Automatic charging device and unmanned vehicle

Abstract

The application discloses an automatic charging device and an unmanned vehicle, and relates to the technical field of automatic charging devices.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 fixed assembly connected with the charging pile shell, and a brush head movement assembly movably connected with the fixed assembly and moving forward and backward relative to the fixed assembly.The fixed assembly comprises a fixed support and a limit switch.The brush head movement assembly comprises a movement support provided with two groups of sliding grooves, two brush head contact pieces arranged in the two groups of sliding grooves respectively, and a contact unit arranged on the movement support.An electrode for abutting or separating the brush head contact pieces is arranged in the sliding groove.The automatic charging device is provided with multiple protection mechanisms, and can greatly improve the safety of the unmanned vehicle charging, and can guarantee the safety, stability and reliability of the automatic charging even in an outdoor environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic charging, more particularly, to an automatic charging device and an unmanned vehicle. BACKGROUND

[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, the unmanned vehicle needs to be charged in an automatic manner when the power is insufficient. However, the existing charging operation of the unmanned vehicle often has safety problems, especially when the charging device is located outdoors, there are more uncontrollable factors, and the safety of the unmanned vehicle charging is greatly reduced. Therefore, the present application provides an automatic charging device for unmanned vehicles and charging piles, which realizes the safe, stable and reliable automatic charging function of the unmanned vehicle. SUMMARY

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

[0004] The technical solutions adopted by the present application are as follows:

[0005] An automatic charging device, comprising: a charging pile shell, hardware provided in the charging pile shell, and a charging brush head module provided on the charging pile shell, the charging brush head module comprising a fixed assembly connected with the charging pile shell, and a brush head movement assembly movably connected with the fixed assembly and moving forward and backward relative to the fixed assembly;

[0006] The fixed assembly comprises a fixed support and a limit switch provided on the fixed support;

[0007] The brush head movement assembly comprises a movement support provided with two groups of sliding grooves, two brush head contact pieces provided in the two groups of sliding grooves and slidingly and telescopically matched with the movement support, and a contact unit provided on the movement support and matched with the limit switch;

[0008] The sliding groove is provided with an electrode for abutting or separating 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 abutted with the electrode;

[0009] The hardware in the charging pile shell is electrically connected with the limit switch and the brush head contact piece, and the hardware comprises a relay.

[0010] In one of the embodiments, the brush head contact piece and the movement support are connected through a contact piece spring, the contact piece spring is arranged in the sliding groove, and two ends of the contact piece spring are connected with the brush head contact piece and the movement support respectively.

[0011] In one of the embodiments, the movement support comprises an optical axis, a first movement base plate and a second movement base plate arranged at two ends of the optical axis; a fixed linear bearing matched with the optical axis is arranged on the fixed support; the fixed support is located between the first movement base plate and the second movement base plate, and the fixed support is connected with the second movement base plate through a first tension spring; the sliding groove is arranged in the first movement base plate; the contact unit is slidingly arranged between the fixed support and the second movement base plate; the elastic coefficient of the first tension spring > the elastic coefficient of the contact piece spring.

[0012] In one of the embodiments, the contact unit comprises a contact plate matched with a limit switch, and a sliding linear bearing arranged on the contact plate and matched with the optical axis; the contact plate is connected with the second movement base plate through a second tension spring; the elastic coefficient of the first tension spring > the elastic coefficient of the second tension spring > the elastic coefficient of the contact piece spring.

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

[0014] In one of the embodiments, the movement support comprises a protective cover arranged around the two brush head contact pieces; and / or the outer side of the charging pile shell is provided with an anti-collision rod.

[0015] The technical solution also provides an unmanned vehicle matched with the automatic charging device, the unmanned vehicle comprises a vehicle frame and an unmanned vehicle brush block module arranged on the vehicle frame, and the unmanned vehicle brush block module is provided with two brush block contact pieces matched with the two brush head contact pieces respectively.

