Charging systems, vehicles, and chargers

Abstract

To automatically align a connector of a vehicle and a connector of a charger by parking the vehicle.SOLUTION: A charging system 110 comprises: a vehicle 112 having a battery 120, a connector 122, and a guide member 124; and a charger 114 having a connector 142 and a guide member 144 on which the connector 142 is positioned. The battery 120 of the vehicle 112 is charged from the charger 114 with the connector 122 of the vehicle and the connector 142 of the charger facing each other. The guide member 144 of the charger is movable so as to correct a positional displacement between the connector 122 of the vehicle and the connector 142 of the charger by coming into contact with the guide member 124 of the vehicle according to movement of the vehicle 112.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a charging system, a vehicle, and a charger, and particularly to a technique for aligning a connector of a vehicle with a connector of a charger.

Background Art

[0002] In recent years, the installation of chargers used for charging electric vehicles (hereinafter simply referred to as vehicles) such as electric cars and plug-in hybrid cars has been promoted. Current general chargers have a charging cable and a charging connector provided at the tip of the charging cable. The charging connector of the charger is inserted into a charging port provided in the vehicle to charge the vehicle. Instead of such manual connection of the charger and the vehicle, a mechanism for automatically connecting the charger and the vehicle has also been studied.

[0003] Patent Document 1 discloses a non-contact power supply system. This non-contact power supply system supplies power to a power receiving device mounted on an electric vehicle in a non-contact manner from a power transmission device installed on the road, and charges a secondary battery mounted on the electric vehicle.

[0004] Patent Document 2 discloses an automatic charging system using an electrical contact type connector. This automatic charging system includes a robot having a charging connector and an arm, and the robot moves the arm to connect the charging connector to an inlet of the vehicle to supply power to the vehicle (see FIG. 11 of the same document).

[0005] Patent Document 3 discloses an automatic charging system using an electrical contact type connector and an alignment system. This automatic charging system includes a charging terminal provided on the lower side of the vehicle body of an electric vehicle and a power supply terminal of a charger provided in an area where the electric vehicle is parked. The charging terminal of the vehicle and the power supply terminal of the charger are connected by an alignment system using a magnet and an actuator and by the moving force of the vehicle.

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Publication No. 2016-123162 [Patent Document 2] Japanese Patent Publication No. 2022-39337 [Patent Document 3] Japanese Patent Publication No. 2021-97549 [Overview of the project] [Problems that the invention aims to solve]

[0007] An improved system is desired that automatically aligns the vehicle's connector with the charger's connector when the vehicle is parked, allowing the charger to begin supplying power to the vehicle.

[0008] The objective of this invention is to enable the vehicle's connector and the charger's connector to automatically align when the vehicle is parked. [Means for solving the problem]

[0009] The charging system according to the present invention comprises a vehicle having a battery, a connector, and a guide member, and a charger having the connector and the guide member on which the connector is positioned, wherein the vehicle's battery is charged from the charger when the vehicle's connector and the charger's connector are facing each other, and the charger's guide member is movable in accordance with the vehicle's movement to correct any misalignment between the vehicle's connector and the charger's connector by contacting the vehicle's guide member. A charging system wherein the charger is mounted on the ground, the guide member of the charger includes a charging head that is movable relative to the base of the charger, the charging head is positioned such that the connector of the charger faces upward, the charging head includes three spherical structures provided around the connector of the charger, the guide member of the vehicle is plate-shaped and fixed to the underside of the vehicle, the connector of the vehicle faces downward, the guide member of the vehicle includes a plurality of V-grooves around the connector of the vehicle, one of the V-grooves is a V-groove extending in the longitudinal direction, the guide member of the vehicle includes a tapered groove connected to the V-groove extending in the longitudinal direction, and as the vehicle moves, one of the spherical structures of the charging head is guided through the tapered groove of the guide member of the vehicle to the V-groove extending in the longitudinal direction, and the remaining spherical structures of the charging head are guided to the remaining V-grooves of the guide member of the vehicle, thereby correcting misalignment between the connector of the vehicle and the connector of the charger. It is characterized by the following:

[0010] In the charging system according to the present invention, the connector of the vehicle and the connector of the charger are contactless connectors, and charging of the vehicle's battery from the charger may occur when the connector of the vehicle and the connector of the charger are in contact or not in contact.

