Automatic charging device and unmanned vehicle

Abstract

The invention discloses an automatic charging device and an unmanned vehicle, the automatic charging device comprises a charging pile shell, hardware arranged in the charging pile shell and a charging brush head module arranged on the charging pile shell, the charging brush head module comprises a fixing assembly connected with the charging pile shell, and the fixing assembly is connected with the charging pile shell. The brush head moving assembly is movably connected with the fixing assembly and moves back and forth relative to the fixing assembly; the fixing assembly comprises a fixing support and a limiting switch. The brush head moving assembly comprises a moving support provided with two sets of sliding grooves, two brush head contact pieces arranged in the two sets of sliding grooves respectively, and a contact unit arranged on the moving support. An electrode which is in butt joint with or separated from the brush head contact piece is arranged in the sliding groove. The automatic charging device is provided with multiple protection mechanisms, the charging safety of the unmanned vehicle can be greatly improved, and safety, stability and reliability of automatic charging can be guaranteed even if the automatic charging device is located in the outdoor environment.

Description

Technical Field

[0001] The present invention relates to the field of automatic charging, and more specifically, to an automatic charging device and an unmanned vehicle. Background Art

[0002] With the development of economy and technology, the application scenarios of unmanned vehicles are becoming more and more extensive. In order to improve the degree of automation, unmanned vehicles need to be charged automatically when the battery is insufficient. However, the existing unmanned vehicle charging operations often have safety issues, especially when the charging equipment is located outdoors, there are more uncontrollable factors, and the safety of unmanned vehicle charging is greatly reduced. For this reason, the present invention provides an unmanned vehicle automatic charging device, which is mainly used in unmanned vehicles and charging piles to realize the safe, stable and reliable automatic charging function of unmanned vehicles. Summary of the invention

[0003] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide an automatic charging device and an unmanned vehicle, which are used to solve the safety problems often existing in the charging operation of unmanned vehicles in the prior art, especially when the charging equipment is located outdoors, there are more uncontrollable factors and the safety of unmanned vehicle charging is greatly reduced.

[0004] The technical solution adopted by the present invention is as follows:

[0005] An automatic charging device, comprising: a charging pile housing, hardware arranged in the charging pile housing, and a charging brush head module arranged on the charging pile housing, wherein the charging brush head module comprises a fixed component connected to the charging pile housing, and a brush head moving component movably connected to the fixed component and moving forward and backward relative to the fixed component;

[0006] The fixing assembly includes a fixing bracket and a limit switch arranged on the fixing bracket;

[0007] The brush head motion assembly includes a motion bracket with two sets of slide grooves, two brush head contact pieces respectively arranged in the two sets of slide grooves and slidably and telescopically matched with the motion bracket, and a contact unit arranged on the motion bracket and matched with the limit switch;

[0008] The slide groove is provided with an electrode for docking or separation with the brush head contact piece; when the brush head contact piece is extended, the tail of the brush head contact piece is separated from the electrode; when the brush head contact piece is retracted, the tail of the brush head contact piece is docked with the electrode;

[0009] The hardware in the charging pile housing is electrically connected to the limit switch and the brush head contact piece, and the hardware includes a relay.

[0010] In one of the embodiments, the brush head contact piece and the moving bracket are telescopically matched through a contact piece spring, the contact piece spring is arranged in the slide groove, and the two ends of the contact piece spring are respectively connected to the brush head contact piece and the moving bracket.

[0011] In one of the embodiments, the moving bracket includes an optical axis and a first moving base plate and a second moving base plate arranged at both ends of the optical axis; the fixed bracket is provided with a fixed linear bearing that cooperates with the optical axis; the fixed bracket is located between the first moving base plate and the second moving base plate, and the fixed bracket and the second moving base plate are connected by a first tension spring; the slide groove is arranged in the first moving base plate; the contact unit is slidably arranged between the fixed bracket and the second moving base plate; the elastic coefficient of the first tension spring is greater than the elastic coefficient of the contact spring.

[0012] In one embodiment, the contact unit includes a contact plate that cooperates with the limit switch, and a sliding linear bearing arranged on the contact plate and cooperates with the optical axis; the contact plate is connected to the second moving substrate through a second tension spring; the elastic coefficient of the first tension spring is greater than the elastic coefficient of the second tension spring and greater than the elastic coefficient of the contact spring.

[0013] In one of the embodiments, the fixed bracket is further provided with a limit screw for protecting the limit switch; and / or the fixed linear bearing and the second moving base plate are both provided with a buffer pad for limiting and buffering the contact unit.

[0014] In one of the embodiments, the moving bracket includes a protective cover arranged around the two brush head contacts; and / or an anti-collision bar is provided on the outer side of the charging pile housing.

[0015] The present technical solution also provides an unmanned vehicle, which is compatible with any of the automatic charging devices described above. The unmanned vehicle includes a frame and an unmanned vehicle brush block module arranged on the frame. The unmanned vehicle brush block module is provided with two brush block contacts that respectively match the two brush head contacts.

