Vehicle charging device

Abstract

To provide a vehicle charging device capable of appropriately positioning a connector relative to an inlet.SOLUTION: A vehicle charging device 1 includes a connector 5 that fits into an inlet 210, a support member 6, a connecting mechanism 7 that connects the connector and the support member, an arm 8 that moves the support member up and down by rotating, and a control unit. The control unit sets the rotational position of the support member to a predetermined rotational position when the tip of the connector is brought into opposition to the opening of the inlet, and the predetermined rotational position is the rotational position where the tip of the connector first abuts against the inlet when the support member is raised, and where the inclination angle θ of the connector matches the inclination angle of the inlet when the support member is raised to the target position.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present invention relates to a vehicle charging device. [Background technology]

[0002] Conventionally, there are charging devices that charge vehicles. The vehicle charging system disclosed in Patent Document 1 has a power supply fitting and is provided with a power supply device installed in a parking space for the vehicle. The vehicle charging system has an insertion / removal direction moving part that fits the power supply fitting into the power receiving fitting of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-26379 Summary of the Invention [Problem to be solved by the invention]

[0004] The vehicle and the inlet may be tilted due to the weight of passengers and cargo. A technology is desired that can appropriately position the connector with respect to the inlet even when the inlet is tilted.

[0005] An object of the present invention is to provide a vehicle charging device that can appropriately position a connector relative to an inlet. [Means for solving the problem]

[0006] The vehicle charging device of the present invention comprises a connector that fits into an inlet arranged on a vehicle, a support member, a connecting mechanism that connects the connector and the support member and allows the attitude of the connector to change relative to the support member, an arm that has a first end connected to the support member and a second end that is rotatably supported and that raises and lowers the support member by rotating, a drive mechanism that moves the support member and rotates the support member, and a control unit, wherein the control unit performs angle control to match the inclination angle of the connector to the inclination angle of the inlet when the tip of the connector is brought into opposition to the opening of the inlet, and the control unit sets the rotation position of the support member to a predetermined rotation position in the angle control, and the predetermined rotation position is a rotation position where the tip of the connector first abuts against the inlet when the support member is raised and the inclination angle of the connector matches the inclination angle of the inlet when the support member is raised to a target position. Effect of the Invention

[0007] The vehicle charging device according to the present invention executes angle control to match the inclination angle of the connector to the inclination angle of the inlet when the tip of the connector is opposed to the opening of the inlet. The predetermined rotation position of the support member in the angle control is the rotation position where the tip of the connector first abuts against the inlet when the support member is raised, and where the inclination angle of the connector matches the inclination angle of the inlet when the support member is raised to a target position. The vehicle charging device of this embodiment can adjust the connector's posture to match the inclination of the inlet by raising the connector while pressing the tip of the connector against the inlet. The vehicle charging device according to the present invention has the effect of being able to appropriately position the connector with respect to the inlet. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a vehicle charging device according to an embodiment. [Diagram 2]FIG. 2 is a perspective view of the vehicle charging device according to the embodiment. [Diagram 3] FIG. 3 is a perspective view of the vehicle charging device according to the embodiment. [Figure 4] FIG. 4 is a side view of the vehicle charging device according to the embodiment. [Diagram 5] FIG. 5 is a block diagram of a vehicle charging device according to an embodiment. [Figure 6] FIG. 6 is a side view of the inlet being scanned by the sensor. [Figure 7] FIG. 7 is a side view of the inlet being scanned by the sensor. [Figure 8] FIG. 8 is a bottom view of the inlet being scanned by the sensor. [Figure 9] FIG. 9 is a side view showing the pitch angle. [Figure 10] FIG. 10 is a bottom view of the inlet being scanned by the sensor. [Figure 11] FIG. 11 is a front view showing the roll angle. [Figure 12] FIG. 12 is a bottom view of the inlet according to the embodiment. [Figure 13] FIG. 13 is a cross-sectional view of the inlet and connector. [Figure 14] FIG. 14 is a cross-sectional view of the inlet and connector. [Figure 15] FIG. 15 is a diagram showing a configuration of a connecting mechanism according to the embodiment. [Figure 16] FIG. 16 is a diagram for explaining a predetermined rotation position in the angle control. [Figure 17] FIG. 17 shows the connector in contact with the inlet. [Figure 18] FIG. 18 shows the connector parallel to the inlet. [Figure 19] FIG. 19 is a diagram for explaining a predetermined rotation position in the angle control. [Figure 20] FIG. 20 shows the connector parallel to the inlet. [Figure 21] FIG. 21 is a diagram showing a gap that occurs between a connector and an inlet. [Figure 22] FIG. 22 is a diagram illustrating angle control according to a first modified example of the embodiment. [Diagram 23] FIG. 23 is a diagram of a vehicle charging device according to a second modified example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a vehicle charging device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiment. In addition, the components in the following embodiments include those that a person skilled in the art can easily imagine or that are substantially the same.

[0010] [Embodiment] An embodiment will be described with reference to Fig. 1 to Fig. 20. The embodiment relates to a vehicle charging device. Fig. 1 to Fig. 3 are perspective views of a vehicle charging device according to an embodiment, Fig. 4 is a side view of a vehicle charging device according to an embodiment, Fig. 5 is a block diagram of a vehicle charging device according to an embodiment, Fig. 6 and Fig. 7 are side views of an inlet scanned by a sensor, Fig. 8 is a bottom view of an inlet scanned by a sensor, Fig. 9 is a side view showing a pitch angle, and Fig. 10 is a bottom view of an inlet scanned by a sensor.

[0011] Figure 11 is a front view showing the roll angle, Figure 12 is a bottom view of the inlet of the embodiment, Figures 13 and 14 are cross-sectional views of the inlet and connector, Figure 15 is a diagram showing the configuration of the connecting mechanism of the embodiment, Figure 16 is a diagram explaining a predetermined rotation position in angle control, Figure 17 is a diagram showing the connector in contact with the inlet, Figure 18 is a diagram showing the connector parallel to the inlet, Figure 19 is a diagram explaining a predetermined rotation position in angle control, and Figure 20 is a diagram showing the connector parallel to the inlet.