[0016] In one of the embodiments, the unmanned vehicle brush block module comprises a brush block base plate, a guide rail and a fixing piece arranged on the brush block base plate, a top block arranged on the fixing piece and in telescopic cooperation with the fixing piece, and a protective door slidingly arranged on the guide rail and in dynamic cooperation with the top block; the two brush block contact pieces are arranged on the brush block base plate, and the protective door is used for shielding or exposing the brush block contact pieces; when the top block is extended, the protective door is closed and the brush block contact pieces are shielded, and when the top block is retracted, the protective door is opened and the brush block contact pieces are exposed.

[0017] In one of the embodiments, the top block is in telescopic cooperation with the fixing member through a top block spring; and / or, the top block is connected with the protective door through a telescopic net.

[0018] In one of the embodiments, a brush is arranged on the protective door for cleaning the brush block contactor.

[0019] Compared with the prior art, the present application has at least the following beneficial effects:

[0020] The automatic charging device of the technical solution has multiple protection mechanisms, which can greatly improve the safety of the unmanned vehicle charging, and can guarantee the safety, stability and reliability of the automatic charging even in an outdoor environment. Specifically, the automatic charging device of the technical solution is connected with the unmanned vehicle through the brush head contactors for automatic charging; when the brush block contactors of the unmanned vehicle move to touch the brush head contactors, the two brush head contactors are pushed by the unmanned vehicle and are retracted, so that the tail portions of the two brush head contactors are respectively connected with the positive and negative poles of the electrodes; in addition, since the unmanned vehicle continues to move forward a distance after pushing the brush head contactors, the movement support moves, so that the contact unit arranged on the movement support is in contact with the limit switch, at this time, the limit switch is connected, the limit switch outputs a signal to the hardware inside the charging pile shell, the hardware inside the charging pile shell outputs a signal to the brush head contactors, since the brush block contactors of the unmanned vehicle and the brush head contactors are in contact at this time, the internal circuit of the unmanned vehicle detects whether there is a signal input to the two poles of the brush block contactors, if there is a signal input, the hardware in the unmanned vehicle and the charging pile shell will connect the relay after a delay of 2s, and after the relay is connected, the hardware in the charging pile shell will also detect the voltage at both ends of the brush block contactors of the unmanned vehicle, only after detecting the voltage of the set threshold value, the charging to the unmanned vehicle will start.

[0021] Conversely, when the charging is completed, the unmanned vehicle moves out, the contact unit is separated from the limit switch, the brush head contactors are extended out of the sliding groove, and the tail portions of the brush head contactors are separated from the electrodes, thus completing the power-off.

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

[0023] The unmanned vehicle of the technical solution is matched with the above-mentioned automatic charging device, 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 contactors matched with two brush head contactors respectively, when the unmanned vehicle moves to the brush block contactors to contact the brush head contactors and continues to move forward a distance, automatic charging is realized. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1Structure diagram of automatic charging device and unmanned vehicle according to an embodiment of the present application.

[0025] Figure 2 Structure diagram of charging brush head module according to an embodiment of the present application Figure 1 .

[0026] Figure 3 Structure diagram of fixing assembly according to an embodiment of the present application.

[0027] Figure 4 Partial sectional view of brush head movement assembly according to an embodiment of the present application.

[0028] Figure 5 Structure diagram of brush head movement assembly according to an embodiment of the present application.

[0029] Figure 6 Structure diagram of contact unit according to an embodiment of the present application.

[0030] Figure 7 Structure diagram of contact unit without external force according to an embodiment of the present application.

[0031] Figure 8 Structure diagram of contact unit under external force according to an embodiment of the present application.

[0032] Figure 9 Structure diagram of unmanned vehicle brush block module according to an embodiment of the present application.

[0033] Figure 10 Sectional view of unmanned vehicle brush block module according to an embodiment of the present application.

[0034] Figure 11 Initial state diagram of unmanned vehicle automatic charging according to an embodiment of the present application.

[0035] Figure 12 Unmanned vehicle automatic charging opening state diagram according to an embodiment of the present application.

[0036] Figure 13 Unmanned vehicle automatic charging limit switch departure state diagram according to an embodiment of the present application.

[0037] Figure 14 Unmanned vehicle automatic charging limit protection state diagram according to an embodiment of the present application.

