Electrical terminal

Abstract

The invention relates to an electrical terminal (10) comprising: a base (12) having a cavity (14), the cavity (14) being bounded by a bottom and by a side wall; a cup (20) mounted in a floating manner in the cavity (14), the cup (20) having, with respect to the base, at least one degree of freedom in rotation (x, y, z) and at least one degree of freedom in translation (z), the latter allowing the cup (20) to move closer to or farther away from the bottom (16) of the cavity (14), the cup (20) comprising a recess; an electrical contactor (22) arranged in the recess and kinematically secured to the cup (20), the electrical contactor (22) projecting from the cup (20) away from the bottom of the cavity (14); and elastic means (26) configured to apply a force to the electrical contactor (22) and / or to the cup (20) to urge them away from the bottom.

Description

Electric terminal

[0001] The present disclosure relates to the field of electrical terminals and in particular to terminals intended to establish electrical contact between a mobile element and a fixed element such as, for example, a charging terminal for a battery on board a vehicle. The invention has as its preferred application, without however being limited thereto, autonomous vehicles for storing and retrieving articles in an automated storage warehouse. The invention is also applicable in many fields, in particular for motor vehicles, trucks or their trailers, vacuum cleaners or autonomous lawn mowers, or the like.

[0002] Automated storage and retrieval systems (ASRS) typically include automated guided vehicle (AGV) robots that operate either on the floor or on storage racks. These autonomous vehicles may include a battery, which needs to be recharged or replaced frequently: some models can drain their batteries in about an hour. Larger capacity batteries aren't necessarily a panacea: they're heavier and take longer to recharge.

[0003] Document EP 4 151 558 A1 is an example that demonstrates the complexity of battery replacement and establishes how cumbersome battery charging stations are. This size and complexity are all the more problematic as the number of vehicles in such an automatic storage system can be large.

[0004] US 2022 / 144543 A1 describes a charging pin arranged below rails on which a vehicle is traveling. The pin is moved vertically upwards to engage with a female connector on the vehicle. This device does not allow for possible positioning errors of the vehicle or the pin. It is therefore only suitable for vehicles traveling on rails. This device is therefore not usable for AGVs traveling on the ground along complex trajectories that can be dynamically optimized during operation of the system. Also, if the ground is not perfectly flat, pins that move vertically would not form ideal contact with the vehicle.

[0005] Document JP2016159674 discloses a charging device for an electric vehicle comprising a first unit having a first connector and a first support member, and a second unit having a second connector and a protective member that can be elastically moved to expose or protect the second connector. The first support member of the first unit is formed so that it can be pushed until the protective member of the second unit is exposed. This charging device thus has a relatively complex structure in order to make the first and second units cooperate.

[0006] Document DE102016121335 discloses a vehicle connection device for electrically connecting a vehicle contact unit to a ground contact unit of an electrical charging structure. The vehicle contact unit includes a pneumatically operated contact actuator and air outlets to facilitate connection and cleaning. In a particular configuration, the vehicle contact unit includes a base provided with a cavity in which an electrode with a shoulder is resiliently mounted. This connection device thus requires relatively precise positioning of the vehicle relative to the ground contact unit.

[0007] Thus, there is a need for an autonomous vehicle charging system that is simple and tolerates a certain degree of inaccuracy in the relative positioning of the vehicle and the charging station. The positioning error may be related to the design of the vehicle, its trajectory, the non-flatness of the surface on which the vehicle is traveling, the design of the charging station, or other factors.

[0008] More generally, there is a need for an electrical terminal that does not require precise positioning between the two elements that must be put into electrical contact. Summary

[0009] The present disclosure improves the situation by proposing a simple, reliable, compact, robust design (for example in the event of an inappropriate collision) and which guarantees good electrical contact by tolerating misalignment of the two elements to be electrically contacted, in particular the vehicle to be recharged and the charging station.