[0012] As shown in Fig. 1, a vehicle charging device 1 of this embodiment is placed on a floor 100 of a parking space where a vehicle is parked. The vehicle charging device 1 has a housing 2. The housing 2 is fixed to the floor 100. The housing 2 has a sliding cover 2a and a rotating cover 2b. The covers 2a and 2b cover the devices housed in the internal space of the housing 2 from above.

[0013] As shown in Fig. 2, the vehicle charging device 1 has a sliding body 3 arranged inside the housing 2. The sliding body 3 is a plate-shaped base member and is movable in a first direction L and a second direction W relative to the housing 2. The first direction L and the second direction W are horizontal directions. When the floor surface of the floor portion 100 is inclined, it is preferable that the first direction L and the second direction W are parallel to the floor surface of the floor portion 100.

[0014] The first direction L corresponds to the front-rear direction of the vehicle 200 to be charged. The second direction W corresponds to the width direction of the vehicle 200. The vehicle 200 is positioned at a charging position where it is charged by the vehicle charging device 1 while moving forward or backward along the first direction L. In the illustrated vehicle charging device 1, the first direction L is the longitudinal direction of the housing 2. The second direction W is the lateral direction of the housing 2 and is perpendicular to the first direction L.

[0015] The vehicle charging device 1 includes a position sensor 4, a connector 5, a support member 6, a connecting mechanism 7, and an arm 8. The vehicle charging device 1 further includes a first drive mechanism 10, a second drive mechanism 20, a third drive mechanism 30, and a fourth drive mechanism 40.

[0016] 4, the connector 5 is fitted into an inlet 210 disposed in the vehicle 200. The inlet 210 is disposed at the bottom of the vehicle 200. The connector 5 is fitted into the inlet 210, thereby being connected to a battery of the vehicle 200.

[0017] The position sensor 4 is used to detect the position of the inlet 210. The position sensor 4 may be a sensor for measuring distances, a sensor for capturing an image and detecting an object in the image, or other position detection sensors. The position sensor 4 may include a plurality of sensors with different detection methods. The position sensor 4 of this embodiment is a laser sensor that detects the distance to a reflecting object by using a laser beam. The position sensor 4 emits a laser beam in a predetermined direction and receives the laser beam reflected by the object.

[0018] The position sensor 4 is disposed on the sliding body 3 and moves together with the sliding body 3. The position sensor 4 illustrated in FIG. 2 has a first sensor 4A, a second sensor 4B, and a third sensor 4C. The three sensors 4A, 4B, and 4C are disposed in line in this order in the second direction W. The second sensor 4B emits laser light toward the upper side in the vertical direction Z. The vertical direction Z is a direction perpendicular to both the first direction L and the second direction W, and corresponds to the vehicle vertical direction of the vehicle 200. The first sensor 4A and the third sensor 4C emit laser light in an oblique direction inclined with respect to the vertical direction Z.

[0019] The connector 5 is a charging connector that charges the battery of the vehicle 200. The connector 5 has a terminal for charging. The vehicle charging device 1 of this embodiment is configured so that the position of the connector 5 can be moved in a first direction L, a second direction W, and an up-down direction Z.

[0020] The first driving mechanism 10 is a mechanism for moving the connector 5 in a first direction L. The first driving mechanism 10 has a first motor 11 and a gear 12. The gear 12 is disposed on the output shaft of the first motor 11, and meshes with a rack gear disposed on the sliding body 3. The first motor 11 can move the connector 5 in the first direction L by rotating forward and backward.

[0021] The second drive mechanism 20 is a mechanism for moving the connector 5 in the second direction W. The second drive mechanism 20 has a second motor 21 and a gear 22. The gear 22 is disposed on the output shaft of the second motor 21. The gear 22 meshes with a rack gear disposed in the housing 2 via a reduction gear. The second motor 21 can move the sliding body 3 in the second direction W by rotating forward and reverse.

[0022] The third drive mechanism 30 is a mechanism for moving the connector 5 in the up-down direction Z. The connector 5 is connected to the sliding body 3 via an arm 8, a support member 6, and a connecting mechanism 7. The arm 8 is a plate-shaped member and has a first end 81 and a second end 82. The first end 81 is connected to the support member 6. The second end 82 is rotatably supported by the sliding body 3. In other words, the arm 8 is rotatable around the second end 82 as the center of rotation. The arm 8 moves the support member 6 up and down by rotating.

[0023] The vehicle charging device 1 of this embodiment has a first arm 8A and a second arm 8B. The first arm 8A and the second arm 8B extend in a first direction L and face each other in a second direction W. Second ends 82 of the two arms 8A and 8B are connected to each other via a shaft. Therefore, the two arms 8A and 8B rotate in conjunction with each other.

[0024] The support member 6 is connected to a first end 81 of the first arm 8A and a first end 81 of the second arm 8B. The support member 6 is a plate-shaped member and extends in the second direction W. The support member 6 is journaled by the first end 81 of the arm 8 so as to be rotatable relative to the arm 8.

[0025] The connecting mechanism 7 connects the connector 5 and the support member 6, and is configured to allow a change in the attitude of the connector 5 with respect to the support member 6. As shown in FIG. 3, the connecting mechanism 7 has a universal joint 71 and a spring 72. The universal joint 71 and the spring 72 are disposed between the support member 6 and the connector 5, and extend in a first direction L. One ends of the universal joint 71 and the spring 72 are connected to the support member 6, and the other ends of the universal joint 71 and the spring 72 are connected to the connector 5.

[0026] A bearing may be disposed between the universal joint 71 and the connector 5. In this case, the bearing allows the connector 5 to rotate about the central axis in the first direction L. When a bearing is provided, the connector 5 is rotatable relative to the universal joint 71.