[0016] In the charging system according to the present invention, the charging head may be movable in six axes relative to the base portion of the charger, consisting of forward / backward, left / right, up / down, roll, pitch, and yaw.

[0017] The vehicle according to the present invention is a vehicle having a battery, a connector, and a guide member, wherein a charger provided outside the vehicle has a connector and a guide member on which the connector is arranged, and the vehicle's battery is charged from the charger when the vehicle's connector and the charger's connector are facing each other, and the vehicle's guide member is configured to move so as the vehicle moves, it comes into contact with the charger's guide member to correct any misalignment between the vehicle's connector and the charger's connector. In a vehicle, the charger is installed on the ground, the guide member of the charger includes a charging head that is movable relative to the base of the charger, the charging head is positioned such that the connector of the charger faces upward, the charging head includes three spherical structures provided around the connector of the charger, the guide member of the vehicle is plate-shaped and fixed to the underside of the vehicle, the connector of the vehicle faces downward, the guide member of the vehicle includes a plurality of V-grooves around the connector of the vehicle, one of the V-grooves is a V-groove extending in the longitudinal direction, the guide member of the vehicle includes a tapered groove connected to the V-groove extending in the longitudinal direction, and as the vehicle moves, one of the spherical structures of the charging head is guided through the tapered groove of the guide member of the vehicle to the V-groove extending in the longitudinal direction, and the remaining spherical structures of the charging head are guided to the remaining V-grooves of the guide member of the vehicle, thereby correcting the misalignment between the connector of the vehicle and the connector of the charger. It is characterized by the following:

[0018] The charger according to the present invention is a charger having a connector and a guide member on which the connector is arranged, wherein a vehicle receiving power from the charger has a battery, a connector, and a guide member, and the vehicle's battery is charged from the charger when the vehicle's connector and the charger's connector are facing each other, and the charger's guide member is movable in accordance with the movement of the vehicle, so as to come into contact with the vehicle's guide member, it corrects any misalignment between the vehicle's connector and the charger's connector. In a charger, the charger is installed on the ground, the guide member of the charger includes a charging head that is movable relative to the base of the charger, the charging head is positioned such that the connector of the charger faces upward, the charging head includes three spherical structures provided around the connector of the charger, the guide member of the vehicle is plate-shaped and fixed to the underside of the vehicle, the connector of the vehicle faces downward, the guide member of the vehicle includes a plurality of V-grooves around the connector of the vehicle, one of the V-grooves is a V-groove extending in the longitudinal direction, the guide member of the vehicle includes a tapered groove connected to the V-groove extending in the longitudinal direction, and as the vehicle moves, one of the spherical structures of the charging head is guided through the tapered groove of the guide member of the vehicle to the V-groove extending in the longitudinal direction, and the remaining spherical structures of the charging head are guided to the remaining V-grooves of the guide member of the vehicle, thereby correcting the misalignment between the connector of the vehicle and the connector of the charger. It is characterized by the following: [Effects of the Invention]

[0019] According to the present invention, when a vehicle is parked, the vehicle's connector and the charger's connector are automatically aligned. [Brief explanation of the drawing]

