 42. The third wall portion 422 and the fourth wall portion 423 are opposed in the left-right direction (Y direction). More specifically, the third wall portion 422 is provided at the left end portion (+Y side) of the base portion 421 of the second movable body 42, and the fourth wall portion 423 is provided at the right end portion (-Y side) of the base portion 421 of the second movable body 42.

[0042] The second shaft 61 is a rod-shaped member extending in the left-right direction (Y direction) and is fixed to the second movable body 42. More specifically, one end of the second shaft 61 is fixed to the third wall portion 422, and the other end of the second shaft 61 is fixed to the fourth wall portion 423. In addition, the first movable body 41 has a second through-hole extending in the left-right direction. The second through-hole penetrates the first movable body 41. The second shaft 61 is inserted into the second through-hole and guides the first movable body 41 in the left-right direction (Y direction). Thus, the second shaft 61 functions as a guide member that guides the first movable body 41 in the Y direction. Preferably, the second movable body 42 has a second bearing portion arranged in the second through-hole. The second bearing portion slidably supports the second shaft 61 in the left-right direction (Y direction).

[0043] In addition, in the case where the second movable body 42 is arranged on the upper surface of the first movable body 41, the coil moving mechanism 2 can have one second shaft 61 or a plurality of second shafts 61. On the other hand, in the case where the second movable body 42 is arranged above the first movable body 41, in order to stably support the second movable body 42, the coil moving mechanism 2 preferably has a plurality of second shafts 61.

[0044] A pair of the second urging members 6 urge the second movable body 42 in the Y direction. In the present embodiment, the second urging members 6 are springs. Specifically, the pair of the second urging members 6 are attached to the second shaft 61. One of the pair of the second urging members 6 is disposed between the left side surface of the first movable body 41 and the third wall portion 422. The other of the pair of the second urging members 6 is disposed between the right side surface of the first movable body 41 and the fourth wall portion 423. Hereinafter, the second urging member 6 disposed between the left side surface of the first movable body 41 and the third wall portion 422 is referred to as "the left-side second urging member 6", and the second urging member 6 disposed between the right side surface of the first movable body 41 and the fourth wall portion 423 is referred to as "the right-side second urging member 6".

[0045] One end of the left-side second urging member 6 contacts the left side surface of the first movable body 41, and the other end of the left-side second urging member 6 contacts the third wall portion 422. Alternatively, one end of the left-side second urging member 6 is fixed to the left side surface of the first movable body 41, and the other end of the left-side second urging member 6 is fixed to the third wall portion 422. The left-side second urging member 6 urges the third wall portion 422 to the left side (+Y side). In other words, the left-side second urging member 6 urges the second movable body 42 to the left side.

[0046] One end of the right-side second urging member 6 contacts the right side surface of the first movable body 41, and the other end of the right-side second urging member 6 contacts the fourth wall portion 423. Alternatively, one end of the right-side second urging member 6 is fixed to the right side surface of the first movable body 41, and the other end of the right-side second urging member 6 is fixed to the fourth wall portion 423. The right-side second urging member 6 urges the fourth wall portion 423 to the right side (-Y side). In other words, the right-side second urging member 6 urges the second movable body 42 to the right side.

[0047] In addition, the number of the pair of the second urging members 6 can be the same as the number of the second shaft 61, or can be smaller than the number of the second shaft 61.

[0048] In the present embodiment, the third movable body 43 supports the power supply coil 122 described above. More specifically, the third movable body 43 supports the power supply pad 121. The third movable body 43 is an example of a support body. Figure 1

[0049] The third movable body 43 is disposed above the second movable body 42. More specifically, the third movable body 43 has a base portion 431, and the base portion 431 of the third movable body 43 is disposed above the second movable body 42.

[0050] The third movable body 43 has, in addition to the base portion 431, a fifth wall portion 432 and a second positioning member 44. The second positioning member 44 is described later together with the first positioning member 8. ​

[0051] The fifth wall portion 432 protrudes upward (+Z side) from the base portion 431 of the third movable body 43. More specifically, the fifth wall portion 432 is provided at a front side end portion (-X side end portion) of the base portion 431 of the third movable body 43. In addition, the power supply pad 121 is fixed to a front face (-X side face) of the fifth wall portion 432.