[0016] In one embodiment, the unmanned vehicle brush block module includes a brush block substrate, a guide rail and a fixing member provided on the brush block substrate, a top block provided on the fixing member and telescopically matched with the fixing member, and a protective door slidably provided on the guide rail and dynamically matched with the top block; two brush block contacts are provided on the brush block substrate, and the protective door is used to cover or expose the brush block contacts; when the top block is extended, the protective door is closed and the brush block contacts are covered, and when the top block is retracted, the protective door is opened and the brush block contacts are exposed.

[0017] In one embodiment, the top block and the fixing member are telescopically matched via a top block spring; and / or, the top block and the protective door are connected via a telescopic net.

[0018] In one of the embodiments, a brush for cleaning the brush block contact piece is provided on the protective door.

[0019] Compared with the prior art, the beneficial effects of the present invention include at least:

[0020] The automatic charging device of this technical solution is equipped with multiple protection mechanisms, which can greatly improve the safety of unmanned vehicle charging, and can ensure the safety, stability and reliability of automatic charging even in outdoor environments. Specifically, the automatic charging device of the present technical solution docks with the unmanned vehicle through the brush head contacts for automatic charging; when the brush block contacts of the unmanned vehicle move to touch the brush head contacts, the two brush head contacts are supported and retracted by the unmanned vehicle, so that the tails of the two brush head contacts are respectively docked with the positive and negative poles of the electrode; in addition, since the unmanned vehicle moves forward and supports the brush head contacts and continues to move forward for a distance, the moving bracket moves accordingly, so that the contact unit provided on the moving bracket contacts with the limit switch, and the limit switch is connected at this time, and the limit switch outputs a signal to the hardware inside the charging pile shell, and the hardware inside the charging pile shell outputs a signal to the brush head contacts. Since the brush block contacts of the unmanned vehicle and the brush head contacts are in contact at this time, the internal circuit of the unmanned vehicle detects whether there is a signal input at the two poles of the brush block contacts. If there is a signal input, the hardware in the unmanned vehicle and the charging pile shell delays 2s before connecting the relay, and after the relay is turned on, the hardware in the charging pile shell will also detect the voltage at both ends of the brush block contacts of the unmanned vehicle, and only after the voltage of the set threshold is detected will the unmanned vehicle start to charge.

[0021] On the contrary, when charging is completed, the unmanned vehicle moves out, the contact unit separates from the limit switch, the brush head contact piece extends out of the slide slot, and the tail of the brush head contact piece separates from the electrode, completing the power off.

[0022] In addition, since the brush head contacts of the present technical solution move independently and are respectively connected to the positive and negative poles of the charging pile, when the brush block contacts of the unmanned vehicle come into contact with them, the two brush block contacts can be in different planes, allowing a certain range of positioning deviation for the unmanned vehicle, thereby improving the reliability and stability of charging.

[0023] The unmanned vehicle of the present technical solution is compatible with the above-mentioned automatic charging device. The unmanned vehicle includes a frame and an unmanned vehicle brush block module arranged on the frame. The unmanned vehicle brush block module is provided with two brush block contacts that match the two brush head contacts respectively. When the unmanned vehicle moves until the brush block contacts contact the brush head contacts and continues to move forward for a certain distance, automatic charging is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1It is a schematic diagram of the structure of the automatic charging device and the unmanned vehicle according to the embodiment of the present invention.

[0025] Figure 2 The structure of the charging brush head module according to the embodiment of the present invention is shown in FIG. Figure 1 .

[0026] Figure 3 It is a schematic structural diagram of a fixing assembly according to an embodiment of the present invention.

[0027] Figure 4 It is a partial cross-sectional view of the brush head motion assembly described in an embodiment of the present invention.

[0028] Figure 5 It is a schematic structural diagram of the brush head motion assembly according to an embodiment of the present invention.

[0029] Figure 6 It is a schematic structural diagram of a contact unit according to an embodiment of the present invention.

[0030] Figure 7 It is a schematic structural diagram of the contact unit according to an embodiment of the present invention when there is no external force.

[0031] Figure 8 It is a schematic diagram of the structure of the contact unit according to an embodiment of the present invention when it is squeezed by external force.

[0032] Fig. 9 It is a schematic structural diagram of the brush block module of the unmanned vehicle described in an embodiment of the present invention.

[0033] Fig.10 It is a cross-sectional view of the brush block module of the unmanned vehicle according to an embodiment of the present invention.

[0034] Fig.11 This is a schematic diagram of the initial state of automatic charging of an unmanned vehicle according to an embodiment of the present invention.

[0035] Fig.12 This is a schematic diagram of the automatic charging and door opening state of the unmanned vehicle according to an embodiment of the present invention.

[0036] Fig.13 This is a schematic diagram of the start state of the switch outside the automatic charging limit of the unmanned vehicle according to an embodiment of the present invention.