[0038] Reference numerals: 100, Automatic charging device; 10, Charging pile housing; 20, Charging brush head module; 21, Fixing component; 211, Fixing bracket; 212, Limit switch; 213, Fixing linear bearing; 214, Limit screw; 216, Buffer pad; 22, Brush head moving component; 221, Moving bracket; 222, Slide groove; 223, Brush head contact piece; 224, Contact unit; 2241, Contact plate; 2242, Sliding linear bearing; 225, Electrode; 226, Contact spring; 227, Optical axis ; 228, First motion base plate; 229, Second motion base plate; 23, First tension spring; 24, Second tension spring; 25, Protective cover; 30, Charging pile base plate; 40, Anti-collision bar; 200, Unmanned vehicle; 300, Vehicle frame; 400, Unmanned vehicle brush block module; 410, Brush block contact piece; 420, Brush block base plate; 430, Guide rail; 440, Fixing component; 450, Top block; 451, Boss; 460, Protective door; 461, Brush; 470, Top block spring; 480, Telescopic net; 500, Safety contact edge. Detailed Implementation

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

[0040] like Figures 1-12 An automatic charging device 100 is shown, including: 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. 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 component 21 includes a fixing bracket 211 and a limit switch 212 disposed on the fixing bracket 211;

[0042] The brush head motion assembly 22 includes a motion bracket 221 with two sets of sliding grooves 222, two brush head contact pieces 223 respectively disposed in the two sets of sliding grooves 222 and slidingly telescopically cooperating with the motion bracket 221, and a contact unit 224 disposed on the motion bracket 221 and cooperating with the limit switch 212.

[0043] The groove 222 is provided with an electrode 225 that can be 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 shell 10 is electrically connected with the limit switch 212 and the brush head contact piece 223, and the hardware includes a relay.

[0045] Specifically, the charging pile shell 10 of the embodiment is connected with 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 the embodiment is provided with multiple protection mechanisms, which can greatly improve the safety of charging of 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 the embodiment is connected with the unmanned vehicle 200 through the brush head contact piece 223 to perform automatic charging; when the brush block contact piece 410 of the unmanned vehicle 200 moves to touch the brush head contact piece 223, the two brush head contact pieces 223 are pushed by the unmanned vehicle 200 and are retracted, so that the tail parts of the two brush head contact pieces 223 are respectively connected with the positive and negative poles of the electrode 225; in addition, since the unmanned vehicle 200 continues to move forward a distance after being pushed against the brush head contact piece 223, the movement support 221 moves, so that the contact unit 224 provided on the movement support 221 is in contact with the limit switch 212, at this time the limit switch 212 is connected, the limit switch 212 outputs a signal to the hardware in the charging pile shell 10, the hardware in the charging pile shell 10 outputs a signal to the brush head contact piece 223, since the brush block contact piece of the unmanned vehicle 200 is in contact with the brush head contact piece 223 at this time, the internal circuit of the unmanned vehicle 200 detects whether there is a signal input to the two poles of the brush block contact piece, if there is a signal input, the hardware in the charging pile shell 10 and the hardware in the charging pile shell 10 turn on the relay after a delay of 2s, and the hardware in the charging pile shell 10 also detects the voltage at both ends of the brush block contact piece of the unmanned vehicle 200 after the relay is turned on, and only after a voltage of a set threshold value is detected, the charging to the unmanned vehicle 200 is started.

[0047] Conversely, when the charging is completed, the unmanned vehicle 200 moves out, the contact unit 224 is separated from the limit switch 212, the brush head contact piece 223 is extended out of the sliding groove 222, the tail part of the brush head contact piece 223 is separated from the electrode 225, and the power-off is completed.

[0048] In addition, since the brush head contact piece 223 of the embodiment moves independently and is connected with the positive and negative poles of the charging pile respectively, when the brush block contact piece of the unmanned vehicle 200 is in contact with the brush head contact piece, the two brush block contact pieces can be in different planes, allowing a certain range of positioning deviation of the unmanned vehicle 200, and improving the reliability and stability of charging. Specifically, the two brush head contact pieces 223 of the embodiment are distributed in an up-down manner, so that the brush block contact piece of the unmanned vehicle 200 can be in different vertical planes.