[0020] [Figure 1] This is a side view showing the external appearance of the charging system. [Figure 2] This is a perspective view showing the alignment plate. [Figure 3] This is a front view showing the alignment plate. [Figure 4] It is a side view showing the alignment plate. [Figure 5] It is a perspective view showing the charger. [Figure 6A] It is a perspective view showing the charging head. [Figure 6B] It is a side view showing the charging head. [Figure 7A] It is a diagram showing the connection process between the alignment plate and the charging head. [Figure 7B] It is a diagram showing the connection process between the alignment plate and the charging head. [Figure 8] It is an explanatory diagram of the alignment between the charger connector and the vehicle connector. [Figure 9] It is an explanatory diagram of the alignment between the charger connector and the vehicle connector in another embodiment. [Figure 10] It is an explanatory diagram of the forward and backward movement mechanism in a 6-axis movable system. [Figure 11] It is an explanatory diagram of the up and down movement mechanism in a 6-axis movable system. [Figure 12] It is an explanatory diagram of the up and down movement mechanism in a 6-axis movable system. [Figure 13] It is an explanatory diagram of the left and right movement mechanism in a 6-axis movable system. [Figure 14] It is an explanatory diagram of the left and right movement mechanism in a 6-axis movable system. [Figure 15] It is an explanatory diagram of the left and right movement mechanism in a 6-axis movable system. [Figure 16] It is an explanatory diagram of the left and right movement mechanism in a 6-axis movable system. [Figure 17] It is an explanatory diagram of the left and right movement mechanism in a 6-axis movable system. [Figure 18] It is an explanatory diagram of the yaw movement mechanism in a 6-axis movable system. [Figure 19] It is an explanatory diagram of the yaw movement mechanism in a 6-axis movable system. [Figure 20] It is an explanatory diagram of the pitch movement mechanism in a 6-axis movable system. [Figure 21A]This is an explanatory diagram of the roll movement mechanism in a 6-axis movable system. [Figure 21B] This is an explanatory diagram of the roll movement mechanism in a 6-axis movable system. [Figure 22] This is an explanatory diagram of the roll movement mechanism in a 6-axis movable system. [Figure 23] This is a diagram showing the configuration of a power conversion system (power transmission system). [Figure 24A] This is a perspective view of the primary connector. [Figure 24B] This is a perspective view of the core unit of the primary connector. [Figure 24C] This is a perspective view of the U-phase winding, V-phase winding, and W-phase winding. [Figure 25] This is a perspective view of the secondary connector. [Figure 26] This diagram schematically shows the cross-section and magnetic flux of a non-interference transformer. [Figure 27] This diagram schematically shows the cross-section and magnetic flux of a non-interference transformer. [Figure 28] This figure shows the relationship between connector distance and coupling coefficient, along with a control timing chart. [Figure 29] This figure shows an example configuration of a primary signal transmission circuit and a secondary signal transmission circuit. [Modes for carrying out the invention]

[0021] Embodiments of the present invention will be described below with reference to the drawings. However, the present invention is not limited to the embodiments described herein. The number, shape, material, etc., of each component can be changed as appropriate. When multiple embodiments or modifications are included below, it is intended from the outset that their characteristic features may be combined as appropriate. In all drawings, the same elements are denoted by the same reference numerals, and redundant explanations are omitted.

[0022] In the following, unless otherwise specified, the direction in which the charger 114 and the wheel stopper 160 are aligned (see Figure 5) is defined as the left-right direction, the direction perpendicular to the left-right direction is defined as the front-rear direction, and the direction perpendicular to the plane formed by the front-rear and left-right directions is defined as the up-down direction. Furthermore, the circumferential direction with the front-rear direction as the axis is defined as the roll direction, the circumferential direction with the left-right direction as the axis is defined as the pitch direction, and the circumferential direction with the up-down direction as the axis is defined as the yaw direction. In each figure, the arrow FR indicates forward, the arrow UP indicates upward, and the arrow RH indicates to the right. The number of a representative figure to be referenced is indicated in parentheses.

[0023] <Basic configuration> Figure 1 is a side view showing the external appearance of the charging system 110. Figure 1 also shows a part of the interior of the vehicle 112. Note that in Figures 1 to 22, the wiring, circuits, controllers connected to connectors 122 and 142, respectively, and the power supply that provides power to connector 142 of the charger 114 are omitted.

[0024] Vehicle 112 is an electric vehicle, such as an electric car or a plug-in hybrid vehicle. Vehicle 112 is equipped with a battery 120 that supplies power to a drive motor (not shown). Vehicle 112 is equipped with a connector 122 and an alignment plate 124 as a guide member at the lower rear of the vehicle body.