[0037] Fig.14 This is a schematic diagram of the automatic charging limit protection state of the unmanned vehicle according to an embodiment of the present invention.

[0038] Figure numerals: 100, automatic charging device; 10, charging pile housing; 20, charging brush head module; 21, fixing assembly; 211, fixing bracket; 212, limit switch; 213, fixed linear bearing; 214, limit screw; 216, buffer pad; 22, brush head movement assembly; 221, movement bracket; 222, slide groove; 223, brush head contact piece; 224, contact unit; 2241, contact plate; 2242, sliding linear bearing; 225, electrode; 226, contact piece spring; 227, optical axis ; 228, first moving substrate; 229, second moving substrate; 23, first tension spring; 24, second tension spring; 25, protective cover; 30, charging pile bottom plate; 40, anti-collision bar; 200, unmanned vehicle; 300, frame; 400, unmanned vehicle brush block module; 410, brush block contact piece; 420, brush block substrate; 430, guide rail; 440, fixing part; 450, top block; 451, boss; 460, protective door; 461, brush; 470, top block spring; 480, telescopic net; 500, safety touch edge. DETAILED DESCRIPTION

[0039] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0040] like Figure 1-Figure 12 An automatic charging device 100 shown includes: a charging pile housing 10, hardware disposed in the charging pile housing 10, and a charging brush head module 20 disposed on the charging pile housing 10, wherein the charging brush head module 20 includes a fixing component 21 connected to the charging pile housing 10, and a brush head moving component 22 movably connected to the fixing component 21 and moving back and forth relative to the fixing component 21;

[0041] The fixing assembly 21 includes a fixing bracket 211 and a limit switch 212 disposed on the fixing bracket 211;

[0042] The brush head moving assembly 22 includes a moving bracket 221 with two sets of slide grooves 222, two brush head contact pieces 223 respectively arranged in the two sets of slide grooves 222 and slidably and telescopically matched with the moving bracket 221, and a contact unit 224 arranged on the moving bracket 221 and matched with the limit switch 212;

[0043] The slide groove 222 is provided with an electrode 225 that is connected to or separated from the brush head contact piece 223; when the brush head contact piece 223 is extended, the tail of the brush head contact piece 223 is separated from the electrode 225; when the brush head contact piece 223 is retracted, the tail of the brush head contact piece 223 is connected to the electrode 225;

[0044] The hardware in the charging pile housing 10 is electrically connected to the limit switch 212 and the brush head contact piece 223 , and the hardware includes a relay.

[0045] Specifically, the charging pile housing 10 of this embodiment is connected to the ground through the charging pile bottom plate 30 and is fixed on the ground and cannot be moved.

[0046] The automatic charging device 100 of this embodiment is provided with multiple protection mechanisms, which can greatly improve the safety of charging the unmanned vehicle 200, and can ensure the safety, stability and reliability of automatic charging even in an outdoor environment. Specifically, the automatic charging device 100 of this embodiment docks with the unmanned vehicle 200 through the brush head contact 223 for automatic charging; when the brush block contact 410 of the unmanned vehicle 200 moves to touch the brush head contact 223, the two brush head contacts 223 are supported and retracted by the unmanned vehicle 200, so that the tails of the two brush head contacts 223 are respectively connected to the positive and negative poles of the electrode 225; in addition, since the unmanned vehicle 200 moves forward to support the brush head contact 223 and then continues to move forward for a distance, the moving bracket 221 moves accordingly, so that the contact unit 224 provided on the moving bracket 221 contacts the limit switch 212, and at this time the limit switch 2 12 are connected, the limit switch 212 outputs a signal to the hardware inside the charging pile housing 10, and the hardware inside the charging pile housing 10 outputs a signal to the brush head contact 223. Since the brush block contact of the unmanned vehicle 200 is in contact with the brush head contact 223 at this time, the internal circuit of the unmanned vehicle 200 detects whether there is a signal input at the two poles of the brush block contact. If there is a signal input, the unmanned vehicle 200 and the hardware inside the charging pile housing 10 will delay 2s to turn on the relay, and after the relay is turned on, the hardware inside the charging pile housing 10 will also detect the voltage at both ends of the brush block contact of the unmanned vehicle 200. Only after the voltage of the set threshold is detected, charging of the unmanned vehicle 200 will begin.

[0047] On the contrary, when charging is completed, the unmanned vehicle 200 moves out, the contact unit 224 separates from the limit switch 212, the brush head contact piece 223 extends out of the slide slot 222, and the tail of the brush head contact piece 223 separates from the electrode 225, completing power off.

[0048] In addition, since the brush head contact pieces 223 of this embodiment move independently and are respectively connected to the positive and negative electrodes of the charging pile, when the brush block contact pieces of the unmanned vehicle 200 contact them, the two brush block contact pieces can be in different planes, allowing a certain range of positioning deviations for the unmanned vehicle 200, thereby improving the reliability and stability of charging. Specifically, the two brush head contact pieces 223 of this embodiment are distributed up and down, so that the brush block contact pieces of the unmanned vehicle 200 can be in different vertical planes.