[0027] The universal joint 71 of this embodiment allows the connector 5 to change in posture in two rotational directions. More specifically, the universal joint 71 allows the connector 5 to rotate about a central axis Wx in the second direction W. The universal joint 71 further allows the connector 5 to rotate about a central axis Zx in the up-down direction Z. The universal joint 71 is, for example, a cross joint.

[0028] The spring 72 includes a first spring 72A and a second spring 72B. The first spring 72A and the second spring 72B are disposed on both sides in the second direction W with the universal joint 71 therebetween. The first spring 72A and the second spring 72B apply a spring force to the connector 5 that returns the connector 5 to a neutral position in the rotational direction. In other words, the first spring 72A and the second spring 72B apply a biasing force to the connector 5 toward the neutral position. For example, when the position of the connector 5 is changed by a downward external force and the tip of the connector 5 moves downward from the neutral position, the spring 72 applies a biasing force to the connector 5 that raises the tip of the connector 5. Therefore, when no external force due to contact with another member is acting on the connector 5, the spring 72 can maintain the position of the connector 5 in the neutral position.

[0029] The third driving mechanism 30 moves the connector 5 in the vertical direction Z by rotating the arm 8. As shown in FIG. 2, the third driving mechanism 30 has a third motor 31, a first gear 32, and a second gear 33. The first gear 32 is disposed on the output shaft of the third motor 31. The second gear 33 is connected to a shaft connecting the two arms 8A, 8B, and meshes with the first gear 32. The third motor 31 rotates forward and backward to rotate the arm 8.

[0030] The fourth drive mechanism 40 is configured to change the angle θ of the connector 5. The angle θ is an inclination angle of the connector 5 with respect to the first direction L. The fourth drive mechanism 40 has a fourth motor 41, a first sprocket 42, and a pair of second sprockets 43. The first sprocket 42 is disposed on the output shaft of the fourth motor 41. The second sprocket 43 is disposed coaxially with the shaft connecting the arms 8A and 8B, and rotates relative to the shaft. An endless chain is wound around the first sprocket 42 and the second sprocket 43. A third sprocket 44 is disposed on the support member 6. An endless chain is wound around the second sprocket 43 and the third sprocket 44. The fourth motor 41 rotates forward and backward to rotate the support member 6 relative to the arms 8A and 8B. The rotation of the support member 6 changes the angle θ of the connector 5.

[0031] As shown in Fig. 2, a cover 61 is fixed to the support member 6. The cover 61 covers the end of the connecting mechanism 7 on the support member 6 side. As shown in Fig. 3, a U-shaped abutment member 52 is fixed to the connector 5. The abutment member 52 abuts against the cover 61 and is supported by the cover 61. The drive of the connector 5 is restricted by the cover 61 and the abutment member 52. This restriction structure transmits a force in the mating direction to the connector 5, for example, when the connector 5 is mated with the inlet 210, while allowing the connector 5 to change in position.

[0032] 4, the vehicle charging apparatus 1 fits the connector 5 to the inlet 210 of the vehicle 200. As described below, the vehicle charging apparatus 1 detects the position and attitude of the inlet 210 before fitting the connector 5 to the inlet 210. The vehicle charging apparatus 1 fits the connector 5 to the inlet 210 while controlling the position and attitude of the connector 5 based on the detection result.

[0033] FIG. 5 shows a block diagram of the vehicle charging device 1 according to this embodiment. As shown in FIG. 5, the vehicle charging device 1 has a control unit 50. The control unit 50 controls the position sensor 4 and acquires a detection result of the position sensor 4. The control unit 50 also controls a connector sensor 73, which will be described later, and acquires a detection signal of the connector sensor 73. The control unit 50 also controls the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, and the fourth drive mechanism 40. The control unit 50 calculates the position of the inlet 210 and the attitude of the inlet 210 based on the detection result of the position sensor 4.

[0034] FIG. 6 shows the state in which the position sensor 4 scans the inlet 210 in this embodiment. As shown in FIG. 6, the inlet 210 has a base 220 and a fitting portion 230. The base 220 is a portion that is fixed to the vehicle 200, and has a substantially flat plate shape. The fitting portion 230 protrudes downward from the base 220 in the up-down direction Z. The fitting portion 230 has an opening into which the connector 5 is inserted. A terminal is housed inside the fitting portion 230. The fitting portion 230 in this embodiment has a rectangular parallelepiped shape.

[0035] Between the lower surface 220a of the base 220 and the lower surface 230a of the fitting portion 230, there is a step in the vertical direction Z. The control unit 50 calculates the position of the fitting portion 230 and the position of the protrusion 260 described later based on this step. As shown in FIG. 6, the control unit 50 causes the position sensor 4 to emit a laser light LB while moving the sliding body 3 in the first direction L. The position sensor 4 emits the laser light LB at each position at equal intervals along the first direction L, for example, and measures the distance to the target object. FIG. 6 shows the laser light LB1 emitted from the second sensor 4B. The direction in which the laser light LB1 is emitted by the second sensor 4B is the vertical direction Z.

[0036] 7 shows the laser light LB2 emitted from the first sensor 4A and the third sensor 4C. The laser light LB2 is emitted in a direction inclined with respect to the vertical direction Z. A part of the laser light LB2 is reflected by the inlet 210 toward the first sensor 4A and the third sensor 4C. Another part of the laser light LB2 is reflected in a direction different from the position sensor 4.

[0037] The vehicle charging device 1 of this embodiment has a first sensor 4A, a second sensor 4B, and a third sensor 4C. As a result, as shown in Fig. 8, the inlet 210 can be scanned along three lines L1, L2, and L3 that are different in position in the second direction W. The three lines L1, L2, and L3 are, for example, arranged at equal intervals.

[0038] The control unit 50 detects the position of the end 240 based on the detection result of the position sensor 4. The end 240 is an end of the fitting portion 230 in the first direction L. As shown in Fig. 11, the end 240 has an opening 230b into which the connector 5 is inserted. The control unit 50 determines that a point where the distance detected by the position sensor 4 changes significantly is the end 240.