[0010] An electrical terminal is proposed comprising: a base having a cavity, the cavity being delimited by a bottom and by a side wall; a cup mounted floating in the cavity, the cup having, relative to the base, at least one degree of freedom in rotation and at least one degree of freedom in translation, the latter allowing the cup to move closer to or further away from the bottom of the cavity, the cup comprising a housing; an electrical contactor arranged in the housing and kinematically integral with the cup, the electrical contactor extending in projection from the cup opposite the bottom of the cavity; and elastic means configured to apply a force to the electrical contactor and / or to the cup, aimed at moving them away from the bottom.

[0011] The floating mounting of the cup, which carries the contactor, allows a certain freedom in the positioning of the device to be connected to the terminal (more particularly but not limited to, the autonomous vehicle). The present solution thus overcomes alignment defects linked to the control of the vehicle, its dimensions, or the flatness of the support on which the vehicle moves. Also, the device is simple on the terminal side but this simplicity also extends to the element intended to come into electrical contact with the terminal which does not require any particular complexity. This element can be in the form of a pad placed below the vehicle.

[0012] According to another aspect, the housing passes through the cup and the elastic means apply a force directly to the electrical contactor. It is thus possible to center the forces applied by the elastic means directly on the contactor and to maximize the contact force between the terminal and the pad, ensuring good electrical contact regardless of the position and orientation of the cup.

[0013] According to another aspect, the elastic means consist of two helical springs engaged in respective pins arranged on the bottom of the cavity, the two helical springs penetrating into blind orifices of the electrical contactor and / or the cup.

[0014] The springs are chosen to offer a compromise between a sufficiently low rigidity to allow movement of the cup and a tolerance of positioning of the vehicle relative to the base, and a sufficiently high rigidity to guarantee sufficient force between the terminal and the pad to ensure good electrical contact.

[0015] In one variant, the blind holes are arranged on the bottom of the cavity and the pins are arranged on the contactor. In another variant, pins or blind holes are provided on both the bottom and the contactor.

[0016] It should be understood that the pins are an example of means for holding one end of a spring in position and that other equivalent means may be provided such as a rib, a protrusion, a welding point, etc.

[0017] According to another aspect, the electrical contactor has a bevel and the cup comprises a flat surface coplanar with the bevel. The contactor may have a generally parallelepiped, cylindrical or hemisphere shape. To facilitate contact between the terminal and the pad, the bevel of the contactor may thus be extended by a flat face of the cup. Optionally, the contactor may have 2 bevels on two opposite upper edges. Optionally, 4 bevels may be provided on the 4 edges of the upper face of the contactor.

[0018] According to another aspect, the cup comprises a crown and the terminal comprises a stop for stopping the translation of the cup, the stop holding the crown in the cavity. Depending on the weight of the cup, the depth of the cavity and the rigidity of the elastic means, it may in fact be advantageous to provide a stop to maintain a significant electrical contact force without taking the risk of the cup escaping from the cavity.

[0019] According to another aspect, the cavity is of a sufficient size to fully accommodate the cup and the electrical contactor when a sufficient force opposes the force applied by the elastic means. Thus, the elastic means have a maximum permissible compression (for example, if the elastic means are made of helical springs, when the turns of the springs are in contact with each other, it is no longer possible to compress the spring further), and the cavity is of a sufficiently large size with respect to this maximum permissible compression to accommodate the entire cup and the contactor. In other words, the translational movement of the cup is such that the cup and the contactor can be fully housed in the cavity.This makes it possible to protect the integrity of the terminal: the contactor protrudes from the cavity due to the force of the elastic means, but if an element comes transversely to the contactor (for example an AGV or a pallet truck), it may be advantageous for the contactor to be able to retract into the cavity. A sufficiently large cavity thus guarantees the reliability and longevity of the device.

[0020] According to another aspect, the electrical contactor is held integral with the cup by a flange fixed to the cup, the flange having a notch in which the electrical contactor is received and the flange engaging two grooves of the electrical contactor. It is thus possible to hold the contactor integral with the cup, in a reliable and simple manner. Alternatively, the contactor is directly fixed to the cup, by means of fixing lugs.