[0049] The brush head contact piece 223 of the embodiment is in telescopic cooperation with the motion support 221 through the contact piece spring 226, the contact piece spring 226 is arranged in the sliding groove 222, and both ends of the contact piece spring 226 are connected with the brush head contact piece 223 and the motion support 221 respectively. Specifically, both ends of the contact piece spring 226 of the embodiment are connected with the tail of the brush head contact piece 223 and the bottom of the sliding groove 222 respectively, so that the brush head contact piece 223 can move in the sliding groove 222. Moreover, the tail of the brush head contact piece 223 of the embodiment is arranged in a “concave” shape, the convex parts at both ends of the “concave” shape are connected with the contact piece spring 226, and the lower concave part is used to contact the electrode 225.

[0050] The motion support 221 of the embodiment comprises an optical axis 227, a first motion base plate 228 and a second motion base plate 229 arranged at both ends of the optical axis 227; the fixed support 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 motion base plate 228 and the second motion base plate 229 to reciprocate relative to the length direction of the optical axis 227. The fixed support 211 is located between the first motion base plate 228 and the second motion base plate 229, and the fixed support 211 is connected with the second motion base plate 229 through the first tension spring 23, the first tension spring 23 is in a pre-stretching state, and when there is no external force, the second motion base plate 229 can be pulled tight to make the second motion base plate 229 close to the fixed support 211. The sliding groove 222 is arranged in the first motion base plate 228; the contact unit 224 is slidingly arranged between the fixed support 211 and the second motion base plate 229, so as to realize the contact and separation of the contact unit 224 and the limit switch 212; the elastic coefficient of the first tension spring 23 > the elastic coefficient of the contact piece spring 226, so that when the unmanned vehicle 200 just contacts the brush head contact piece 223, the contact piece spring 226 is contracted initially, and the first tension spring 23 still maintains the pre-stretching state, until the unmanned vehicle 200 continues to advance to a certain distance, the contact piece spring 226 is compressed to the limit position, the tail of the brush head contact piece 223 is connected with the electrode 225, and the second motion base plate 229 moves away from the fixed support 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-stretching stretching amount, and the contact unit 224 is separated from the limit unit.

[0051] Specifically, the number of the first tension spring 23 of the embodiment is two, and the two first tension springs 23 are connected with both ends of the fixed support 211 and both ends of the second motion base plate 229 through the fixed plug screw.

[0052] The contact unit 224 in the embodiment includes a contact plate 2241 matched with the limit switch 212, and a sliding linear bearing 2242 arranged on the contact plate 2241 and matched with the optical axis 227. The sliding linear bearing 2242 realizes the reciprocating movement of the contact plate 2241 relative to the length direction of the optical axis 227, so as to realize the contact and separation of the contact plate 2241 and the limit switch 212. The contact plate 2241 is connected with the second moving base plate 229 through the second tension spring 24. The second tension spring 24 in the embodiment is also in a pre-stretching state, and tightens the contact plate 2241 and the second moving base plate 229. Since the contact plate 2241 is tightened by the second tension spring 24, the contact plate 2241 also moves with the second moving base plate 229, so as to realize the contact and separation of the contact plate 2241 and the limit switch 212. 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 second tension spring 24 is greater than the elastic coefficient of the contact spring 226, so as to ensure the smoothness of power-on and power-off.

[0053] Similarly, the number of the second tension spring 24 in the embodiment is two, and the two second tension springs 24 are connected with the two ends of the contact plate 2241 and the two ends of the second moving base plate 229 through the fixed plug screw.

[0054] The fixed support 211 in the embodiment 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, for detecting whether the charging position of the unmanned vehicle 200 is in place. The limit screw 214 can block the contact unit 224 from continuing to move, so as to prevent the limit switch 212 from being damaged.

[0055] The fixed linear bearing 213 and the second moving base plate 229 in the embodiment are both provided with a buffer pad 216 for limiting and buffering the contact unit 224. Specifically, the buffer pad 216 includes a spacing ring arranged on the fixed linear bearing 213 and a buffer rubber arranged on the second moving base plate 229, so as to limit the movement of the contact unit 224 within the range between the spacing ring and the buffer rubber.