[0039] As shown in Fig. 8, a position 241 of the end 240 intersecting with the first line L1, a position 242 of the end 240 intersecting with the second line L2, and a position 243 of the end 240 intersecting with the third line L3 are acquired. The control unit 50 calculates, for example, the coordinate values ​​of the positions 241, 242, and 243 in each of the directions L, W, and Z. The control unit 50 calculates the yaw angle α of the inlet 210 based on the coordinate values ​​of the positions 241, 242, and 243. The yaw angle α is the rotation angle of the vehicle 200 and the inlet 210 about a line in the vertical direction Z as the rotation center. The yaw angle α is also the inclination angle of the end 240 with respect to the second direction W.

[0040] Furthermore, the control unit 50 calculates the pitch angle β of the inlet 210 based on the detection result of the position sensor 4. As shown in Fig. 9, the pitch angle β is an inclination angle of the inlet 210 with respect to the first direction L. Furthermore, the pitch angle β is a rotation angle of the vehicle 200 and the inlet 210 about a line in the second direction W as the rotation center.

[0041] 10 shows a line W1 scanned along the second direction W. The control unit 50 scans the inlet 210 along the line W1 using the position sensor 4. The position of the line W1 in the first direction L is set based on, for example, the detected positions 241, 242, and 243. The line W1 is set so as to intersect with the fitting portion 230. The control unit 50 moves the sliding body 3 in the second direction W while causing the position sensor 4 to scan the inlet 210.

[0042] The control unit 50 calculates an end 250 of the inlet 210 based on the scan result along the line W1. The end 250 is an end of the fitting portion 230 in the second direction W. At the end 250, a step exists between the lower surface 230a and the base portion 220. The control unit 50 determines a point where the distance detected by the position sensor 4 changes significantly as the end 250. The control unit 50 acquires a position 251 of the end 250 intersecting with the line W1. The control unit 50 calculates, for example, the coordinate values ​​of the position 251 in each of the directions L, W, and Z.

[0043] The control unit 50 also calculates a roll angle γ of the inlet 210 based on the detection result of the position sensor 4 along the line W1. As shown in Fig. 11, the roll angle γ is an inclination angle of the inlet 210 with respect to the second direction W. The roll angle γ is also a rotation angle of the vehicle 200 and the inlet 210 about a line in the first direction L as a rotation center.

[0044] As shown in FIG. 12, a linear protrusion 260 is disposed on the inlet 210. The protrusion 260 extends along an insertion direction Ins in which the connector 5 is inserted into the inlet 210. The insertion direction Ins is, for example, the vehicle front-rear direction of the vehicle 200. The insertion direction Ins is also the axial direction of the fitting portion 230. The opening 230b opens toward the insertion direction Ins. The protrusion 260 protrudes downward from the lower surface 220a of the base 220. The protrusion 260 extends from the end 240 of the fitting portion 230 in a direction away from the fitting portion 230.

[0045] The protrusion 260 of this embodiment has an uneven shape in which the convex portions 260a and the concave portions 260b are alternately arranged along the insertion direction Ins. The convex portions 260a protrude toward both sides in the width direction Wd. The width direction Wd is a direction perpendicular to the insertion direction Ins and corresponds to the second direction W. The width direction Wd is, for example, the vehicle width direction of the vehicle 200.

[0046] 3 and other drawings, the connector 5 has a groove 51 guided by the protrusion 260. The groove 51 is disposed on a top surface 5a of the connector 5. The top surface 5a is a surface that faces the inlet 210 in the vertical direction Z. The connector 5 fits into the fitting portion 230 while sliding the top surface 5a over the lower surface 220a of the inlet 210.

[0047] The groove portion 51 has a first groove portion 51a extending linearly along the first direction L and a tapered second groove portion 51b. The width of the first groove portion 51a corresponds to the width of the protrusion 260. When the protrusion 260 is inserted into the first groove portion 51a, the connector 5 is guided into the opening 230b of the fitting portion 230 along the insertion direction Ins.

[0048] The second groove portion 51b is continuous with the first groove portion 51a and has a tapered shape in which the width narrows toward the first groove portion 51a along the first direction L. The second groove portion 51b is disposed on the tip side of the first groove portion 51a in the insertion direction Ins. The second groove portion 51b guides the tip 260c of the protrusion 260 into the first groove portion 51a. The spread angle of the second groove portion 51b is determined according to the maximum allowable value of the yaw angle α of the inlet 210. In other words, the second groove portion 51b is configured to accommodate the protrusion 260 and guide the protrusion 260 into the first groove portion 51a even when the yaw angle α is the set maximum value.

[0049] The second groove portion 51b has an entrance portion 51c that opens toward the first direction L. The width of the second groove portion 51b is maximum at the entrance portion 51c. The groove portion 51 has a central axis Cx. When the connecting mechanism 7 is in a neutral state, the central axis Cx extends in the first direction L.

[0050] The control unit 50 calculates the coordinate values ​​of the protrusion 260 based on the coordinate values ​​of the positions 241, 242, and 243 of the fitting unit 230, the coordinate value of the position 251, and the pitch angle β of the inlet 210. The control unit 50 calculates, for example, the position of the tip 260c of the protrusion 260. The control unit 50 calculates the target position and target angle of the connector 5 based on the coordinate values ​​of the protrusion 260.

[0051] The target position of the connector 5 is, for example, a target position in each of the first direction L, the second direction W, and the up-down direction Z. The target position of the connector 5 may be a target position of a predetermined portion of the connector 5. The predetermined portion of the connector 5 is, for example, the position of the central axis Cx of the second groove portion 51b. The predetermined portion may be a portion where the inlet portion 51c and the central axis Cx intersect.

[0052] The position of the connector 5 in the first direction L is controlled by a first drive mechanism 10. The position of the connector 5 in the second direction W is controlled by a second drive mechanism 20. The position of the connector 5 in the vertical direction Z is controlled by a third drive mechanism 30 and a fourth drive mechanism 40.