[0021] According to another aspect, the terminal comprises an electrical cable connected to the electrical contactor, the cup having a recess through which the cable passes. The contactor is connected by a cable to a pole of an electrical source. The cable may advantageously pass radially through the cup (more or less perpendicular to the translation axis of the cup in the cavity). The base may also be adapted to allow the cable to pass. The recess may be of sufficient size so that the cable does not hinder the free movement of the cup over a large pivoting and translation range.

[0022] According to another aspect, the electrical cable is connected to the electrical contactor at a middle position of the electrical contactor and / or the recess is arranged at a middle position of the cup. Such an arrangement makes it possible in particular to use the same design to arrange two terminals at different electrical potentials opposite each other.

[0023] According to another aspect, the cup has a peripheral edge formed of two diametrically opposed rectilinear portions and two diametrically opposed arcs of circles. This shape makes it possible to guarantee at least two degrees of freedom by a simple design.

[0024] According to another aspect, the side wall of the cavity is cylindrical or comprises at least two sectors of cylinders.

[0025] According to another aspect, the side wall of the cavity is formed at least in part of crenellations or sinusoids. This type of profile makes it possible to multiply the contact surfaces between the cup and the base and to guide the cup well in translation, whatever its position in the cavity. It is understood that the cup comprises complementary crenellations or sinusoids to mesh with the crenellations or sinusoids of the side wall of the base.

[0026] In another aspect, the cup is made of an electrically insulating material. The insulating nature of the cup is not essential: if the cup is not insulating, the base can be insulating, and if the latter is not insulating, the entire terminal can be isolated from the environment by an insulating layer.

[0027] According to another aspect, the housing is a first housing and the cup comprises a second housing receiving a second electrical contactor.

[0028] The second electrical contactor may be of the same shape and / or orientation as the first electrical contactor. The second electrical contactor may be at the same or different electrical potential than the first electrical contactor. The contactors may be of the same or opposite polarity. In one variant, both contactors are arranged in a single housing.

[0029] In addition to the second contactor, the cup can accommodate one or more additional electrical contactors.

[0030] In one variant, the electrical contactor has two parts of different polarities or electrical potentials, the two parts being separated from each other by an insulating element.

[0031] The invention also relates to an electric charging station for a vehicle, the station comprising a horizontal or vertical infrastructure on which the vehicle moves and at least one electrical terminal according to one of the embodiments mentioned above, the direction of translation of the terminal cup being perpendicular to the infrastructure.

[0032] When several terminals are provided, these may be arranged in such a way that the translation axes of the contactors extend parallel to each other. When they are parallelepipedal, the contactors may have the same orientation of larger dimension or alternatively have distinct orientations (for example at 45° or 90°). In a variant, the terminals may have translation axes of the cups which are not parallel: for example, one terminal may be on the ground while another terminal is on the wall, and a vehicle may connect to both terminals by moving frontally facing the wall.

[0033] The invention also relates to an electric vehicle comprising an electrical terminal according to one of the embodiments described above or comprising a pad intended to cooperate with the electrical terminal according to one of the embodiments described above. The pad may have a bevel intended to cooperate with the bevel of the contactor or with the cup.

[0034] In one variant, the vehicle may comprise an electrical terminal as described above and the infrastructure may comprise a (fixed) skid, in the form of a pad or a rail.

[0035] The invention also relates to the assembly of an electrical terminal according to one of the embodiments mentioned above and to an electric vehicle comprising a pad intended to cooperate with the electrical terminal, the pad being smaller, preferably at least 1.5 times smaller, than the electrical contactor in a direction perpendicular to the direction of translation of the cup of the terminal.

[0036] This configuration ensures good plane-to-plane contact between the contactor and the pad.

[0037] The invention also relates to an item storage and retrieval store comprising a plurality of charging stations as described above and a plurality of vehicles as described above.

[0038] The various aspects described above allow the electrical terminal, the charging station and the vehicle to ensure electrical contact in a reliable and simple manner, the terminal being particularly compact and allowing it to cooperate with a robot having very low ground clearance.