[0052] Figure 3 is a plan view showing the coil position adjustment mechanism 1 of the present embodiment. As shown in Figure 3 the coil moving mechanism 2 further has a third urging member 7 and a third shaft 71.

[0053] The third shaft 71 is a rod-shaped member extending in the up-down direction (Z direction), and has a central axis extending in the up-down direction. The central axis is perpendicular to a plane including the X direction and the Y direction. In other words, the central axis is perpendicular to a horizontal plane. In addition, in the present specification, the circumferential direction with respect to the central axis of the third shaft 71 is sometimes referred to as the Θ direction.

[0054] The upper side end portion of the third shaft 71 is fixed to the base portion 431 of the third movable body 43. On the other hand, the lower side end portion of the third shaft 71 is rotatably supported on the base portion 421 of the second movable body 42. In other words, the base portion 421 of the second movable body 42 rotatably supports the third shaft 71 with the central axis of the third shaft 71 as a center. More specifically, the base portion 421 of the second movable body 42 has a recess portion extending downward from the upper surface of the base portion 421, and the lower side end portion of the third shaft 71 is fitted into the recess portion. Preferably, the second movable body 42 has a third bearing portion disposed in the recess portion of the base portion 421. The third bearing portion rotatably supports the third shaft 71 in the circumferential direction (Θ direction).

[0055] The third urging member 7 is disposed in the gap between the base portion 421 of the second movable body 42 and the base portion 431 of the third movable body 43. The third urging member 7 urges the third movable body 43 in the circumferential direction (Θ direction) with the central axis of the third shaft 71 as a center. In other words, the third urging member 7 urges the third movable body 43 around the central axis.

[0056] In the present embodiment, the third urging member 7 is a spring. Specifically, the coil moving mechanism 2 of the present embodiment has two third urging members 7. One of the two third urging members 7 is disposed on the left side (+Y side) of the third shaft 71, and the other of the two third urging members 7 is disposed on the right side (-Y side) of the third shaft 71. One end 7a of each third urging member 7 is fixed to the base portion 421 of the second movable body 42, and the other end 7b of each third urging member 7 is fixed to the base portion 431 of the third movable body 43. Hereinafter, the third urging member 7 disposed on the left side (+Y side) of the third shaft 71 will be sometimes referred to as "left third urging member 7". In addition, the third urging member 7 disposed on the right side (-Y side) of the third shaft 71 will be sometimes referred to as "right third urging member 7".

[0057] The left third urging member 7 urges the third movable body 43 in the clockwise direction, and the right third urging member 7 urges the third movable body 43 in the counterclockwise direction. Thus, the two second urging members 6 urge the third movable body 43 in mutually opposite rotational directions. In the present specification, the clockwise direction is set as "-θ direction", and the counterclockwise direction is set as "+θ direction" to describe the embodiment.

[0058] The coil moving mechanism 2 of the present embodiment is described above with reference to Figure 2 and Figure 3 According to the coil moving mechanism 2 of the present embodiment, the third movable body 43 is movable in the X direction and the Y direction, and rotatable in the θ direction. In addition, the third movable body 43 is urged in the X direction by the first urging member 5, and in the Y direction by the second urging member 6. Furthermore, the third movable body 43 is urged in the θ direction by the third urging member 7 about the central axis. In other words, the third movable body 43 is urged in the θ direction by the third urging member 7.

[0059] Next, the first alignment member 8 and the second alignment member 44 are described with reference to Figure 2 and Figure 3 As shown in Figure 2 and Figure 3 The first alignment member 8 has a base portion 81 and a protrusion portion 82. The protrusion portion 82 protrudes from the base portion 81. In the present embodiment, the protrusion portion 82 has a triangular shape in plan view, and the protrusion portion 82 has two inclined surfaces 821 and one apex 822. The two inclined surfaces 821 of the protrusion portion 82 are examples of the second contact surface.