[0049] The brush head contact piece 223 of this embodiment is telescopically matched with the moving bracket 221 through the contact piece spring 226, and the contact piece spring 226 is arranged in the slide groove 222, and the two ends of the contact piece spring 226 are respectively connected to the brush head contact piece 223 and the moving bracket 221. Specifically, the two ends of the contact piece spring 226 of this embodiment are respectively connected to the tail of the brush head contact piece 223 and the bottom of the slide groove 222, so that the brush head contact piece 223 can move in the slide groove 222. In addition, the tail of the brush head contact piece 223 of this embodiment is set in a "concave" shape, and the convex parts at both ends of the "concave" are connected to the contact piece spring 226, and the concave part is used to contact the electrode 225.

[0050] The moving bracket 221 of this embodiment includes an optical axis 227 and a first moving base plate 228 and a second moving base plate 229 disposed at both ends of the optical axis 227; the fixed bracket 211 is provided with a fixed linear bearing 213 matched with the optical axis 227, so that the optical axis 227 can reciprocate, driving the first moving base plate 228 and the second moving base plate 229 to reciprocate relative to the length direction of the optical axis 227. The fixed bracket 211 is located between the first moving base plate 228 and the second moving base plate 229, and the fixed bracket 211 and the second moving base plate 229 are connected by a first tension spring 23, which is in a pre-tensioned state. When there is no external force, the second moving base plate 229 can be tightened to make the second moving base plate 229 close to the fixed bracket 211. The slide groove 222 is arranged in the first moving base plate 228; the contact unit 224 is slidably arranged between the fixed bracket 211 and the second moving base plate 229, so as to realize the contact and separation between the contact unit 224 and the limit switch 212; the elastic coefficient of the first tension spring 23 is greater than the elastic coefficient of the contact spring 226, so that when the unmanned vehicle 200 just contacts the brush head contact 223 and the contact spring 226 initially contracts, the first tension spring 23 still maintains the pre-stretched state until the unmanned vehicle 200 continues to move forward to a certain distance, the contact spring 226 is compressed to the limit position, the tail of the brush head contact 223 is connected to the electrode 225, and the second moving base plate 229 moves in a direction away from the fixed bracket 211, so that the first tension spring 23 is further stretched; at the same time, the contact unit 224 contacts the limit switch 212, and the limit switch 212 is connected. When the unmanned vehicle 200 exits, the first tension spring 23 returns to the pre-stretched stretching amount, and the contact unit 224 is separated from the limit unit.

[0051] Specifically, the number of the first tension springs 23 in this embodiment is two, and the two first tension springs 23 are respectively connected to the two ends of the fixing bracket 211 and the two ends of the second moving base plate 229 through fixing screws.

[0052] The contact unit 224 of this embodiment includes a contact plate 2241 matched with the limit switch 212, and a sliding linear bearing 2242 provided on the contact plate 2241 and matched with the optical axis 227. The sliding linear bearing 2242 realizes the reciprocating motion of the contact plate 2241 relative to the length direction of the optical axis 227, thereby realizing the contact and separation of the contact plate 2241 and the limit switch 212; the contact plate 2241 and the second moving substrate 229 are connected by the second tension spring 24; the second tension spring 24 of this embodiment is also in a pre-stretched state, tightening the contact plate 2241 and the second moving substrate 229. Since the contact plate 2241 is tightened by the second tension spring 24, the contact plate 2241 will also move with the second moving substrate 229, thereby realizing the contact and separation of the contact plate 2241 and the limit switch 212. In this embodiment, the elastic coefficient of the first tension spring 23 is greater than the elastic coefficient of the second tension spring 24, and the elastic coefficient of the contact spring 226 is greater than the elastic coefficient of the contact piece spring 226, so as to ensure smooth power on and off.

[0053] Similarly, the number of the second tension springs 24 in this embodiment is two, and the two second tension springs 24 are connected to the two ends of the contact plate 2241 and the two ends of the second moving base plate 229 through fixing screws.

[0054] In this embodiment, the fixed bracket 211 is also provided with a limit screw 214 for protecting the limit switch 212; when the contact unit 224 touches the limit switch 212, the limit switch 212 can output a signal to the charging pile to detect whether the charging position of the unmanned vehicle 200 is in place, wherein the limit screw 214 can block the contact unit 224 from continuing to move to prevent the limit switch 212 from being crushed.

[0055] In this embodiment, the fixed linear bearing 213 and the second moving base plate 229 are both provided with a buffer pad 216 for limiting and buffering the contact unit 224. Specifically, the buffer pad 216 includes a spacer ring provided on the fixed linear bearing 213 and a buffer rubber provided on the second moving base plate 229, which limits the contact unit 224 to move only within the range between the spacer ring and the buffer rubber.