[0039] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which:

[0040] schematically shows a known electrical terminal.

[0041] illustrates an exploded view of a terminal according to one embodiment.

[0042] represents a sectional view according to one embodiment.

[0043] shows a vehicle according to one embodiment.

[0044] illustrates a storage warehouse according to one embodiment.

[0045] presents an alternative vehicle design.

[0046] Lamontre a known electrical terminal 1. A base 2 has housings to receive two contactors 4. The contactors 4 are fixed or movable in translation in the vertical direction z. Thus, a vehicle (not shown) can come into contact with terminal 1 to recharge its battery. The vehicle has corresponding female plugs which are intended to come into contact with the contactors 4. The vehicle must be in a horizontal plane x, y and along a trajectory parallel to the direction x. Any positioning defect, such as a lateral offset (along y) or a pivoting around the x, y or z axis makes the electrical contact uncertain. The electrical contact may not be established at all, or when the electrical contact is established, it may be made on a contact surface smaller than the nominal surface, causing longer charging times and / or localized overheating and / or electric arcs.

[0047] The watch shows an electrical terminal 10 according to an advantageous embodiment of the invention.

[0048] The terminal 10 comprises a base 12 having a cavity 14 having a bottom 16 and a side wall 18. When the terminal 10 is fixed, the base 12 can be inserted into a clearance provided in the ground, in a wall or in any other structural element. The base 12 can be directly formed in the structural element (for example formed in a concrete screed). When the terminal 10 is mobile, the base 12 can be attached to the frame of a mobile element or be directly formed in this frame.

[0049] An x, y, z reference is associated with the base 12. Thus, if the base 12 is placed on the ground, the z axis is the vertical axis while x and y define a horizontal plane. Conversely, if the base 12 is mounted on a vertical infrastructure element, the z axis is horizontal and the x and y axes define a vertical plane.

[0050] The cavity 14 may have a generally cylindrical shape. Thus, the side wall 18 may describe a cylinder. The cylinder may include flats 19, the usefulness of which will be discussed below. In an embodiment not shown, the wall is substantially square, having on two opposite sides of the square, notches or sinusoids.

[0051] The base 12 may be made of an electrically insulating material.

[0052] The cavity 14 accommodates a cup 20. The cup 20 is received in a floating manner in the cavity 14. This “floating” assembly is characterized by the absence of direct attachment between the two parts 14, 20, at least in translation along z as well as in rotation around the x axis. As mentioned below, depending on the relative dimensions of the cavity 14 and the cup, rotation around the y axis and / or around the z axis may also be permitted, as well as translation along x or y.

[0053] The cup 20 comprises a housing 20.1 receiving a contactor 22. The housing 20.1 may be through in the z direction. If the cup 20 may be made of an insulating or non-insulating material, the contactor 22 is made of an electrically conductive material. It is intended to come into electrical contact with a corresponding contactor of a terminal.

[0054] The contactor 22 can be fixed to the cup 20 by means of a flange 24. In this example, the flange 24 is U-shaped with a notch 24.1 into which the contactor 22 penetrates. The contactor 22 can have two grooves 22.1 into which the two branches 24.2 of the flange 24 are slid. The grooves can be parallel to the direction of greatest dimension of the contactor 22. The flange 24 is placed on a seat of the cup 20, approximately halfway up the cup 20 and the flange 24 is fixed by screws to the cup 20.

[0055] It is possible to provide a slight clearance between the grooves 22.1 and the branches 24.2, and between the housing 20.1 and the contactor 22. Thus, the contactor 22 can be allowed to have a slight translational movement along x and y. The magnitude of this movement can be one hundredth of the respective dimension along x or y of the contactor 22.

[0056] In a variant not shown, the contactor 22 is directly fixed to the cup 20, for example by means of fixing lugs directly formed in the body of the contactor 22.

[0057] Elastic means 26 apply a force in the z direction pushing the contactor 22 away from the base 16 of the plinth 12. The elastic means 26 are here represented as being helical springs but other elements can also play this role (Belleville washers, folded spring steel blades, elastomer bellows, etc.).