[0060] The second alignment member 44 is fixed to the front face of the fifth wall portion 432. In other words, the second alignment member 44 is fixed to the face of the fifth wall portion 432 on which the power pad 121 is disposed. Thus, the power pad 121 and the second alignment member 44 are disposed on the same face of the fifth wall portion 432.

[0061] In the present embodiment, the second positioning member 44 is disposed at a position higher than the power feeding mat 121. More specifically, the second positioning member 44 is fixed to the upper end portion of the fifth wall portion 432.

[0062] The second positioning member 44 has a cutout portion 44a. The cutout portion 44a extends from the front face of the second positioning member 44 in the rear direction (+X direction). In the present embodiment, the plan view shape of the cutout portion 44a is a triangle, and the cutout portion 44a has two inclined surfaces 441 and one apex 44b. In other words, the third movable body 43 has two inclined surfaces 441. In the present embodiment, the apex 44b of the cutout portion 44a is opposite the central axis of the third shaft 71 in the X direction.

[0063] The two inclined surfaces 441 of the cutout portion 44a extend in directions intersecting each other. Specifically, the two inclined surfaces 441 extend from the front face of the second positioning member 44 in directions intersecting the X direction. In the present embodiment, the plan view shape of the cutout portion 44a coincides with the plan view shape of the protrusion portion 82. Therefore, the two inclined surfaces 441 of the cutout portion 44a include shapes coinciding with the two inclined surfaces 821 of the protrusion portion 82. The two inclined surfaces 441 of the cutout portion 44a are examples of the first contact surface.

[0064] In the non-contact power feeding system 100 described with reference to Figure 1 In the non-contact power feeding system 100 described with reference to Figure 1 , when power is non-contact fed from the power feeding device 120 to the power receiving device 110, the two inclined surfaces 821 of the protrusion portion 82 are in contact with the two inclined surfaces 441 of the cutout portion 44a, and the apex 822 of the protrusion portion 82 is in contact with the apex 44b of the cutout portion 44a. In the present embodiment, the efficiency of non-contact power feeding, that is, the efficiency of power transfer from the power feeding coil 122 Figure 1 to the power receiving coil 112

[0065] Next, the operation of the coil moving mechanism 2 will be described with reference to Figures 1 to 3 . In the present embodiment, when power is non-contact fed from the power feeding device 120 to the power receiving device 110, the moving body 10 moves to a position at which the protrusion portion 82 is inserted into the cutout portion 44a. In the following description, the state of the coil moving mechanism 2 before the protrusion portion 82 is inserted into the cutout portion 44a will be referred to as the "initial state". The initial state is the state before the protrusion portion 82 is in contact with the cutout portion 44a.

[0066] In this embodiment, when the movable body 10 supplies power non-contactly from the power supply device 120 to the power receiving device 110, the protrusion 82 contacts the cutout 44a, resisting the force of the first force-applying member 5, causing the first movable body 41 to the third movable body 43 to move from their initial positions in the +X direction. For example, the target stopping position of the movable body 10 during non-contact power supply is a position where the length of the first force-applying member 5 is half its initial length.

[0067] Furthermore, when the movable body 10 moves to the target stopping position, if the apex 822 of the protrusion 82 shifts to the left (+Y side) or right (-Y side) from the apex 44b of the cutout 44a and moves in the +X direction, when the protrusion 82 contacts the cutout 44a, the second movable body 42 and the third movable body 43 move from their initial positions in the +Y or -Y direction. As a result, the two inclined surfaces 821 of the protrusion 82 contact the two inclined surfaces 441 of the cutout 44a, and the apex 822 of the protrusion 82 contacts the apex 44b of the cutout 44a.