[0025] The charger 114 is a device for charging the battery 120 of the vehicle 112 and is located in the parking lot. As shown in Figure 5, the charger 114 is located between two wheel chocks 160. The charger 114 comprises a base portion 146 fixed to the ground, a guide member 144 located above the base portion 146, and a connector 142. The guide member 144 comprises a six-axis movable system 148 (Figures 10-22) and a charging head 150. The connector 142 is located on the charging head 150. The charging head 150 (Figure 5) is movable relative to the base portion 146 in six axes: forward / backward, left / right, up / down, roll, pitch, and yaw, via the six-axis movable system 148.

[0026] Vehicle 112 backs into a parking space. This causes the connector 122 of vehicle 112 and the connector 142 of charger 114 to face each other, and in this state, charger 114 charges the battery 120 of vehicle 112.

[0027] Connectors 122 and 142 are contactless connectors. Power is transmitted between the two connectors 122 and 142 by bringing their surfaces into contact or within a few millimeters of each other (non-contact). Contactless connectors are small and have the characteristics of being able to transmit power efficiently and with high output. In addition, contactless connectors are highly safe because they have no electrical contacts and can be made without protrusions. The detailed structure of connectors 122 and 142 (30s, 30p) will be described later using Figures 24A to 24C and 25. Note that the configuration of the charging system 110 described below can also be applied to connectors other than contactless connectors.

[0028] In the charging system 110 using contactless connectors, the two connectors must be precisely aligned before the charging operation. In this embodiment, kinematic coupling technology using a V-groove and three spheres is used to align the two connectors 122 and 142. This makes it possible to reduce the thickness of the guide member (alignment plate 124) on the vehicle side 112, create a structure without protrusions (ensuring safety), and further reduce the risk of seizing. The risk of seizing refers to the risk of damaging components on the charger side or the vehicle side due to the connection (seizing) between the charger and the vehicle when the vehicle is separated from the charger after the charging operation is completed.

[0029] As shown in Figures 2-4, the alignment plate 124 of the vehicle 112 comprises a plate body 125 and a sub-plate 126 fixed to the front part of the plate body 125 and extending diagonally downward. A connector 122 is positioned in the opening 132 of the plate body 125. The connector 122 is fixed to the plate body 125. The plate body 125 has a tapered groove 130 (tapered groove for left and right guides) and a front-to-back V-groove connected to the tapered groove 130. The alignment plate 124 also has a left-to-right V-groove 128 formed between the plate body 125 and the sub-plate 126. As shown in Figure 2, the alignment plate 124 is installed on the underside of the vehicle body, such as the bottom surface of the rear bumper 162. As shown in Figure 1, the alignment plate 124 is installed at an angle such that the rear side of the vehicle is higher.

[0030] As shown in Figures 6A and 6B, the charging head 150 of the charger comprises a head plate 151 and three ball casters (one center ball caster 154 and two side ball casters 156) positioned on the upper surface of the head plate 151. A connector 122 is positioned in an opening 152 of the head plate 151. The connector 122 is fixed to the head plate 151 (charging head 150). The charging head assembly 149 is formed by including the charging head 150 and the connector 142.

[0031] Three ball casters 154 and 156 are arranged around the connector 142. The center ball caster 154 is located on the rear side of the connector 142, and the two side ball casters 156 are located on the front side of the connector 142. Each ball caster 154 and 156 has a fixed part that is fixed to the head plate 151 and balls 154A and 156A that are rotatably held in the fixed part. Hereinafter, the ball 154A of the center ball caster 154 will be referred to as the center ball 154A, and the ball 156A of the side ball caster 156 will be referred to as the side ball 156A.

[0032] The plane connecting the end faces of the three balls 154A and 156A is positioned above the upper surface of the connector 142. This prevents the alignment plate 124 of the vehicle 112 from coming into contact with the connector 142 of the charger 114 during the connector alignment operation.