[0056] The elastic coefficient of the first tension spring 23 is much larger than that of the second tension spring 24. When there is no external force, the contact unit 224 is compressed by the stretched brush head motion assembly 22 and is located between the spacer ring and the buffer rubber due to the relatively large tension of the first tension spring 23. When subjected to a certain external pressure, the first tension spring 23 and the second tension spring 24 are stretched, and the contact plate 2241 contacts the limit screw 214 and the limit switch 212.

[0057] The motion bracket 221 of this embodiment includes a protective cover 25 arranged around the two brush head contacts 223, the protective cover 25 is connected to the first motion base plate 228, and the protective cover 25 is arranged in a trumpet shape. When the unmanned vehicle 200 reaches the charging position, the protective cover 25 contacts the unmanned vehicle 200, and at this time, the protective cover 25 covers the unmanned vehicle brush block module 400, preventing the unmanned vehicle 200 from being disturbed by the external environment during charging and avoiding personal injury.

[0058] In this embodiment, a crash bar 40 is provided on the outside of the charging pile housing 10. Specifically, the crash bar 40 is connected to the charging pile bottom plate 30 and cannot move relative to the ground. The crash bar 40 is used to protect the charging pile housing 10 and its internal parts, and to prevent parts from being damaged by the unmanned vehicle 200.

[0059] Combined with Figure x Figure 1 As shown, this embodiment also provides an unmanned vehicle 200, which is compatible with the automatic charging device 100 described above. The unmanned vehicle 200 includes a frame 300 and an unmanned vehicle brush block module 400 arranged on the frame 300. The unmanned vehicle brush block module 400 is provided with two brush block contacts 410 that match the two brush head contacts 223 respectively. When the unmanned vehicle 200 moves to the point where the brush block contacts 410 contact the brush head contacts 223 and continues to move forward for a certain distance, automatic charging is achieved.

[0060] The unmanned vehicle brush block module 400 described in this embodiment includes a brush block substrate 420, a guide rail 430 and a fixing part 440 arranged on the brush block substrate 420, a top block 450 arranged on the fixing part 440 and telescopically matched with the fixing part 440, and a protective door 460 slidably arranged on the guide rail 430 and dynamically matched with the top block 450; two brush block contacts 410 are arranged on the brush block substrate 420, and the protective door 460 is used to cover or expose the brush block contacts 410; when the top block 450 is extended, the protective door 460 is closed and the brush block contacts 410 are covered, and when the top block 450 is retracted, the protective door 460 is opened and the brush block contacts 410 are exposed.

[0061] In this embodiment, the protective door 460 is automatically opened and closed according to the contact between the unmanned vehicle 200 and the relevant components of the charging pile without adding an additional drive device. When the passive protective door 460 is closed, the brush block contact piece 410 is isolated from the environment outside the vehicle, so that it is protected from external pollution and erosion; since the protective door 460 is opened and closed without adding an additional electric control drive device, it not only saves energy, but also improves the reliability of the protective door 460.

[0062] Specifically, the number of the protective doors 460 in this embodiment is two, and the two protective doors 460 are respectively located on the left and right sides of the top block 450, and the protective doors 460 are provided with a notch for exposing the top block 450, so that the top block 450 acts as a switch. When the unmanned vehicle 200 moves to contact the top block 450 and presses the top block 450, the protective doors 460 on the left and right sides move in opposite directions to expose the brush block contact piece 410. The guide rail 430 is provided with a slider, and the protective door 460 is slidably connected to the guide rail 430 through the slider.

[0063] In this embodiment, the top block 450 and the fixing member 440 are telescopically matched through the top block spring 470, and the elastic coefficient of the top block spring 470 is smaller than the elastic coefficient of the contact spring 226, thereby ensuring the smooth opening of the protective door 460. That is, to ensure the normal use of the automatic charging device 100, the elastic coefficients of the tension springs or springs in this embodiment are arranged in the order of: the first tension spring 23> the second tension spring 24> the contact spring 226> the top block spring 470.

[0064] Specifically, the fixing member 440 is provided with a slot for inserting and installing the top block 450 and the top block spring 470. One end of the top block spring 470 is connected to the top block 450, and the other end is connected to the fixing member 440. The top block 450 can slide in the front-back direction in the slot to achieve extension and retraction under the action of the top block spring 470. In addition, the rear of the top block 450 of this embodiment is provided with a boss 451 for limiting the top block 450, so that the top block 450 can be against the inner wall of the slot when it is extended to the limit position to prevent the top block 450 from falling.

[0065] The top block spring 470 of this embodiment has a certain amount of pre-compression, so that the top block spring 470 has a certain tension, so that the top block 450 remains extended outward in the absence of external force.

[0066] In this embodiment, the top block 450 is connected to the protective door 460 through the telescopic net 480. When the top block 450 is pressed back, the telescopic net 480 stretches, driving the protective door 460 to move outward to both sides, and the protective door 460 is opened; conversely, when the top block 450 is extended, the telescopic net 480 contracts, driving the protective door 460 to move toward each other, and the protective door 460 is closed.