[0068] Furthermore, when the movable body 10 moves to the target stopping position and then moves in a direction intersecting the X direction, when the protrusion 82 contacts the cut portion 44a, the third movable body 43 rotates from its initial rotational position in the +θ or -θ direction, and the second movable body 42 and the third movable body 43 move from their initial positions in the +Y or -Y direction. As a result, the two inclined surfaces 821 of the protrusion 82 contact the two inclined surfaces 441 of the cut portion 44a, and the apex 822 of the protrusion 82 contacts the apex 44b of the cut portion 44a.

[0069] Above, refer to Figures 1 to 3 This embodiment describes the contactless power supply system 100 and the coil position adjustment mechanism 1. According to this embodiment, as soon as the moving body 10 moves to the target stop position, the receiving coil 112 and the power supply coil 122 are positioned appropriately. Specifically, the receiving coil 112 and the power supply coil 122 are positioned to efficiently transmit power. Therefore, the positioning of the receiving coil 112 and the power supply coil 122 can be performed in a shorter time.

[0070] Further, according to the present embodiment, if the accuracy of the stop position of the moving body 10 is an accuracy in which the protruding portion 82 is able to be fitted into the cutout portion 44a, power can be efficiently transmitted. Specifically, even if the moving body 10 moves in the +X direction in a state in which the apex 822 of the protruding portion 82 is offset to the left (+Y side) or right (-Y side) from the apex 44b of the cutout portion 44a, or if the stop position of the moving body 10 deviates from the target stop position, power can be efficiently transmitted. Further, even if the moving body 10 moves in a direction intersecting the X direction, or if the stop position of the moving body 10 deviates from the target stop position, power can be efficiently transmitted.

[0071] Further, for example, in a case in which the target stop position of the moving body 10 is a position in which the first movable body 41 to third movable body 43 are not moved in the +X direction from the positions of the initial state, depending on the accuracy of the stop position of the moving body 10, there is a possibility that the protruding portion 82 does not come into contact with the cutout portion 44a. Alternatively, there is a possibility that the protruding portion 82 is shallowly fitted into the cutout portion 44a, and the state of contact of the protruding portion 82 with the cutout portion 44a cannot be a state in which power can be efficiently transmitted. In contrast to this, according to the present embodiment, the moving body 10 moves the first movable body 41 to third movable body 43 in the +X direction from the positions of the initial state at the time of non-contact power feeding. Therefore, the protruding portion 82 can be more reliably fitted into the cutout portion 44a. In other words, the state of contact of the protruding portion 82 with the cutout portion 44a can be more reliably brought to a state in which power can be efficiently transmitted.

[0072] Further, according to the present embodiment, the coil position adjustment mechanism 1 has the first alignment member 8. Therefore, by causing the first alignment member 8 to have a shape that matches the shape of the second alignment member 44, the first alignment member 8 can be brought into contact with the second alignment member 44, and the power receiving coil 112 and the power feeding coil 122 can be positioned at a position in which power can be efficiently transmitted.

[0073] Further, according to the present embodiment, the first alignment member 8 has the protruding portion 82. Therefore, since the protruding portion 82 is able to protrude from the moving body 10, the first alignment member 8 can be brought into contact with the second alignment member 44 more reliably.

[0074] Further, the second positioning member 44 has a shape that matches the shape of the protruding portion 82, whereby the first positioning member 8 and the second positioning member 44 can be brought into contact with each other, and the power receiving coil 112 and the power feeding coil 122 can be positioned at a position at which power can be efficiently transmitted. In the present embodiment, the shapes of the two inclined surfaces 821 of the protruding portion 82 match the shapes of the two inclined surfaces 441 of the cutout portion 44a. Thus, by bringing the two inclined surfaces 821 of the protruding portion 82 into contact with the two inclined surfaces 441 of the cutout portion 44a, the power receiving coil 112 and the power feeding coil 122 can be positioned at a position at which power can be efficiently transmitted.