[0056] The elastic coefficient value of the first tension spring 23 is much greater than the elastic coefficient value of the second tension spring 24. When there is no external force, the contact unit 224 is pressed by the brush head moving assembly 22 which is tightened, and is located between the spacing ring and the buffer rubber. When a certain external pressure is applied, the first tension spring 23 and the second tension spring 24 are elongated, and the contact plate 2241 contacts the limit screw 214 and the limit switch 212.

[0057] The moving support 221 of the embodiment includes a protective cover 25 arranged around the two brush head contacts 223, the protective cover 25 is connected with the first moving 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, 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 causing personal injury.

[0058] The outer side of the charging pile shell 10 is provided with an anti-collision rod 40. Specifically, the anti-collision rod 40 is connected with the charging pile bottom plate 30 and is not movable relative to the ground. The anti-collision rod 40 is used to protect the charging pile shell 10 and the parts inside it from being damaged by the unmanned vehicle 200.

[0059] As shown in FIG. x Figure 1 The embodiment also provides an unmanned vehicle 200, which is matched with the automatic charging device 100 described above, and the unmanned vehicle 200 includes a vehicle frame 300 and an unmanned vehicle brush block module 400 arranged on the vehicle frame 300. Two brush block contacts 410 are arranged on the unmanned vehicle brush block module 400 and match the two brush head contacts 223 respectively. When the unmanned vehicle 200 travels to the brush block contacts 410 and the brush head contacts 223 are in contact, and continues to travel a distance, automatic charging is realized.

[0060] The unmanned vehicle brush block module 400 of the embodiment includes a brush block base plate 420, a guide rail 430 and a fixing part 440 arranged on the brush block base plate 420, a top block 450 arranged on the fixing part 440 and in telescopic cooperation with the fixing part 440, and a protective door 460 slidingly arranged on the guide rail 430 and in dynamic cooperation with the top block 450. Two brush block contacts 410 are arranged on the brush block base plate 420, and the protective door 460 is used to shield 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 shielded. When the top block 450 is retracted, the protective door 460 is opened and the brush block contacts 410 are exposed.

[0061] The embodiment realizes automatic opening and closing of the protective door 460 according to the contact condition of the related parts of the unmanned vehicle 200 and the charging pile without adding additional driving devices. When the passive protective door 460 is closed, the brush block contacts 410 are isolated from the external environment, so that they are not eroded by external pollution. Since the protective door 460 is opened and closed without adding new electric control driving devices, not only energy saving is achieved, but also the reliability of the protective door 460 is improved.

[0062] Specifically, the number of the guard doors 460 is two, and the two guard doors 460 are respectively located on the left and right sides of the top block 450. The guard doors 460 are provided with notches for exposing the top block 450, so that the top block 450 functions as a switch. When the unmanned vehicle 200 travels to contact and press the top block 450, the guard doors 460 on the left and right sides are both moved in opposite directions to expose the brush block contact 410. The guide rail 430 is provided with a sliding block, and the guard doors 460 are slidingly connected with the guide rail 430 through the sliding block.

[0063] The top block 450 and the fixing member 440 are telescopically connected through the top block spring 470, and the elastic coefficient of the top block spring 470 is smaller than that of the contact spring 226, so as to ensure the smooth opening of the guard doors 460. In order to ensure the normal use of the automatic charging device 100, the elastic coefficients of the springs in the embodiment are ranked as follows: 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 hole for inserting and installing the top block 450 and the top block spring 470. One end of the top block spring 470 is connected with the top block 450, and the other end is connected with the fixing member 440. The top block 450 can slide in the front and back directions in the slot hole under the action of the top block spring 470 to realize telescopic connection. In addition, the tail of the top block 450 is provided with a boss 451 for limiting the position of the top block 450. When the top block 450 is extended to the limit position, the boss 451 abuts against the inner wall of the slot hole to prevent the top block 450 from falling off.