[0058] The stiffness of the springs and their resistance to fatigue is sufficient to ensure contact between the contactor 22 and the pad even after wear: for example, if due to friction, the contactor has lost 2 mm of material and the springs have undergone several thousand cycles, the stiffness is such that the springs always guarantee good contact.

[0059] In the example illustrated, the helical springs 26 are engaged in pins 28 arranged on a plate 29 attached to the bottom 16 of the cavity 14. The pins 28 can alternatively be arranged directly on the bottom 16. Conversely, the helical springs 26 are engaged in blind orifices of the contactor 22 (see). The pins 28 can have a height along z which is less than half the depth of the cavity 14. The blind orifices can have a depth which is greater than half the height of the contactor 22.

[0060] The reverse configuration (pins on the switch 22 and holes on the bottom 16) is also possible.

[0061] Since the contactor 22 is integral with the cup 20, the elastic means 26 indirectly apply a force along z on the cup 20. In a variant, the elastic means 26 apply a force directly on the cup 20 and indirectly on the contactor 22.

[0062] To limit the movement along z of the contactor 22 and the cup 20, a stop 30 is provided.

[0063] The stop 30 may be in the form of a plate disposed flush with the cavity 14 and provided with an opening 30.1 allowing the contactor 22 to pass through, projecting from the cavity 14. The opening 30.1 may be a substantially circular opening extending over approximately 360° around the z axis. The stop 30 cooperates with a crown 20.2 of the cup 20. Thus, the opening 30.1 is sufficiently small to prevent the crown 20.2 from coming out of the cavity 14. The crown 20.2 may be a complete disc extending 360° degrees around the z axis.

[0064] Alternatively, and as illustrated, the crown 20.2 comprises a peripheral edge 20.3 consisting of two diametrically opposite circular arcs and two diametrically opposite rectilinear portions. The rectilinear portions may each extend over an angle of between 0 and 80° around z. This shape may correspond to that of the side wall 18 of the cavity 14, in order to limit, or even prohibit, rotation around the z axis by means of the flats 19. It may indeed be useful not to allow the cup to rotate on itself around z. The peripheral edge 20.3 may be provided with a rounding at least on the circular arc portions.

[0065] Alternatively, the stop 30 may not be continuous and may comprise separate elements arranged around the z axis to stop the crown 20.2 vertically. Such a stop 30 may also cooperate with other parts of the cup 20, the crown 20.2 not necessarily being the part of the cup 20 which cooperates with a translation stop. The stop may be formed of two separate elements, which may be symmetrically arranged on either side of the base. Some of these design choices may have advantages in terms of manufacturing costs or positioning accuracy when the cup is in contact with the stop.

[0066] The contactor 22 may comprise chamfered upper edges thus forming at least one bevel 22.2. This bevel 22.2 facilitates the positioning of the pad by sliding the pad (see). Depending on the shape of the pad (see) which is to cooperate with the contactor 22, the bevel may be used to increase the electrical contact surface between the terminal and the pad.

[0067] One or more flat surfaces 20.4 of the cup 20 may be coplanar with the bevel(s) 22.2. The bevel of the pads may slide on these flat surfaces 20.4.

[0068] The contactor 22 is connected to an electrical source (not shown) by means of a cable 32. The cable 32 is electrically connected to the contactor 22, for example by being inserted into an orifice of the contactor 22.

[0069] To allow the passage of the cable 32, the cup 20 comprises a recess 20.5. Similarly, the base 12 and the stop 30 may comprise respective clearances 17, 30.2. In a version not illustrated, the cup 20 is devoid of a recess and the cable 32 emerges below the contactor 22, for example in the vicinity of one end (along x) of the contactor 22 so as not to hinder the free movement of the elastic means 26. When the cup 20 is conductive, the cable 32 can be connected to the contactor 22 indirectly, via the cup 20.