[0075] Next, the forces of the first to third urging members 5 to 7 will be described. The force of the first urging member 5 can be lower than or greater than the forces of the second and third urging members 6 and 7, but is preferably greater than the forces of the second and third urging members 6 and 7. By making the force of the first urging member 5 greater than the forces of the second and third urging members 6 and 7, compared to a case in which the force of the first urging member 5 is lower than the forces of the second and third urging members 6 and 7, the third movable body 43 can be reliably moved in the Y direction and the θ direction in accordance with the amount of displacement of the protruding portion 82 in the Y direction with respect to the cutout portion 44a in the initial state and the degree of inclination of the protruding portion 82 with respect to the cutout portion 44a in the initial state, and the power receiving coil 112 and the power feeding coil 122 can be more reliably positioned at a position at which power can be efficiently transmitted.

[0076] Further, the force of the second urging member 6 can be lower than or greater than the force of the third urging member 7, but is preferably greater than the force of the third urging member 7. By making the force of the second urging member 6 greater than the force of the third urging member 7, compared to a case in which the force of the second urging member 6 is lower than the force of the third urging member 7, the third movable body 43 can be reliably moved in the θ direction in accordance with the degree of inclination of the protruding portion 82 with respect to the cutout portion 44a in the initial state, and the power receiving coil 112 and the power feeding coil 122 can be more reliably positioned at a position at which power can be efficiently transmitted.

[0077] Next, the mobile body 10 will be described with reference to Figure 4 and Figure 5 to the drawings. Figure 4 is a front view of the mobile body 10 of the present embodiment, Figure 5 is a side view of the mobile body 10 of the present embodiment. The mobile body 10 is, for example, an automated guided vehicle (AGV). The automated guided vehicle autonomously moves to a desired destination.

[0078] AsFigure 4 and Figure 5 As shown in FIG. 1, the mobile body 10 has an outer body 11 and a drive wheel 12. In addition, the mobile body 10 has a motor and a gear that rotate the drive wheel 12, and a drive circuit. The drive circuit generates a signal that drives the motor. The motor, the gear, and the drive circuit are disposed inside the outer body 11.

[0079] The mobile body 10 of the present embodiment is equipped with a power receiving pad 111. The power receiving pad 111 houses a power receiving coil 112 described with reference to Figure 1 FIG. 2. The power receiving pad 111 is disposed on the front side of the outer body 11 in the inside of the outer body 11.

[0080] In addition, the mobile body 10 is provided with a first alignment member 8. In the present embodiment, the first alignment member 8 is fixed to the front face of the outer body 11. Therefore, the protruding portion 82 protrudes in the advancing direction of the mobile body 10. In addition, the first alignment member 8 is disposed on the upper side of the power receiving pad 111. Therefore, the mobile body 10 advances toward the coil moving mechanism 2 and moves to a position where the protruding portion 82 is inserted into the cutout portion 44a, whereby the power receiving coil 112 and the power feeding coil 122 can be positioned at a position where power can be efficiently transmitted.

[0081] Next, the non-contact power feeding system 100 of the present embodiment will be described with reference to Figure 6 FIG. 3. Figure 6 is a block diagram showing the non-contact power feeding system 100 of the present embodiment. First, the power receiving apparatus 110 will be described.

[0082] As shown in Figure 6 FIG. 4, the power receiving apparatus 110 has a power receiving coil 112, a magnetic core 113, a capacitor 114, a rectifier 115, a charger 116, a battery 117, and a power receiving side controller 118.

[0083] The power receiving coil 112 and the magnetic core 113 are housed in the power receiving pad 111 described with reference to Figure 4 and Figure 5 FIG. 2. The power receiving coil 112 is wound around the magnetic core 113. The capacitor 114 is connected to the power receiving coil 112. The power receiving coil 112, the magnetic core 113, and the capacitor 114 constitute a resonator on the power receiving side.

[0084] The rectifier 115 rectifies the output of the resonator on the power receiving side to generate a direct-current voltage. The charger 116 has a DC / DC converter. The DC / DC converter converts the output (direct-current voltage) of the rectifier 115 to a voltage suitable for charging the battery 117. The battery 117 is a secondary battery and is connected to the charger 116. The power receiving side controller 118 controls a switching element of the DC / DC converter of the charger 116 at the time of charging.