[0065] The top block spring 470 has a certain pre-compression amount, so that the top block spring 470 has a certain tension, and the top block 450 can be kept extended outward without external force.

[0066] The top block 450 and the guard doors 460 are connected through the telescopic net 480. When the top block 450 is pressed and retracted, the telescopic net 480 is stretched to drive the guard doors 460 to move outward to the left and right sides, and the guard doors 460 are opened. Conversely, when the top block 450 is extended, the telescopic net 480 is contracted to drive the guard doors 460 to move towards each other, and the guard doors 460 are closed.

[0067] Specifically, the telescopic net 480 is provided with a plurality of hinged rods connected through a hinged pin. The top of the fixing member 440 is provided with a slot, and one of the hinged pins of the telescopic net 480 located at the middle position is connected with the top block 450 through the slot, and the other hinged pin is connected with the fixing member 440. The hinged pins at the two ends of the telescopic net 480 are respectively connected with the guard doors 460 on the left and right sides. When the top block 450 moves forward and backward, the guard doors 460 are correspondingly opened or closed.

[0068] The protective door 460 of the embodiment is provided with a brush 461 for cleaning the brush block contactor 410. Specifically, the brush 461 is arranged on the inner side of the protective door 460, i.e. the side of the protective door 460 close to the brush block contactor 410, and is arranged in correspondence with the brush block contactor 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 contactor 410. The brush 461 mounted on the protective door 460 can automatically clean the dust and stains on the brush block as the protective door 460 is opened and closed, thereby reducing the contact resistance during charging and improving the charging efficiency. In addition, in the embodiment, at least two brushes 461 are arranged on each protective door 460 in correspondence with the same brush block contactor 410, and the at least two brushes 461 are arranged in the direction of movement of the protective door 460, thereby avoiding the short circuit of the positive and negative poles of the brush block contactor 410 caused by water droplets or rainwater condensed on the brush 461 when only one brush 461 is used for cleaning.

[0069] The frame 300 of the embodiment is further provided with a safety contact edge 500 cooperating with the anti-collision rod. The safety contact edge 500 is internally provided with a contact sensor, which outputs a signal to the unmanned vehicle 200 to stop moving when a certain pressure is applied. If the positioning error of the unmanned vehicle 200 is too large, the safety contact edge 500 will contact the anti-collision rod 40 when the unmanned vehicle 200 continues to move forward after reaching the predetermined charging positioning point. When the safety contact edge 500 is pressed, a signal is sent to the unmanned vehicle 200, and the unmanned vehicle 200 stops moving forward after receiving the instruction. In addition, if the unmanned vehicle 200 fails to receive the input signal from the brush block contactor 410 due to other reasons, the safety contact edge 500 will also be pressed during the forward movement of the unmanned vehicle 200, and the unmanned vehicle 200 will also stop moving forward, thereby achieving 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, the embodiment is described as follows:

[0071] Initial state: the protective door 460 is in a closed state, and the top block 450 starts to contact the brush head movement assembly 22 at this time;

[0072] Door opening stage: during the continuous forward movement of the unmanned vehicle 200, the top block 450 is pressed and slides due to the fact that the elastic coefficient of the first tension spring 23 is much larger than that of the top block spring 470, the telescopic net 480 connected to the top block 450 is slowly unfolded, and the two side protective doors 460 connected to the two ends of the telescopic net 480 are also opened, until the brush head contactor 223 on the brush head movement assembly 22 starts to contact the brush block contactor 410 on the brush block module 400.

[0073] Limit switch 212 trigger stage: the unmanned vehicle 200 continues to advance, because 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 advance, the brush head contact piece 223 is squeezed for a longer distance, because the brush head contact piece 223 is squeezed, the top block 450 is also squeezed for a corresponding distance; when the brush head contact piece 223 reaches the limit position, the unmanned vehicle 200 continues to advance, because 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 movement assembly 22 until the contact unit 224 contacts the limit screw 214 and the limit switch 212 on the fixed assembly 21; at this time, the limit switch 212 is connected, the hardware inside the charging pile shell 10 starts to output a signal to the brush head contact piece 223, because the brush block contact piece 410 and the brush head contact piece 223 are in contact at this time, the internal circuit of the unmanned vehicle 200 detects whether there is a signal input to the two poles of the contact piece, if there is a signal input, the hardware in the unmanned vehicle 200 and the charging pile shell 10 will be connected after a delay of 2s, and after the relay is connected, the hardware inside the charging pile shell 10 will also detect the voltage across the brush block contact piece 410 of the unmanned vehicle 200, and only when the set threshold voltage is detected, the charging of the unmanned vehicle 200 will start.