[0053] The target angle of the connector 5 is a target value of the angle θ of the connector 5. The target angle of the connector 5 is determined so that the top surface 5a of the connector 5 can be in surface contact with the lower surface 220a of the inlet 210. The angle θ of the connector 5 is controlled by the fourth driving mechanism 40.

[0054] The control unit 50 sets command values ​​for each of the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, and the fourth drive mechanism 40 based on the target position and target angle of the connector 5. The first motor 11 of the first drive mechanism 10 rotates by a drive signal corresponding to the command value, and moves the sliding body 3 to the target position in the first direction L. The second motor 21 of the second drive mechanism 20 rotates by a drive signal corresponding to the command value, and moves the sliding body 3 to the target position in the second direction W.

[0055] The third motor 31 of the third drive mechanism 30 rotates by a drive signal corresponding to the command value, and moves the support member 6 to a target position in the vertical direction Z. The fourth motor 41 of the fourth drive mechanism 40 rotates by a drive signal corresponding to the command value, and sets the angle θ of the connector 5 to a target angle.

[0056] The control unit 50 of this embodiment executes positioning control and fitting control when fitting the connector 5 to the inlet 210. The positioning control is control for positioning the tip of the connector 5 at a position facing the opening 230b of the inlet 210. The fitting control is control executed after the positioning control, and is control for fitting the connector 5 to the fitting portion 230 of the inlet 210.

[0057] FIG. 13 shows the connector 5 positioned at a position facing the opening 230b of the inlet 210. The inlet 210 shown in FIG. 13 has a yaw angle α and is inclined with respect to the first direction L and the second direction W. The inlet 51c of the groove 51 is positioned at the tip 260c of the protrusion 260. The inlet 51c faces the protrusion 260 in the first direction L. The inlet 51c also faces the opening 230b of the fitting portion 230. The connector 5 is positioned such that the central axis Cx of the groove 51 and the central axis of the protrusion 260 intersect at the inlet 51c. In FIG. 13, the connector 5 is in contact with the lower surface 220a of the base 220. That is, the angle θ of the connector 5 coincides with the pitch angle β of the inlet 210.

[0058] The control unit 50 executes fitting control from the state shown in FIG. 13, and moves the connector 5 in the first direction L toward the fitting portion 230. The protrusion 260 enters the second groove portion 51b of the connector 5. When the connector 5 further moves toward the fitting portion 230, the protrusion 260 is guided into the first groove portion 51a as shown in FIG. 14. The protrusion 260 guides the groove portion 51 to change the attitude of the connector 5. More specifically, the protrusion 260 rotates the connector 5 so that the direction of the central axis Cx of the groove portion 51 coincides with the insertion direction Ins. The vehicle charging device 1 of this embodiment allows the connector 5 to rotate by the universal joint 71 of the connection mechanism 7. The connector 5 is inserted into the opening 230b of the fitting portion 230 while being guided by the protrusion 260.

[0059] Here, in order for the connector 5 to be appropriately guided by the protrusion 260, it is desirable that the top surface 5a of the connector 5 contacts the lower surface 220a of the inlet 210 and that the inclination angle of the inlet 210 is equal to the inclination angle of the connector 5. As described below, the vehicle charging device 1 of this embodiment performs angle control to match the inclination angle of the connector 5 to the inclination angle of the inlet 210. The angle control is a part of the positioning control and is performed by the control unit 50.

[0060] First, the connector sensor 73 of the connecting mechanism 7 will be described. As shown in Fig. 15, the connecting mechanism 7 of this embodiment has a connector sensor 73. The connector sensor 73 is a sensor that outputs a detection signal when the tip 5b of the connector 5 descends to a predetermined position relative to the support member 6. The illustrated connector sensor 73 has a photosensor 74 and a light shielding plate 75. The photosensor 74 is disposed on the support member 6. The photosensor 74 has a light source and a light receiving unit that detects light from the light source.

[0061] The light-shielding plate 75 is a light-shielding plate-like member arranged on the connector 5. FIG. 15 shows the connector 5 in its initial position. The initial position is the relative position of the connector 5 with respect to the support member 6, and is the position of the connector 5 when the connector 5 is not subjected to an external force from another member. The spring 72 applies a biasing force to the connector 5 to move it towards the posture of the initial position. For example, when the connector 5 comes into contact with the inlet 210 and the posture of the connector 5 deviates from the initial position, the spring 72 applies a biasing force to the connector 5 to move it towards the posture of the initial position.

[0062] The light shielding plate 75 is configured not to block the light of the photosensor 74 when the connector 5 is in the initial position. When the connector 5 abuts against the inlet 210 while ascending in the positioning control, the connector 5 receives a downward force from the inlet 210. When the tip 5b of the connector 5 descends relatively to the support member 6 as shown by the arrow AR1 in FIG. 15, the light shielding plate 75 is inserted into the photosensor 74, and the light shielding plate 75 blocks the light of the photosensor 74. When the amount of light received by the light receiving portion of the photosensor 74 is smaller than a threshold value, the connector sensor 73 outputs a detection signal. The detection signal is a signal indicating that the tip 5b of the connector 5 has descended to a predetermined position relative to the support member 6.

[0063] FIG. 16 shows the posture of the connector 5 when the vehicle charging apparatus 1 raises the connector 5 toward the inlet 210. In the angle control, the control unit 50 sets the rotational position of the support member 6 when the connector 5 is raised toward the inlet 210 to a predetermined rotational position. The rotational position of the support member 6 is, for example, a rotational position based on the first direction L or the up-down direction Z. When the first direction L is used as the reference, the rotational position of the support member 6 is indicated by, for example, an angle δ shown in FIG. 16. The predetermined rotational position is determined so that the tip 5b of the connector 5 first comes into contact with the inlet 210 when the support member 6 is raised.

[0064] The posture of the connector 5 shown in FIG. 16 is a posture when the rotational position of the support member 6 is a predetermined rotational position. In this case, the distance Zb from the tip 5b of the connector 5 to the lower surface 220a of the inlet 210 is the shortest distance between the top surface 5a and the lower surface 220a. In FIG. 16, the lower surface 220a of the base 220 is parallel to the first direction L. In this case, the angle δ of the support member 6 may be set to 0°. The angle θ of the connector 5 in the initial position is an elevation angle, and the connector 5 is inclined upward in the vertical direction Z toward the tip 5b.