[0085] Next, the power feeding device 120 will be described. As shown in FIG. 1, the power feeding device 120 has a power feeding coil 122, a magnetic core 123, a capacitor 124, a power supply section 125, and a power feeding side controller 126. Figure 6

[0086] The power feeding coil 122 and the magnetic core 123 are housed in the power feeding mat 121 described with reference to FIG. 1. The power feeding coil 122 is wound around the magnetic core 123. The capacitor 124 is connected to the power feeding coil 122. The power feeding coil 122, the magnetic core 123, and the capacitor 124 constitute a resonator on the power feeding side. Figure 2 Figure 3 The power supply section 125 supplies an alternating voltage of a prescribed frequency to the resonator on the power feeding side in accordance with an instruction from the power feeding side controller 126. As a result, electric power is transmitted from the power feeding coil 122 to the power receiving coil 112, and the battery 117 is charged based on the electric power transmitted to the power receiving coil 112. The electric power that charges the battery 117 is used for the operation of each structural element of the mobile body 10.

[0087] The above describes an embodiment of the present application with reference to the drawings. However, the present application is not limited to the above-described embodiment, and can be implemented in various ways without departing from the gist thereof. Also, the drawings schematically show each structural element as a main body for easy understanding of the application, and the thickness, length, number, interval, and the like of each structural element shown in the drawings are sometimes different from the actual ones in consideration of the convenience of making the drawings. Also, the configuration of each structural element shown in the above-described embodiment is only one example, and is not particularly limited, and various changes can be made within a range that does not substantially depart from the effects of the present application.

[0088] For example, in the embodiment of the present application, the first force applying member 5 is arranged only between the first movable body 41 and the second wall portion 33, but the coil moving mechanism 2 can have the first force applying member 5 arranged between the first movable body 41 and the first wall portion 32 in addition to the first force applying member 5 arranged between the first movable body 41 and the second wall portion 33.

[0089] Also, in the embodiment of the present application, the left second force applying member 6 applies a force to the second movable body 42 to the left side, and the right second force applying member 6 applies a force to the second movable body 42 to the right side, but the left second force applying member 6 can apply a force to the second movable body 42 to the right side, and the right second force applying member 6 can apply a force to the second movable body 42 to the left side.

[0090] Also, in the embodiment of the present application, the left second force applying member 6 applies a force to the second movable body 42 to the left side, and the right second force applying member 6 applies a force to the second movable body 42 to the right side, but the left second force applying member 6 can apply a force to the second movable body 42 to the right side, and the right second force applying member 6 can apply a force to the second movable body 42 to the left side.

[0091] ​​In addition, in the embodiment of the present application, one end 7a of each of the third force applying members 7 is fixed to the base portion 421 of the second movable body 42, and the other end 7b of each of the third force applying members 7 is fixed to the base portion 431 of the third movable body 43, but one end 7a of each of the third force applying members 7 can be fixed to the base portion 431 of the third movable body 43, and the other end 7b of each of the third force applying members 7 can be fixed to the base portion 421 of the second movable body 42.

[0092] In addition, in the embodiment of the present application, the left third force applying member 7 applies force to the third movable body 43 in the clockwise direction (-θ direction), and the right third force applying member 7 applies force to the third movable body 43 in the counterclockwise direction (+θ direction), but the left third force applying member 7 can apply force to the third movable body 43 in the counterclockwise direction (+θ direction), and the right third force applying member 7 can apply force to the third movable body 43 in the clockwise direction (-θ direction).

[0093] In addition, in the embodiment of the present application, the second positioning member 44 has the cutout portion 44a, but the second positioning member 44 can have a recess portion recessed in the +X direction in the front surface of the second positioning member 44 instead of the cutout portion 44a.