[0074] Limit protection stage: because 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 movement assembly 22 reaches the limit position, the unmanned vehicle 200 will continue to advance for a distance after detecting the signal, and stop advancing only after reaching the automatic charging positioning point; during the process of the unmanned vehicle 200 continuing to advance for a distance, the brush head movement assembly 22 will be squeezed to continue to slide, and the first tension spring 23 will also continue to be stretched for a corresponding distance; if the unmanned vehicle 200 continues to move forward after reaching the predetermined charging positioning point due to excessive positioning error, the safety contact edge 500 will contact the anti-collision rod 40; when the safety contact edge 500 is squeezed by contact, a signal will be sent to the unmanned vehicle 200, and the unmanned vehicle 200 will stop advancing after receiving the instruction, 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 due to other reasons, the safety contact edge 500 will also be squeezed during the process of the unmanned vehicle 200 continuing to advance, and finally the unmanned vehicle 200 will also stop continuing to advance, which also achieves the effect of protecting the unmanned vehicle 200 and the charging pile.

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

[0076] Suppose the spring constant of the top block spring 470 is K1, and the pre-compression amount is △L1; the spring constant of the contact spring 226 is K2, and the pre-compression amount is △L2; the spring constant of the first tension spring 23 is K3, and the pre-stretching amount is △L3; the spring constant 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. Suppose the pre-pressure between the brush and the cleaning contact is Fn, the friction coefficient is u, and due to the connection through the telescopic net 480, there is a lever structure, and the lever coefficient is m. Since there are two protective doors 460, the additional force on the top block 450 when the door is opened is Ff = 2 x Fn x u x m.

[0078] Suppose the stroke required for the top block 450 to slide when opening the protective door 460 is S1, at this time the pressure of the top block spring 470 is F1; the stroke of the brush head contact 223 being compressed to the limit is S2, at this time the pressure of the two contact springs 226 is F2; the brush head movement assembly 22 is moved by a distance S3 when the limit switch 212 is triggered, at this time the tension of the two first tension springs 23 is F3; the distance of the brush head movement assembly 22 moving from the limit switch 212 being triggered to the limit position is S4, at this time the combined force of the brush head movement assembly 22 by the two first tension springs 23 and the two second tension springs 24 is F4.

[0079] The remaining movement assemblies are connected as the guide rail 430 slider, the optical axis 227, the sliding groove, etc., and the friction resistance is ignored, so:

[0080] F1 = 2 x k1 x (△L1 + S1);

[0081] F2 = 2 x k2 x (△L2 + S2);

[0082] F3 = 2 x K3 x (△L3 + S3);

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

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

[0085] F1 > Ff;

[0086] F2 ≥ Fa;

[0087] F3 ≥ F1 + F2 + Ff.

[0088] To ensure that the unmanned vehicle 200 has a certain positioning error ΔS, the unmanned vehicle 200 can normally charge within the error range and does not touch the safety edge 500, the following requirements need to be met:

[0089] S4>2x ΔS.

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

[0091] (1) When the unmanned vehicle 200 is not charging, 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, and at this time the brush block contact 410 on the unmanned vehicle 200 is covered by the protective door 460, and personnel cannot touch it;

[0092] (2) Even if the relay fails or other uncontrollable factors cause the relay to conduct, when the signal on the brush block contact 410 is not detected on the brush head contact 223, no voltage and current will be output in the charging pile, and no harm will be caused to the equipment and personnel;

[0093] (3) When the unmanned vehicle 200 is normally charging, the brush block module and the brush head module are covered by the protective cover 25, so that personnel cannot mistakenly touch the charging contacts and cause safety hazards;