[0070] In an embodiment not illustrated and in which the side wall has notches or sinusoids (for example 6 in number), the cup also has, on at least one of its sides, corresponding notches or sinusoids. The recess 20.5 receiving the cable can split this side of the cup (and possibly the corresponding side of the base) into two parts having an equal number of notches or sinusoids (for example 3 in number).

[0071] The electrical terminal 10 may have a dimension that depends on the use to which the terminal is put. For example, the cup 20 or the cavity 14 may have a diameter between 2 mm and 20 cm. In most applications, the diameter of the cavity 14 is between 5 cm and 15 cm. In this case, the maximum displacement of the cup 20 relative to a nominal position may be within the following intervals: between 0.5 and 1 mm of translational displacement along x; and / or between 1 and 3 mm of translational displacement along y; and / or between 8 and 12 mm of translational displacement along z; and / or a maximum rotation of 8 to 10° around x; and / or a maximum rotation of 7 to 9° around y; and / or a maximum rotation of 2 to 3° around z. This order of magnitude of the maximum deflections (in translation and rotation) of the cup 20 makes it possible to guarantee good electrical contact despite the construction defects of the AGV and the surface on which it circulates.

[0072] In the illustrated configuration, the elastic means 26 rest on the base 16 and pass through the housing 20.1 of the cup 20, secured to the contactor 22. The elastic means 26 therefore support both translational forces and torsional forces due to the pivoting of the cup in the cavity 14 to compensate for imperfections in the positioning of the pad. In an alternative not illustrated, the contactor 22 is not secured to the cup 20 but is movable in translation along z relative to the latter, and the cup is not movable in translation along z but is only movable in pivoting around x, y, and / or z. Thus, a first series of elastic means – supporting only torsional forces – is interposed between the cavity 14 and the cup 20, while a second series of elastic means – supporting only compression forces – is interposed between the cup 20 and the contactor 22.

[0073] Shows an isometric sectional view of the electrical terminal 10. In this rest position, the cup 20 is pressed by the springs 26 against the stop 30. In operation, the orientation of the cup 20 and the contactor 22 (pivoting around x, y, z) and its position (along z) may be different from what is illustrated.

[0074] This figure highlights blind holes 22.3 of the contactor 22 in which the springs 26 are engaged.

[0075] It is also observed that the cavity 14 is high enough to accommodate the entire cup 20 and the contactor 22 if sufficient force opposes the action of the springs 26. Thus, the contactor 22 and the cup 20 are not damaged if a heavy object hits them.

[0076] This figure also highlights the coplanarity of the bevels 22.2 of the contactor 22 and the flat surfaces 20.4 of the cup 20. In this example, the contactor 22 comprises 2 bevels but the four upper edges of the contactor 2 can optionally be beveled. The bevel facilitates interaction with the pad.

[0077] The inclination of the bevel is between 20 and 40°, which corresponds to a compromise between the size and the friction force on a corresponding surface of the pad: to limit the friction force (and therefore the wear of the surfaces in contact), the slope could be smaller but this would increase the dimension of the contactor 22 in the x direction and therefore the size of the assembly.

[0078] The base 12 is here shown with a cavity 14 but it is obvious that the base 12 can have as many cavities 14 as necessary and corresponding contactors 24. The different contactors 24 can have the same orientation at rest (with the two springs aligned in an x, z plane) or have different orientations.

[0079] Lamontre shows an example of an element that can cooperate with the electrical terminal shown in the previous figures. In this example, the element is a vehicle 100.

[0080] The vehicle may be an autonomous vehicle for storing and retrieving items from an automated storage facility. Alternatively, the vehicle 100 may be any type of vehicle, including a motor vehicle, a truck or its trailer, an autonomous domestic vacuum cleaner, or an autonomous lawn mower.

[0081] The vehicle 100 is shown in a bottom view and in cross-section. The vehicle 100 comprises a certain number of wheels 102 (here 4) including at least one drive wheel. On a bottom face, the vehicle 100 comprises a pad 110 intended to cooperate with the terminal of the previous figures and in particular with the contactor 22.