[0094] In addition, in the embodiment of the present application, the plan view shape of the protrusion portion 82 and the plan view shape of the cutout portion 44a are triangular, but the plan view shape of the protrusion portion 82 and the plan view shape of the cutout portion 44a are not limited as long as the power receiving coil 112 and the power feeding coil 122 are positioned at a position at which power can be efficiently transmitted by fitting the protrusion portion 82 into the cutout portion 44a. For example, the plan view shape of the protrusion portion 82 and the plan view shape of the cutout portion 44a can be circular arc shapes.

[0095] In addition, in the embodiment of the present application, the plan view shape of the protrusion portion 82 and the plan view shape of the cutout portion 44a are the same shape, but the plan view shape of the protrusion portion 82 and the plan view shape of the cutout portion 44a can be different as long as the power receiving coil 112 and the power feeding coil 122 are positioned at a position at which power can be efficiently transmitted by fitting the protrusion portion 82 into the cutout portion 44a.

[0096] In addition, in the embodiment of the present application, the first positioning member 8 has one protrusion portion 82, but the first positioning member 8 can have two or more protrusion portions 82.

[0097] In addition, in the embodiment of the present application, the first positioning member 8 has the protrusion portion 82, but the protrusion portion 82 can be omitted. In this case, the third movable body 43 has, for example, a contact surface that contacts the base portion 81 of the first positioning member 8.

[0098] Further, in the embodiment of the present application, the coil position adjustment mechanism 1 has the first aligning member 8, but the first aligning member 8 can be omitted. In this case, the third movable body 43 has, for example, a contact surface that contacts the outer body 11 of the moving body 10.

[0099] Further, in the embodiment of the present application, the first force applying member 5 is a spring, but the first force applying member 5 can be any member that can apply a force to the first movable body 41 to the third movable body 43 in the X direction, and is not limited to a spring. For example, the first force applying member 5 can be rubber. In other words, the first force applying member 5 can be any elastic body.

[0100] Similarly, in the embodiment of the present application, the second force applying member 6 is a spring, but the second force applying member 6 can be any member that can apply a force to the second movable body 42 and the third movable body 43 in the Y direction, and is not limited to a spring. For example, the second force applying member 6 can be rubber. In other words, the second force applying member 6 can be any elastic body.

[0101] Further, in the embodiment of the present application, the third force applying member 7 is a spring, but the third force applying member 7 can be any member that can apply a force to the third movable body 43 in the θ direction, and is not limited to a spring. For example, the third force applying member 7 can be rubber. In other words, the third force applying member 7 can be any elastic body.

[0102] Further, in the embodiment of the present application, the upper end of the third shaft 71 is fixed to the base portion 431 of the third movable body 43, but the lower end of the third shaft 71 can be fixed to the base portion 421 of the second movable body 42. In this case, the upper end of the third shaft 71 is rotatably supported to the base portion 431 of the third movable body 43.

[0103] Further, in the embodiment of the present application, the first shaft 51 guides the first movable body 41 to the third movable body 43 in the X direction, but the first movable body 41 to the third movable body 43 can be guided in the X direction by a guide rail that extends in the X direction, for example.

[0104] Similarly, in the embodiment of the present application, the second shaft 61 guides the second movable body 42 and the third movable body 43 in the Y direction, but the second movable body 42 and the third movable body 43 can be guided in the Y direction by a guide rail that extends in the Y direction, for example.

[0105] Further, in the embodiment of the present application, the third shaft 71 is used as a member that rotatably supports the third movable body 43 in the θ direction, but the third movable body 43 can be guided in the θ direction by a guide rail that extends in a circular arc shape, for example.

[0106] Further, in the embodiment of the present application, the support body (the 3rd movable body 43) that supports the power feeding coil 122 moves in the X direction, the Y direction, and the θ direction, but the support body that supports the power feeding coil 122 can move in one or two of the X direction, the Y direction, and the θ direction. In this case, the coil moving mechanism 2 has one or two of the 1st to 3rd biasing members 5 to 7, and has one or two of the 1st to 3rd shafts 51 to 71.