[0094] (4) When the unmanned vehicle 200 deviates from the automatic charging positioning point, the safety edge 500 on the unmanned vehicle 200 and the anti-collision rod 40 on the charging pile can avoid harmful collision between the unmanned vehicle 200 and the charging pile, further enhancing the safety of the charging process, 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 middle point of 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 moving assembly 22 reaches the limit position, so that even if the unmanned vehicle 200 has a certain positioning error, the brush head contact 223 and the brush block contact 410 of the charging pile can still be in contact to realize the charging function, effectively reducing the positioning accuracy requirement of the automatic charging of the unmanned vehicle 200 and improving the success rate of automatic charging.

[0096] At the same time, the multi-stage spring (tension spring) provided 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 application are only examples for clearly illustrating the technical solutions of the present application, and are not intended to limit the specific embodiments of the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the claims of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An automatic charging device, characterized by, The utility model relates to a charging pile shell, hardware in the charging pile shell and a charging brush head module on the charging pile shell, the charging brush head module comprises a fixed assembly connected with the charging pile shell and a brush head movement assembly movably connected with the fixed assembly and moving forward and backward relative to the fixed assembly. The fixed assembly comprises a fixed support and a limit switch on the fixed support. The brush head movement assembly comprises a movement support provided with two groups of sliding grooves, two brush head contact pieces in the two groups of sliding grooves and a contact unit on the movement support and matched with the limit switch. The sliding groove is provided with an electrode matched with or separated from 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 matched with the electrode. The hardware in the charging pile shell is electrically connected with the limit switch and the brush head contact piece, and the hardware comprises a relay. The brush head contact piece and the movement support are connected through a contact spring in the sliding groove.

2. The automatic charging device according to claim 1, characterized in that, The movement support comprises an optical axis, a first movement base plate and a second movement base plate at both ends of the optical axis; the fixed support is provided with a fixed linear bearing matched with the optical axis; the fixed support is located between the first movement base plate and the second movement base plate, and the fixed support and the second movement base plate are connected through a first tension spring; the sliding groove is arranged in the first movement base plate; the contact unit is arranged between the fixed support and the second movement base plate; the elastic coefficient of the first tension spring is greater than that of the contact spring.

3. The automatic charging device according to claim 2, characterized in that The contact unit comprises a contact plate matched with the limit switch and a sliding linear bearing on the contact plate and matched with the optical axis; the contact plate and the second movement base plate are connected through a second tension spring; the elastic coefficient of the first tension spring is greater than that of the second tension spring, which is greater than that of the contact spring.

4. The automatic charging device according to claim 3, characterized in that, The fixed support is further provided with a limit screw for protecting the limit switch; and / or the fixed linear bearing and the second movement base plate are both provided with a buffer pad for limiting and buffering the contact unit.

5. The automatic charging device according to claim 4, characterized in that The movement support comprises a protective cover around the two brush head contact pieces; and / or the outer side of the charging pile shell is provided with a collision-resistant rod.

6. The automatic charging device according to any one of claims 1 to 5, characterized in that, The unmanned vehicle comprises a vehicle frame and an unmanned vehicle brush block module on the vehicle frame, and the unmanned vehicle brush block module is provided with two brush block contact pieces matched with the two brush head contact pieces respectively.

7. An unmanned vehicle adapted to the automatic charging device of any one of claims 1-6, characterized in that, ​ The unmanned vehicle brush block module comprises 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 in telescopic cooperation with the fixing part, and a protective door arranged on the guide rail and in dynamic cooperation with the top block; two brush block contact pieces are arranged on the brush block substrate, and the protective door is used for shielding or exposing the brush block contact pieces; when the top block is extended, the protective door is closed and the brush block contact pieces are shielded, and when the top block is retracted, the protective door is opened and the brush block contact pieces are exposed.

8. The unmanned vehicle of claim 7, wherein, The top block and the fixing part are in telescopic cooperation through a top block spring; and / or the top block and the protective door are connected through a telescopic net.

9. The unmanned vehicle of claim 7, wherein, A brush for cleaning the brush block contact pieces is arranged on the protective door.

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