[0067] Specifically, the telescopic net 480 of this embodiment is provided with a plurality of hinged rods, which are connected by hinged pins, and a notch is provided on the top of the fixing member 440. One of the hinged pins located in the middle of the telescopic net 480 is connected to the top block 450 through the notch, and the other hinged pin is connected to the fixing member 440. The hinged pins at both ends of the telescopic net 480 are respectively connected to the left and right protective doors 460. When the top block 450 moves forward and backward, the protective door 460 opens or closes accordingly.

[0068] The protective door 460 of this embodiment is provided with a brush 461 for cleaning the brush block contact piece 410. Specifically, the brush 461 is provided on the inner side of the protective door 460, that is, the side of the protective door 460 close to the brush block contact piece 410, and is provided corresponding to the brush block contact piece 410. When the protective door 460 is opened or closed, the brush 461 moves with the protective door 460, thereby achieving the effect of cleaning the brush block contact piece 410. The brush 461 installed on the protective door 460 can automatically clean the dust and stains on the brush block as the protective door 460 opens and closes, which can reduce the contact resistance during charging and improve the charging efficiency. In addition, in the present embodiment, at least two brushes 461 are provided on each protective door 460 corresponding to the same brush block contact 410, and at least two brushes 461 are spaced apart along the movement direction of the protective door 460 to avoid water droplets or rainwater condensing on the brush 461 causing a short circuit between the positive and negative poles of the brush block contact 410 when only one brush 461 is used for cleaning.

[0069] The vehicle frame 300 of this embodiment is also provided with a safety touch edge 500 that cooperates with the anti-collision bar. The safety touch edge 500 has a built-in contact sensor, which will output a signal to the unmanned vehicle 200 to stop the vehicle when subjected to a certain pressure. If the positioning error of the unmanned vehicle 200 is too large, the unmanned vehicle 200 continues to move forward after reaching the predetermined charging positioning point, and the safety touch edge 500 will contact the anti-collision bar 40; when the safety touch edge 500 is contacted and squeezed, a signal will be sent to the unmanned vehicle 200, and the unmanned vehicle 200 will stop moving after receiving the command; in addition, if the unmanned vehicle 200 fails to receive the input signal from the brush block contact piece 410 end due to other reasons, the unmanned vehicle 200 will also squeeze the safety touch edge 500 while continuing to move forward, and finally the unmanned vehicle 200 will stop moving forward, which also achieves the effect of protecting the unmanned vehicle 200 and the charging pile.

[0070] To facilitate understanding of the automatic charging process and principle of the unmanned vehicle 200, this embodiment is described as follows:

[0071] Initial state: the protective door 460 is in a closed state, at which time the top block 450 begins to contact the brush head motion assembly 22;

[0072] Door opening stage: As the unmanned vehicle 200 continues to move forward, since the elastic coefficient of the first tension spring 23 is much larger than the elastic coefficient of the top block spring 470, the top block 450 is squeezed and slid, and the telescopic net 480 connected to the top block 450 slowly unfolds, and the protective doors 460 on both sides connected to the telescopic net 480 also open accordingly, until the brush head contact 223 on the brush head motion assembly 22 begins to contact the brush block contact 410 on the unmanned vehicle brush block module 400.

[0073] The limit switch 212 triggering stage: the unmanned vehicle 200 continues to move forward. Since the elastic coefficient of the first tension spring 23 is much larger than the elastic coefficient of the contact spring 226, when the unmanned vehicle 200 continues to move forward, the brush head contact 223 is squeezed a greater distance. Since the brush head contact 223 is squeezed, the top block 450 is also squeezed a corresponding distance. When the brush head contact 223 reaches the limit position, the unmanned vehicle 200 continues to move forward. Since the contact unit 224 is pulled by the second tension spring 24, the contact unit 224 will also start to move with the brush head motion component 22 until the contact unit 224 is aligned with the limit screw 214 and the limit screw 216 on the fixing component 21. At this time, the limit switch 212 is connected, and the hardware inside the charging pile housing 10 starts to output signals to the brush head contact 223. Since the brush block contact 410 and the brush head contact 223 are in contact at this time, the internal circuit of the unmanned vehicle 200 detects whether there is a signal input at the two poles of the contact. If there is a signal input, the hardware inside the unmanned vehicle 200 and the charging pile housing 10 will delay for 2s to turn on the relay, and after the relay is turned on, the hardware inside the charging pile housing 10 will also detect the voltage across the brush block contact 410 of the unmanned vehicle 200. Only after the set threshold voltage is detected will the unmanned vehicle 200 be charged.