[0107] Further, in the embodiment of the present application, the coil moving mechanism 2 has the 1st shaft 51 and the 2nd shaft 61, but the 1st shaft 51 and the 2nd shaft 61 can be omitted. For example, in the case where the 1st movable body 41 is arranged on the base body 3, the 1st shaft 51 can be omitted. Further, in the case where the 2nd movable body 42 is arranged on the 1st movable body 41, the 2nd shaft 61 can be omitted.

[0108] Further, in the embodiment of the present application, the base body 3 is fixed to the ground or the floor surface, but the object to which the base body 3 is fixed is not limited to the ground or the floor surface. For example, the base body 3 can be fixed to a support table provided to the ground or the floor surface, or can be fixed to a box-shaped body possessed by the power feeding device 120. The support table is a table that supports the coil moving mechanism 2. The box-shaped body possessed by the power feeding device 120, for example, accommodates the capacitor 124, the power supply section 125, and the power feeding side controller 126. In other words, the base body 3 can be arranged at a position higher than the ground or the floor surface.

[0109] Further, in the embodiment of the present application, the coil moving mechanism 2 displaces the position of the power feeding coil 122, but the coil moving mechanism 2 can displace the position of the power receiving coil 112. In this case, the coil moving mechanism 2 is provided to the moving body 10, and the 3rd movable body 43 supports the power receiving coil 112. Further, the 1st alignment member 8 is provided to the power feeding device 120.

[0110] This application is based on Japanese Patent Application No. 2018-077706 filed on April 13, 2018, and the entire contents of the Japanese Patent Application are incorporated herein by reference.

[0111] Industrial Applicability

[0112] The present application is useful for contactless power feeding of a moving body such as an unmanned carrier.

[0113] Explanation of Reference Signs

[0114] 1: coil position adjustment mechanism; 2: coil moving mechanism; 5: 1st urging member; 6: 2nd urging member; 7: 3rd urging member; 8: 1st aligning member; 10: moving body; 43: 3rd movable body; 81: base portion; 82: protrusion portion; 100: non-contact power feeding system; 110: power receiving apparatus; 112: power receiving coil; 120: power feeding apparatus; 122: power feeding coil; 441: inclined surface; 821: inclined surface.

Claims

1. A coil position adjustment mechanism, comprising a coil moving mechanism for displacing the position of a power supply coil or a receiving coil. The coil moving mechanism has: A support body that supports the power supply coil or the power receiving coil; and Three force-applying components, which apply force to the support body, are elastic bodies. The three force-applying components include a first force-applying component that applies force to the support body along the X direction, a second force-applying component that applies force to the support body along the Y direction, and a third force-applying component that applies force to the support body around the central axis. The Y direction is perpendicular to the X direction. The central axis is perpendicular to the plane containing the X direction and the Y direction. The force exerted by the first force-applying component is greater than that of the second and third force-applying components, so that when the moving body comes into contact with the power supply equipment, the coil moving mechanism can reliably operate in the Y direction and in the direction around the central axis.

2. The coil position adjustment mechanism according to claim 1, wherein, The force exerted by the second force-applying component is greater than the force exerted by the third force-applying component.

3. The coil position adjustment mechanism according to claim 1, wherein, The coil position adjustment mechanism also has an alignment component installed on the moving body or power supply equipment. The support has a first contact surface that contacts the alignment component.

4. The coil position adjustment mechanism according to claim 3, wherein, The alignment component has a base portion and a protrusion extending from the base portion. The first contact surface contacts the protrusion.

5. The coil position adjustment mechanism according to claim 4, wherein, The protrusion has a second contact surface that contacts the first contact surface. The second contact surface has the same shape as the first contact surface.

6. A contactless power supply system, comprising: Moving body; A power receiving device having a power receiving coil; A power supply device having a power supply coil and transmitting power from the power supply coil to the power receiving coil; and a coil position adjustment mechanism as described in any one of claims 1 to 5. The power receiving device is mounted on the mobile body. The coil position adjustment mechanism has a coil moving mechanism disposed on the moving body or the power supply equipment.

7. The contactless power supply system according to claim 6, wherein, The moving body resists the force of the first force-applying component, causing the support body to move along the X direction.

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