[0065] The control unit 50 lifts the connector 5 while maintaining the rotational position of the support member 6 at a predetermined rotational position. The third drive mechanism 30 rotates the arm 8 so as to lift the support member 6. The fourth drive mechanism 40 rotates the support member 6 relative to the arm 8 so as to set the rotational position of the support member 6 to a predetermined rotational position. Therefore, the connector 5 lifts toward the lower surface 220a while maintaining the same angle θ.

[0066] 17 shows the connector 5 starting to contact the lower surface 220a of the base 220. As shown in FIG. 17, the tip 5b of the connector 5 first contacts the lower surface 220a. At this time, the connector sensor 73 does not output a detection signal. When the support member 6 further rises, the connector 5 rotates as shown by the arrow AR2. That is, the connector 5 rotates so as to lower the tip 5b relative to the support member 6.

[0067] 18 shows a state in which the support member 6 has risen to the target position. The target position of the support member 6 is a position in the vertical direction Z, and is a position where the inclination angle of the connector 5 can be made to coincide with the inclination angle of the inlet 210. The target position of the support member 6 is set based on the calculated position, pitch angle β, roll angle γ, etc. of the inlet 210, taking into consideration the dimensions of the connection mechanism 7, etc.

[0068] As shown in FIG. 18, when the support member 6 rises to the target position, the angle θ of the connector with respect to the first direction L coincides with the inclination angle of the inlet 210. When the lower surface 220a of the base 220 is parallel to the first direction L, the top surface 5a of the connector 5 also becomes parallel to the first direction L. When the angle θ of the connector 5 becomes equal to the inclination angle of the inlet 210, the light shielding plate 75 of the connector sensor 73 is inserted into the photosensor 74 to block the light from the light source. This causes the connector sensor 73 to output a detection signal. In other words, when the connector 5 is appropriately positioned with respect to the inlet 210, the connector sensor 73 outputs a detection signal when the support member 6 rises to the target position.

[0069] In the example of FIG. 18, the pitch angle β of the inlet 210 is 0°, and the angle δ of the support member 6 is also 0°. In this case, the connector sensor 73 outputs a detection signal when the tip 5b of the connector 5 descends to a position where the angle θ of the connector 5 is 0°. At this time, the first shaft 71a and the second shaft 71b of the universal joint 71 are linear when viewed from the second direction W. That is, the two shafts 71a and 71b are in a neutral position in the rotation direction about the central axis Wx of the second direction W. Therefore, the connector sensor 73 can output a detection signal with high accuracy without being affected by the rotation about the central axis Zx in the up-down direction Z.

[0070] 18, when the connector sensor 73 outputs a detection signal, the top surface 5a of the connector 5 is in contact with and parallel to the lower surface 220a of the base 220. Therefore, by moving the connector 5 from this state toward the fitting portion 230, the connector 5 is appropriately guided by the protrusion 260 of the inlet 210. Therefore, the connector 5 can be smoothly fitted into the fitting portion 230.

[0071] In addition, if the connector sensor 73 outputs a detection signal at a position other than the target position, and if the connector sensor 73 does not output a detection signal even when the support member 6 rises to the target position, the control unit 50 terminates the positioning control and prohibits the mating control.

[0072] For example, after the position of the inlet 210 is calculated, the actual position of the inlet 210 becomes lower than the calculated position due to an occupant getting on or off the vehicle. In this case, the connector sensor 73 outputs a detection signal before the support member 6 rises to the target position. For example, if the top surface 5a of the connector 5 comes into contact with the protrusion 260 of the inlet 210, the connector sensor 73 outputs a detection signal before the support member 6 rises to the target position. In such a case, the control unit 50 stops fitting control.

[0073] For example, after the position of the inlet 210 is calculated, the actual position of the inlet 210 may become higher than the calculated position due to a passenger getting on or off the vehicle. In this case, even if the support member 6 rises to the target position, the connector sensor 73 may not output a detection signal. If the detection signal is output too early or if the detection signal is not output, the control unit 50 determines that the positioning control has failed and prohibits the fitting control. If the positioning control has failed, the control unit 50 may output a sound or light to notify the user that the control has been stopped, or may display a message on the display screen of the vehicle charging device 1 to notify the user that the control has been stopped.

[0074] 19 is a diagram illustrating angle control when the inlet 210 has a pitch angle β. The inlet 210 shown in FIG. 19 has a pitch angle β and is inclined with respect to the first direction L. The control unit 50 sets the rotational position of the support member 6 so that the tip 5b of the connector 5 first comes into contact with the inlet 210 when the support member 6 is raised. The control unit 50 sets, for example, the angle δ indicating the rotational position of the support member 6 to the same angle as the pitch angle β of the inlet 210.

[0075] 19, the tip 5b of the connector 5 comes into contact with the lower surface 220a of the base 220. When the support member 6 rises to the target position, the top surface 5a of the connector 5 becomes parallel to the lower surface 220a of the base 220, as shown in FIG. 20, and the connector sensor 73 outputs a detection signal. At this time, the angle θ of the connector 5 becomes equal to the pitch angle β of the inlet 210.

[0076] In this manner, the vehicle charging device 1 of this embodiment can bring the top surface 5a of the connector 5 into contact with the bottom surface 220a of the inlet 210 even if the inlet 210 is inclined. Therefore, the vehicle charging device 1 of this embodiment can properly fit the connector 5 to the inlet 210.

[0077] As described above, the vehicle charging device 1 of this embodiment has the connector 5, the support member 6, the connecting mechanism 7, the arm 8, the drive mechanism, and the control unit 50. The connector 5 fits into the inlet 210 arranged on the vehicle 200. The connecting mechanism 7 connects the connector 5 and the support member 6, and allows the attitude of the connector 5 with respect to the support member 6 to change. The arm 8 has a first end 81 connected to the support member 6 and a second end 82 supported rotatably, and moves the support member 6 up and down by rotating.