[0033] As shown in Figure 5, the charging head 150 has a 6-axis movable system 148 that gives it freedom of movement in 6 axes relative to the base 146: 3 translational axes (forward / backward, left / right, up / down) and 3 rotational axes (roll, pitch, yaw). When an external force is applied to the charging head 150, it will move within the range of motion of each of the 6 axes according to the direction and magnitude of the applied external force.

[0034] The 6-axis movable system 148 is equipped with a "spring" for each axis to return the charging head 150 to its origin position (details will be described later). The charging head 150 is in the origin position when no external force is applied. Hereafter, the origin position will also be called the initial position. The initial position of the charging head 150 is the forward position (Figure 5) in the front-back direction (Figures 5, 10), the center position (Figure 13(B)) in the left-right direction, the upward position (Figure 11(A)) in the up-down direction, the neutral position (Figure 22(B)) in the roll direction, the rear-up (front-down) position (Figure 20(A)) in the pitch direction, and the neutral position (Figure 19(B)) in the yaw direction.

[0035] <Operation> Next, the operation of the charging system 110 will be described. As shown in Figure 1, the vehicle 112 backs into the parking lot. When the vehicle 112 approaches the wheel stop 160 (Figure 5), the side ball 156A of the charging head 150 and the alignment plate 124 of the vehicle 112 come into contact. As the vehicle 112 continues to back up, the center ball 154A of the charging head 150 is guided through the tapered groove 130 of the alignment plate 124 of the vehicle 112 into the V-groove 127 in the front-rear direction (Figure 8).

[0036] Ultimately, the three balls 154A and 156A of the charging head 150 fit into the front-rear V-grooves 127 and left-right V-grooves 128 of the alignment plate 124 (kinematic coupling) (S3, ND in Figure 8). At this time, the relative positional relationship between the alignment plate 124 and the charging head 150 is constrained to a predetermined state. In this state, the connector 122 of the vehicle 112 and the connector 142 of the charger 114 are positioned directly opposite each other. Therefore, the alignment of the connectors 122 and 142 can be easily performed simply by parking the vehicle 112. The vehicle 112 can be charged without manually inserting or removing the connectors. Furthermore, when detaching the vehicle 112 from the charger 114 after charging, the charging head 150 automatically detaches from the alignment plate 124 simply by moving the vehicle 112 forward.

[0037] Figures 7A and 7B show details of the alignment operation of connectors 122 and 142 due to the movement force of vehicle 112. These figures also show a cross-section of the alignment plate 124 at the center of the longitudinal V-groove 127 of the alignment plate 124.

[0038] Figure 7A(a) shows the state before the alignment plate 124 and the charging head 150 come into contact.

[0039] In (b), the side ball 156A of the charging head 150 contacts the alignment plate 124. Which of the two side balls 156A makes contact depends on the misalignment of the vehicle 112 in the roll axis direction, and the side ball 156A on the side that is lower when viewing the vehicle 112 from the rear makes contact.

[0040] In (c), the charging head 150 is pushed down along the alignment plate 124. As the side ball 156A that made contact first is pushed down, the charging head 150 rotates, and the side ball 156A that was not in contact also comes into contact with the alignment plate 124, correcting the misalignment of the roll angle.

[0041] (d) The center ball 154A of the charging head 150 contacts the tapered groove 130 of the alignment plate 124.

[0042] In Figure 7B(e), the center ball 154A of the charging head 150 moves along the tapered groove 130 of the alignment plate 124, correcting any lateral misalignment, and is then constrained by the V-groove 127 in the front-rear direction.

[0043] In (f), the two side balls 156A of the charging head 150 are constrained to the left-right V-grooves 128 of the alignment plate 124. This establishes a kinematic coupling, and the relative positions of the connectors 122 and 142 are set to the desired positions.

[0044] (g) The vehicle 112 reverses and stops until it contacts the wheel stop 160 (Figure 5). The charging head 150 in the coupling state also reverses and stops in sync with the vehicle 112, completing the connector alignment. After the connector alignment is complete, the vehicle 112 is charged.