[0082] The pad 110 may have a flat surface 112 and one or more bevels 114. The bevel 114 is inclined in the same way as the bevel 22.3 of the contactor 22. When the vehicle 100 approaches the electrical terminal 10, the bevel 114 slides on the flat surface 20.4 of the cup 20 and on the bevel 22.2 of the contactor 22.

[0083] The pad 110 may be wider (transversely to the vehicle) and / or longer (in the direction of travel of the vehicle) than the contactor 22, in particular twice as wide and / or one and a half times as long. By providing the springs on the side of the contactor 22, i.e. near the smaller of the two contacting elements, surface contact between the contactor 22 and the pad 110 is guaranteed.

[0084] The vehicle 100 and terminal 10 are thus configured to offer maximum flexibility in terms of positioning faults to always guarantee reliable electrical contact between the pad 110 and the contactor 22.

[0085] Lamontre a 1000 item storage and retrieval warehouse. The 1000 warehouse includes several 100 autonomous vehicles for transporting 200 items and a 300 storage rack.

[0086] Some vehicles 100 can move on the ground 80. Other vehicles 100 can move horizontally in the rack 300 or vertically on an upright 380 of the rack 300.

[0087] Electrical terminals 10 may be arranged at certain relevant locations in the store 1000.

[0088] In a particular configuration, electrical terminals 10 may be arranged on an order preparation station, at which an operator or a robotic arm picks an item from an order 200, transported by an autonomous vehicle 100 from the storage rack 300. Even more particularly, the electrical terminals 10 may be positioned on an access ramp of such a preparation station, so as to allow the autonomous vehicles to recharge when they are parked on the side of the ramp before or after picking the item or when they are in line waiting for the space for picking the item to be freed up. This saves time and space, because it is not necessary to provide additional charging stations or at least the capacity and / or the number of other charging stations can be reduced.

[0089] The electrical terminals 10 form, with the surrounding infrastructure 80, 380 on which the vehicles 100 circulate, a vehicle charging station 90. Approximately one charging station 90 can be provided for ten robots in the store 1000.

[0090] La shows an alternative design for the vehicle 100. Here too, the vehicle 100 is shown in a bottom view and in cross-section. The pad 110 in this case has a bevel 114 oriented in the opposite direction to that of the. This design increases the contact surface between the contactor 22 and the pad 110.

[0091] The pad may have a second bevel (not shown) to further increase the contact surface, the pad thus having a profile having a shape complementary to the profile of the contactor 22 of the.

[0092] In a variant not illustrated, the pads 110 of figures 4 and 6 are not fixed relative to the vehicle. They can have one or two degrees of freedom in rotation and / or translation to increase the flexibility of the system.

[0093] In a variant not illustrated, the vehicle 100 carries an electrical terminal 10 (for example with the z axis of the terminal oriented downwards), and the vehicle 100 moves to come into contact with a fixed contactor to carry out its recharging.

[0094] In a variant not shown, the cup can have a purely translational movement in order to put less stress on the springs and extend the life of the charging station.

[0095] The invention is not limited to the electrical coupling of an electric vehicle to a charging station but can also be used for any type of disconnectable electrical coupling, in particular for consumer household appliances (kettle, razor, telephone) or various industrial appliances.

[0096] 1: known electrical terminal2: known base4: known electrical contactor10: electrical terminal12: base14: cavity16: cavity bottom18: cavity sidewall19: flat20: cup20.1: housing20.2: crown20.3: peripheral edge20.4: flat surface20.5: recess22: electrical contactor22.1: groove22.2: bevel22.3: blind hole24: flange24.1: notch24.2: branch26: elastic means28: pin30: stop30.1: opening30.2: clearance32: cable80: ground90: charging station100: vehicle102: wheel110: pad112: flat surface114: bevel200: article300: rack380: rack upright1000: storage magazine