[0074] Limit protection stage: Since the automatic charging positioning point of the unmanned vehicle 200 is set at the middle point between the position of the unmanned vehicle 200 when the limit switch 212 is triggered and the position of the unmanned vehicle 200 when the brush head motion component 22 reaches the limit position, the unmanned vehicle 200 will continue to move forward for a distance after detecting the signal, and will not stop until the unmanned vehicle 200 reaches the automatic charging positioning point; in the process of the unmanned vehicle 200 continuing to move forward for a distance, the brush head motion component 22 will be squeezed and continue to slide, and the first tension spring 23 will continue to be stretched a corresponding distance; if the positioning error of the unmanned vehicle 200 is too large, After the unmanned vehicle 200 reaches the predetermined charging positioning point and continues to move forward, the safety touch edge 500 will contact the anti-collision bar 40; when the safety touch edge 500 is contacted and squeezed, a signal will be sent to the unmanned vehicle 200, and the unmanned vehicle 200 will stop moving forward after receiving the command, and the limit protection stage ends; in addition, if the unmanned vehicle 200 fails to receive the input signal from the brush block contact piece 410 end due to other reasons, the unmanned vehicle 200 will also squeeze the safety touch edge 500 while continuing to move forward, and eventually the unmanned vehicle 200 will stop moving forward, which also achieves the effect of protecting the unmanned vehicle 200 and the charging pile.

[0075] In this embodiment, the distribution of the elastic coefficient K value and the pre-compression or pre-stretching amount △L of each spring and tension spring is particularly important, which affects the allowable range of the positioning error △S of the unmanned vehicle 200. In this embodiment, the unit of K value is N·mm, the unit of length is mm, and the unit of force is N.

[0076] Assume that the elastic coefficient of the top block spring 470 is K1, and the pre-compression amount is △L1; the elastic coefficient of the contact spring 226 is K2, and the pre-compression amount is △L2; the elastic coefficient of the first tension spring 23 is K3, and the pre-stretching amount is △L3; the elastic coefficient of the second tension spring 24 is K4, and the pre-stretching amount is △L4.

[0077] Since the brush needs to clean the brush block contact 410, a certain pre-pressure is required. The pre-pressure between the brush and the cleaning contact is assumed to be Fn, the friction coefficient is u, and due to the connection through the telescopic net 480, there is a lever structure with a lever coefficient of m. Because there are two protective doors 460, the additional force on the top block 450 when the door is opened is Ff=2×Fn×u×m.

[0078] Assume that opening the protective door 460 requires the top block 450 to slide a distance S1, at which time the pressure of the top block spring 470 is F1; the brush head contact 223 is compressed to the limit of the distance S2, at which time the pressure of the two contact springs 226 is F2; ​​when the limit switch 212 is triggered, the brush head motion assembly 22 is moved a distance S3, at which time the tension of the two first tension springs 23 is F3; the brush head motion assembly 22 moves from the limit switch 212 being triggered to the limit position The distance moved is S4, at which time the combined force of the two first tension springs 23 and the two second tension springs 24 on the brush head motion assembly 22 is F4.

[0079] The remaining moving components are connected as guide rail 430 slider, optical axis 227, slideway, etc., ignoring the friction resistance, so:

[0080] F1=2×k1×(△L1+S1);

[0081] F2=2×k2×(△L2+S2);

[0082] F3=2×K3×(△L3+S3);

[0083] F4=2×K3×(△L3+S3+S4)+2×K4×(△L4+S4).

[0084] To ensure that the protective door 460 can be fully opened before the limit switch 212 is triggered, and the brush block contact piece 410 has sufficient contact force Fa, and the protective door 460 can be normally closed when not charging, the following requirements must be met:

[0085] F1>Ff;

[0086] F2 ≥ Fa;

[0087] F3≥F1+F2+Ff.

[0088] In order to ensure that the unmanned vehicle 200 is allowed to have a certain positioning error △S, and the unmanned vehicle 200 can charge normally within the error range and does not touch the safety touch edge 500, the following requirements need to be met:

[0089] S4>2×△S.

[0090] The automatic charging device 100 and the unmanned vehicle 200 of this embodiment have the following safety protection measures:

[0091] (1) When the unmanned vehicle 200 is not charged, the brush head contact 223 and the brush block contact 410 are both disconnected by the relay, and there is no voltage on each contact. At this time, the brush block contact 410 on the unmanned vehicle 200 is covered by the protective door 460 and cannot be touched by personnel;

[0092] (2) Even if the relay fails or other force majeure factors cause the relay to be turned on, when the brush head contact 223 does not detect the signal on the brush block contact 410, the charging pile will not output voltage and current, and will not cause damage to equipment and personnel;

[0093] (3) When the unmanned vehicle 200 is normally charged, the brush block module and the brush head module are covered by the protective cover 25 to prevent personnel from accidentally touching the charging contacts and causing safety hazards;

[0094] (4) When the unmanned vehicle 200 seriously deviates from the automatic charging positioning point, the safety touch edge 500 on the unmanned vehicle 200 and the anti-collision bar 40 on the charging pile can prevent the unmanned vehicle 200 from having a harmful collision with the charging pile, further enhancing the safety of the charging process and the unmanned vehicle 200 and the charging pile.