[0045] After charging, the charging head 150 automatically detaches from the alignment plate 124 when the vehicle 112 is moved forward.

[0046] Next, we will explain the connection between the alignment plate 124 and the charging head 150 when the vehicle enters the parking lot at an angle, as viewed from above. Figure 8 schematically shows the connection between the alignment plate 124 and the charging head 150 in that case, with the changes over time shown in the order of (S1) to (S3). In the figure, the rear of the vehicle is tilted to the right. (ND) shows the connection when there is no vehicle misalignment, for reference.

[0047] (S1) is the state before the alignment plate 124 and the charging head 150 come into contact.

[0048] In (S2), the center ball 154A of the charging head comes into contact with the left inner wall of the tapered groove 130 of the alignment plate 124. As a result, the charging head 150 is moved to the right as the vehicle moves backward. Even if the vehicle is misaligned to the right without tilting, the charging head 150 will still be moved to the right in the same way as in (S2). This corrects the charging head 150 in the left-right direction.

[0049] In (S3), the center ball 154A is constrained to the front-rear V-groove 127 of the alignment plate 124, and the two side balls 156A are constrained to the left-right V-groove 128 of the alignment plate 124. As a result, the charging head 150 is corrected in the yaw direction.

[0050] As shown in (S3), alignment is also performed in the torsional direction with respect to the center of the surfaces of connectors 122 and 142. As shown in Figures 24A and 25, connectors 142 (30p) and 122 (30s) each have four columnar cores Ap, Bp, Cp, Dp (As, Bs, Cs, Ds). For the alignment of the two connectors 30p and 30s, the corresponding columnar cores must be facing each other. In this embodiment, this facing is possible even if there is a misalignment of the vehicle.

[0051] In Figure 8, if the rear of the vehicle is tilted to the left, or if the vehicle is misaligned to the left, the center ball 154A will contact the right inner wall of the tapered groove 130, causing the charging head 150 to move to the left. This corrects the position of the charging head 150 in the left-right direction.

[0052] <Simplified charging system> Next, a simplified embodiment of the charging system will be described. Figure 9 is a schematic diagram showing the operation of the simplified charging system, with the changes over time shown in the order of (S1) to (S3). In this embodiment, the charging head 150A cannot move in the yaw direction but can move in the left-right direction and is equipped only with a center ball caster (center ball 154A). The alignment plate 124A does not have a V-groove but is equipped only with a tapered groove 130. In such a charging system, precise alignment of the connectors 122A and 142A is impossible. However, as shown in (S2) and (S3), as the vehicle moves backward, the center ball 154A of the charging head 150A comes into contact with the inner wall of the tapered groove 130 of the alignment plate 124, making it possible to correct the position so that the connectors 122A and 142A move closer to each other in the left-right direction. Therefore, such a simplified charging system may be adopted when using connectors that do not require precise alignment.

[0053] <Note> In the embodiments described above, ball casters 154 and 156 were used on the charging head 150. Since the balls 154A and 156A of the ball casters 154 and 156 are rotatable, wear on both the balls 154A and 156A and the alignment plate 124 can be suppressed when they come into contact with each other. However, the use of ball casters 154 and 156 is not essential. The balls 154A and 156A may be non-rotatable. The charging head 150 only needs to have protrusions that contact the inner walls of the tapered groove 130 and V-grooves 127 and 128 of the alignment plate 124.

[0054] In the embodiment described above, the connector 122 and alignment plate 124 are provided at the lower rear of the vehicle body (Figure 1). However, the connector 122 and alignment plate 124 may also be provided at the lower front of the vehicle body. In this case, when the vehicle is parked facing forward, the alignment plate 124 of the vehicle 112 and the charging head 150 are connected, allowing the vehicle 112 to be charged.