[0078] The drive mechanism is a mechanism that moves and rotates the support member 6. The drive mechanism is composed of, for example, a first drive mechanism 10, a second drive mechanism 20, a third drive mechanism 30, and a fourth drive mechanism 40. The first drive mechanism 10 moves the arm 8 in a horizontal first direction L. The second drive mechanism 20 moves the arm 8 in a horizontal second direction W. The third drive mechanism 30 rotates the arm 8. The fourth drive mechanism 40 rotates the support member 6 so as to change the angle θ of the connector 5 with respect to the first direction L.

[0079] The control unit 50 executes angle control to match the inclination angle of the connector 5 with the inclination angle of the inlet 210 when the tip 5b of the connector 5 faces the opening 230b of the inlet 210. The inclination angle of the inlet 210 is, for example, a pitch angle β or a roll angle γ. The inclination angle of the connector 5 is, for example, an inclination angle with respect to the first direction L or an inclination angle with respect to the second direction W.

[0080] The control unit 50 sets the rotation position of the support member 6 to a predetermined rotation position in the angle control. The predetermined rotation position is a rotation position where the tip 5b of the connector 5 first comes into contact with the inlet 210 when the support member 6 is raised. The predetermined rotation position is also a rotation position where the inclination angle of the connector 5 coincides with the inclination angle of the inlet 210 when the support member 6 is raised to the target position. The vehicle charging device 1 of this embodiment can make the posture of the connector 5 match the inclination of the inlet 210 by raising the connector 5 while pressing the tip 5b of the connector 5 against the inlet 210. Therefore, the vehicle charging device 1 of this embodiment can appropriately position the connector 5 with respect to the inlet 210. The control unit 50 may acquire the inclination angle of the inlet 210 by a sensor such as the position sensor 4, or may acquire it from outside.

[0081] The vehicle charging device 1 of this embodiment has a position sensor 4 that detects the inlet 210 and a connector sensor 73. The connector sensor 73 outputs a detection signal when the tip 5b of the connector 5 descends to a predetermined position relative to the support member 6. The drive mechanism has a first drive mechanism 10, a second drive mechanism 20, a third drive mechanism 30, and a fourth drive mechanism 40. The control unit 50 acquires the inclination angle of the inlet 210 with respect to the first direction L from the detection result of the position sensor 4. The predetermined rotation position is a rotation position at which the connector sensor 73 outputs a detection signal when the support member 6 rises to a target position. The vehicle charging device 1 of this embodiment can appropriately determine whether the inclination angle of the connector 5 matches the inclination angle of the inlet 210 based on the output of the connector sensor 73.

[0082] The connecting mechanism 7 of this embodiment has a spring 72 that applies a biasing force to the connector 5 toward the initial position. The above-mentioned predetermined position at which the connector sensor 73 outputs a detection signal is a position below the position of the tip 5b of the connector 5 when the connector 5 is in the initial position. This makes it possible to cause the connector sensor 73 to output a detection signal when the tip 5b of the connector 5 is lowered by a downward external force.

[0083] In the present embodiment, when the connector sensor 73 outputs a detection signal before the support member 6 rises to the target position, or when the connector sensor 73 does not output a detection signal even when the support member 6 rises to the target position, the control unit 50 prohibits the fitting control of the connector 5 to the inlet 210. This makes it possible to prevent malfunctions in the fitting control.

[0084] It should be noted that the connector sensor 73 is not limited to the combination of the photosensor 74 and the light blocking plate 75. The connector sensor 73 may be, for example, a proximity sensor, a limit switch, or another sensor.

[0085] In the vehicle charging device 1, the number, arrangement, and angle of the position sensors 4 are not limited to the illustrated number, arrangement, and angle. For example, the vehicle charging device 1 can obtain the position of the protrusion 260, and the yaw angle α, roll angle γ, and pitch angle β of the inlet 210 by at least one position sensor 4.

[0086] [First Modification of the Embodiment] A first modified example of the embodiment will be described. Fig. 21 is a diagram showing a gap occurring between a connector and an inlet, and Fig. 22 is a diagram explaining angle control according to the first modified example of the embodiment. The first modified example of the embodiment differs from the above embodiment in that, for example, in angle control, the support member 6 is moved above the target position.

[0087] 21 shows the support member 6 and the connector 5 when the support member 6 is raised to a target position Zt in the up-down direction Z. The inlet 210 in FIG. 21 has a roll angle γ and is inclined with respect to the second direction W. When the inlet 210 has a roll angle γ, in order for the inclination angle of the connector 5 with respect to the second direction W to become equal to the roll angle γ of the inlet 210, the connector 5 needs to rotate relative to the support member 6 against the biasing force of the spring 72. If the amount of rotation of the connector 5 is insufficient at the time when the support member 6 is raised to the target position Zt, a gap Gp may be generated between the lower surface 220a of the inlet 210 and the connector 5.

[0088] When the gap Gp is ​​not large, the connector sensor 73 outputs a detection signal in the vicinity of the target position Zt. The deviation between the position of the support member 6 when the connector sensor 73 outputs the detection signal and the target position Zt may be within the allowable error range. In such a case, it is preferable to eliminate the gap Gp before fitting the connector 5 to the inlet 210.

[0089] The control unit 50 of the first modified example attempts to eliminate the gap Gp by raising the support member 6 above the target position Zt. As shown in FIG. 22, the control unit 50 raises the support member 6 once to a position Zu above the target position Zt, and then lowers the support member 6 to the target position Zt. When the support member 6 rises to the position Zu, the connector 5 rotates with the end 220b of the base 220 as a fulcrum. This rotation is a rotation that lowers the tip 5b of the connector 5 relative to the support member 6. At this time, the top surface 5a of the connector 5 is pressed against the end 220b. Therefore, a moment in a direction that reduces the gap Gp acts on the connector 5, and the gap Gp is ​​eliminated.