[0095] In addition, the automatic charging positioning point of the unmanned vehicle 200 is set at the midpoint between the position of the unmanned vehicle 200 when the limit switch 212 is triggered and the position of the unmanned vehicle 200 when the brush head motion component 22 reaches the extreme position. Even if the unmanned vehicle 200 has a certain positioning error, it can ensure that the charging pile brush head contact 223 and the brush block contact 410 are in contact to realize the charging function, which effectively reduces the positioning accuracy requirements of the automatic charging of the unmanned vehicle 200 and improves the success rate of automatic charging.

[0096] At the same time, the multi-stage spring (tension spring) arranged on the charging brush head module 20 effectively reduces the impact of the unmanned vehicle 200 on the pile, plays a buffering role, protects the brush block contact 410, the brush head contact 223 and the limit switch 212, and improves the service life of the equipment.

[0097] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An automatic charging device, characterized in that: include: A charging pile housing, hardware arranged in the charging pile housing, and a charging brush head module arranged on the charging pile housing, wherein the charging brush head module comprises a fixed component connected to the charging pile housing, and a brush head moving component movably connected to the fixed component and moving forward and backward relative to the fixed component; The fixing assembly includes a fixing bracket and a limit switch arranged on the fixing bracket; The brush head motion assembly includes a motion bracket with two sets of slide grooves, two brush head contact pieces respectively arranged in the two sets of slide grooves and slidably and telescopically matched with the motion bracket, and a contact unit arranged on the motion bracket and matched with the limit switch; The slide groove is provided with an electrode for docking or separation with the brush head contact piece; when the brush head contact piece is extended, the tail of the brush head contact piece is separated from the electrode; when the brush head contact piece is retracted, the tail of the brush head contact piece is docked with the electrode; The hardware in the charging pile housing is electrically connected to the limit switch and the brush head contact piece, and the hardware includes a relay.

2. The automatic charging device according to claim 1, characterized in that: The brush head contact piece and the moving bracket are telescopically matched through a contact piece spring, the contact piece spring is arranged in the slide groove, and the two ends of the contact piece spring are respectively connected to the brush head contact piece and the moving bracket.

3. The automatic charging device according to claim 2, characterized in that: The moving bracket includes an optical axis and a first moving base plate and a second moving base plate arranged at both ends of the optical axis; the fixed bracket is provided with a fixed linear bearing that cooperates with the optical axis; the fixed bracket is located between the first moving base plate and the second moving base plate, and the fixed bracket and the second moving base plate are connected by a first tension spring; the slide groove is arranged in the first moving base plate; the contact unit is slidably arranged between the fixed bracket and the second moving base plate; the elastic coefficient of the first tension spring is greater than the elastic coefficient of the contact spring.

4. The automatic charging device according to claim 3, characterized in that: The contact unit includes a contact plate that cooperates with the limit switch, and a sliding linear bearing arranged on the contact plate and cooperates with the optical axis; the contact plate is connected to the second moving substrate through a second tension spring; the elastic coefficient of the first tension spring is greater than the elastic coefficient of the second tension spring and greater than the elastic coefficient of the contact spring.

5. The automatic charging device according to claim 4, characterized in that: The fixed bracket is also provided with a limit screw for protecting the limit switch; and / or the fixed linear bearing and the second moving base plate are both provided with a buffer pad for limiting and buffering the contact unit.

6. The automatic charging device according to any one of claims 1 to 5, characterized in that: The moving bracket includes a protective cover arranged around the two brush head contacts; and / or an anti-collision bar is provided on the outer side of the charging pile housing.

7. An unmanned vehicle, adapted for use with the automatic charging device according to any one of claims 1 to 6, characterized in that: The unmanned vehicle comprises a vehicle frame and an unmanned vehicle brush block module arranged on the vehicle frame. The unmanned vehicle brush block module is provided with two brush block contact pieces respectively matching with two brush head contact pieces.

8. The unmanned vehicle according to claim 7, characterized in that: The unmanned vehicle brush block module includes a brush block substrate, a guide rail and a fixing part arranged on the brush block substrate, a top block arranged on the fixing part and telescopically matched with the fixing part, and a protective door slidably arranged on the guide rail and dynamically matched with the top block; two brush block contacts are arranged on the brush block substrate, and the protective door is used to cover or expose the brush block contacts; when the top block is extended, the protective door is closed and the brush block contacts are covered, and when the top block is retracted, the protective door is opened and the brush block contacts are exposed.

9. The unmanned vehicle according to claim 8, characterized in that: The top block and the fixing member are telescopically matched via a top block spring; and / or, the top block and the protective door are connected via a telescopic net.

10. The unmanned vehicle according to claim 8, characterized in that: The protective door is provided with a brush for cleaning the brush block contact piece.

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