Claims

Electrical terminal (10) comprising:a base (12) having a cavity (14), the cavity (14) being delimited by a bottom (16) and by a side wall (18);a cup (20) mounted floating in the cavity (14), the cup (20) having, relative to the base, at least one degree of freedom in rotation (x, y, z) and at least one degree of freedom in translation (z), the latter allowing the cup (20) to move closer to or further away from the bottom (16) of the cavity (14), the cup (20) comprising a housing (20.1);an electrical contactor (22) arranged in the housing (20.1) and kinematically integral with the cup (20), the electrical contactor (22) extending projecting from the cup (20) opposite the bottom (16) of the cavity (14); and elastic means (26) configured to apply a force to the electrical contactor (22) and / or to the cup (20), aimed at moving them away from the bottom (16). Electrical terminal (10) according to claim 1, in which the housing (20.1) passes through the cup (20) and the elastic means (26) apply a force directly to the electrical contactor (22). Electrical terminal (10) according to claim 1 or 2, in which the elastic means (26) consist of two helical springs engaged in respective pins (28) arranged on the bottom (16) of the cavity (14), the two helical springs (26) penetrating into blind orifices (22.3) of the electrical contactor (22) and / or of the cup (20). Electrical terminal (10) according to one of the preceding claims, wherein the electrical contactor (22) has a bevel (22.2) and the cup (20) comprises a flat surface (20.4) coplanar with the bevel (22.2). Electrical terminal (10) according to one of the preceding claims, in which the cup (20) comprises a crown (32) and the terminal (10) comprises a stop (30) for stopping the translation of the cup (20), the stop (30) holding the crown (32) in the cavity (14). Electrical terminal (10) according to one of the preceding claims, in which the cavity (14) is of a sufficient size to fully accommodate the cup (20) and the electrical contactor (22) when a sufficient force opposes the force applied by the elastic means (26). Electrical terminal (10) according to one of the preceding claims, in which the electrical contactor (22) is held integral with the cup (20) by a flange (24) fixed to the cup (20), the flange (24) having a notch (24.1) in which the electrical contactor (22) is received and the flange (24) engaging two grooves (22.1) of the electrical contactor (22). Electrical terminal (10) according to one of the preceding claims, comprising an electrical cable (32) connected to the electrical contactor (22), the cup (20) comprising a recess (20.5) crossed by the cable (32). Electrical terminal (10) according to the preceding claim, wherein the electrical cable (32) is connected to the electrical contactor (22) at a middle position of the electrical contactor (22) and / or the recess (20.5) is arranged at a middle position of the cup (20). Electrical terminal (10) according to one of the preceding claims, in which the cup (20) has a peripheral edge (20.3) formed of two diametrically opposite rectilinear portions and two diametrically opposite arcs of circles. Electrical terminal (10) according to one of the preceding claims, in which the side wall (18) of the cavity (14) is cylindrical or comprises at least two sectors of cylinders. Electrical terminal (10) according to one of claims 1 to 10, in which the side wall (18) of the cavity (14) is formed at least in part of crenellations or sinusoids. Electrical terminal (10) according to one of the preceding claims, wherein the cup (20) is made of an electrically insulating material. Electrical terminal (10) according to one of the preceding claims, in which the housing (20.1) is a first housing and the cup (20) comprises a second housing receiving a second electrical contactor. Electric charging station (90) for a vehicle (100), the station (90) comprising a horizontal or vertical infrastructure (80, 380) on which the vehicle (100) moves and at least one electrical terminal (10) according to one of the preceding claims, the translation direction (z) of the cup (20) of the terminal (10) being perpendicular to the infrastructure (80). Electric vehicle (100) comprising an electrical terminal (10) according to one of claims 1 to 14 or comprising a pad (110) intended to cooperate with the electrical terminal (10) according to one of claims 1 to 14. Assembly of an electrical terminal according to one of claims 1 to 14 and of an electric vehicle (100) comprising a pad (110) intended to cooperate with the electrical terminal (10), the pad (110) being smaller, preferably at least 1.5 times smaller, than the electrical contactor (22) in a direction (x, y) perpendicular to the direction of translation (z) of the cup (20) of the terminal (10). A store (1000) for storing and retrieving items (200) comprising a plurality of charging stations (90) according to claim 15 and a plurality of vehicles (100) according to claim 16.

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