[0090] The control unit 50 lowers the support member 6 from the position Zu to the target position Zt. At this time, the spring 72 of the connecting mechanism 7 applies a biasing force to the connector 5 that presses the top surface 5a toward the lower surface 220a of the base 220. Therefore, when the support member 6 is lowered to the target position Zt, the vehicle charging device 1 can bring the top surface 5a into contact with the lower surface 220a in a state where the gap Gp is ​​eliminated. This improves the parallelism of the top surface 5a of the connector 5 with respect to the lower surface 220a, and allows the connector 5 to be properly fitted into the inlet 210.

[0091] [Second Modification of the Embodiment] A second modified example of the embodiment will be described. FIG. 23 is a diagram of a vehicle charging device according to a second modified example of the embodiment. The vehicle charging device 1 of the second modified example has a reflective member 270 arranged in the inlet 210. The reflective member 270 has a reflective property of reflecting at least the laser beams LB1 and LB2. The reflective member 270 is configured to reflect the laser beams LB1 and LB2 toward the incident direction of the laser beams LB1 and LB2 to the reflective member 270. The reflective member 270 illustrated is a reflective tape having an adhesive tape.

[0092] The reflecting member 270 has a first reflecting member 270A, a second reflecting member 270B, and a third reflecting member 270C. The first reflecting member 270A is disposed on the lower surface 230a of the fitting portion 230. The first reflecting member 270A is disposed in the vicinity of the end 240 on the lower surface 230a. Thus, the detection accuracy when the position sensor 4 scans along the lines L1, L2, and L3 is improved. For example, the amount of light received by the position sensor 4 when scanning the first reflecting member 270A is greater than the amount of light received by the position sensor 4 when scanning a portion other than the first reflecting member 270A. Thus, the end 240 can be detected based on both the change in the detection distance by the position sensor 4 and the change in the amount of light received by the position sensor 4. This improves the detection accuracy of the end 240.

[0093] The first reflecting member 270A extends from one end to the other end of the lower surface 230a in the width direction Wd. This improves the detection accuracy when the position sensor 4 scans along the line W1. For example, the end 250 of the fitting portion 230 can be determined based on both the change in the detection distance by the position sensor 4 and the change in the amount of light received by the position sensor 4.

[0094] The second reflecting member 270B and the third reflecting member 270C are disposed at the base 220 of the inlet 210. The second reflecting member 270B and the third reflecting member 270C are disposed on both sides in the width direction Wd with the protrusion 260 therebetween. The two reflecting members 270B, 270C are disposed at positions symmetrical with respect to the central axis 260x of the protrusion 260. The control unit 50 of the second modified example sets a scanning line W2 so as to intersect with the two reflecting members 270B, 270C. This improves the detection accuracy for detecting the position of the protrusion 260.

[0095] The contents disclosed in the above-mentioned embodiments and modifications can be implemented in appropriate combinations. [Explanation of symbols]

[0096] 1: Vehicle charging device 2: housing; 2a, 2b: cover; 3: slide body 4: position sensor, 4A: first sensor, 4B: second sensor, 4C: third sensor 5: connector, 5a: top surface, 5b: tip 6: Support member 7:Connection mechanism 8: arm, 8A: first arm, 8B: second arm 10: first driving mechanism, 11: first motor, 12: gear 20: second drive mechanism; 21: second motor; 22: gear 30: third drive mechanism, 31: third motor, 32: first gear, 33: second gear 40: fourth drive mechanism, 41: fourth motor, 42: first sprocket 43: second sprocket, 44: third sprocket 50: Control unit 51: groove portion, 51a: first groove portion, 51b: second groove portion, 52: contact member 61: Cover 71: Universal joint 72: spring, 72A: first spring, 72B: second spring 73: connector sensor, 74: photosensor, 75: light shielding plate 81: First end, 82: Second end 200: vehicle, 210: inlet, 220: base, 230: fitting portion 240: end, 241,242,243: position 250: End, 260: Protrusion LB, LB1, LB2: Laser light L: First direction, W: Second direction, Z: Vertical direction Wx: Central axis in the second direction, Zx: Central axis in the vertical direction Zt:Target position α: yaw angle, β: pitch angle, γ: roll angle δ: Angle of the support member θ: Connector angle

Claims

1. a connector that mates with an inlet disposed in a vehicle; A support member; a connecting mechanism that connects the connector and the support member and allows a change in the attitude of the connector with respect to the support member; an arm having a first end connected to the support member and a second end rotatably supported thereon, the arm rotating to raise and lower the support member; a drive mechanism for moving and rotating the support member; A control unit; Equipped with the control unit performs angle control to match an inclination angle of the connector with an inclination angle of the inlet when the tip of the connector is opposed to an opening of the inlet; The control unit sets a rotation position of the support member to a predetermined rotation position in the angle control, The predetermined rotational position is When the support member is raised, a tip of the connector first comes into contact with the inlet, When the support member is raised to a target position, the inclination angle of the connector coincides with the inclination angle of the inlet. Rotational position A vehicle charging device comprising:

2. a position sensor for detecting the inlet; a connector sensor that outputs a detection signal when a tip of the connector is lowered to a predetermined position relative to the support member; Equipped with The drive mechanism includes: a first drive mechanism that moves the arm in a first horizontal direction; a second drive mechanism that moves the arm in a second horizontal direction; a third drive mechanism that rotates the arm; a fourth drive mechanism that rotates the support member so as to change an angle of the connector with respect to the first direction; having the control unit obtains an inclination angle of the inlet with respect to the first direction from a detection result of the position sensor; The predetermined rotational position is a rotational position at which the connector sensor outputs a detection signal when the support member is raised to a target position. The vehicle charging device according to claim 1 .

3. the coupling mechanism has a spring that applies a biasing force to the connector toward an initial position; The predetermined position at which the connector sensor outputs the detection signal is a position lower than the position of the tip of the connector when the connector is in the initial position. The vehicle charging device according to claim 2 .

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