[0055] <Detailed structure of the 6-axis movable system> Next, the detailed structure of the 6-axis movable system 148 shown in Figure 5 will be described. The charger 114 includes a base portion 146 installed on the ground. The 6-axis movable system 148 comprises a front-to-back sliding body 212, a back-to-back sliding body 214, and a head support 232, arranged from bottom to top.

[0056] The front-to-back sliding body 212 is movable in the front-to-back direction relative to the base portion 146. The up-to-down sliding body 214 is movable in the up-to-down direction relative to the front-to-back sliding body 212. The head support 232 is movable in the left-to-right direction and the yaw direction relative to the up-to-down sliding body 214. The charging head 150 is movable in the pitch direction and the roll direction relative to the head support 232. As a result, the charging head 150 is movable in six axes relative to the base portion 146: front-to-back, left-to-right, up-to-down, roll, pitch, and yaw.

[0057] <Back and forth movement mechanism> Figures 5 and 10 are explanatory diagrams of the forward and backward movement mechanism in the 6-axis movable system 148. Figure 5 shows the forward and backward sliding body 212 in the forward position (initial position), and Figure 10 shows the forward and backward sliding body 212 in the rearward position. The base portion 146 is equipped with two slide guides 210 that extend in the forward and backward direction from left to right. Each slide guide 210 is spanned between protruding portions provided at the front and rear of the base portion 146. The forward and backward sliding body 212 is equipped with cylindrical portions 212C on the left and right sides through which the slide guides 210 pass, and is movable in the forward and backward direction along the two slide guides 210.

[0058] A gas spring 200 is provided in the center of the front-to-rear sliding body 212 in the left-to-right direction. The gas spring 200 is provided between the front portion 212F of the front-to-rear sliding body 212 (Figure 10) and the rear portion 146B (protruding portion, see also Figure 11) of the base portion 146. The front-to-rear sliding body 212 is biased toward the forward position (initial position) by the gas spring 200.

[0059] When a force is applied to the charging head 150 from the alignment plate toward the rear, the front-rear sliding body 212 moves backward against the biasing force of the gas spring 200 (Figure 10). When the force applied to the charging head 150 is released, the front-rear sliding body 212 returns to its forward position (initial position) due to the biasing force of the gas spring 200 (Figure 5).

[0060] <Vertical movement mechanism> Figures 11 and 12 are explanatory diagrams of the vertical movement mechanism in the 6-axis movable system 148. Figure 11 is a side view of the charger 114, and Figure 12 is a cross-sectional view showing the charger 114 approximately in the center in the left-right direction. Figures 11(A) and 12(A) show the state in which the vertical sliding body 214 is in the upper position (initial position), and Figures 11(B) and 12(B) show the state in which the vertical sliding body 214 is in the lower position. The 6-axis movable system 148 is equipped with two tension springs 216 on each side and two parallel links 218 on each side. The 6-axis movable system 148 has a left-right symmetrical structure with respect to the vertical movement mechanism.

[0061] The following describes the two tension springs 216 and two parallel links 218 on one side. As shown in Figure 12, the two parallel links 218 are arranged side by side, offset from each other in the front-rear and up-down directions. Each of the two parallel links 218 has its front end (axis 219) rotatably connected to the front-rear sliding body 212 and its rear end rotatably connected to the up-down sliding body 214. The two parallel links 218 pivot around their front ends as axis 219, thereby allowing the up-down sliding body 214 to move up and down relative to the front-rear sliding body 212. As shown in Figure 11, the two tension springs 216 are arranged side by side, one above the other. The upper tension spring 216 has its front end connected to the front-rear sliding body 212 and its rear end connected to the up-down sliding body 214. The lower tension spring 216 has its front end connected to the front-rear sliding body 212 and its rear end connected to the lower parallel link 218.

[0062] The vertical sliding body 214 is held up to its upper position (initial position) by a total of four tension springs 216. As shown in Figure 11(B), when a downward force is applied to the charging head 150 from the alignment plate, the vertical sliding body 214 moves downward against the biasing force of the four tension springs 216. When the force applied to the charging head 150 is released, the vertical sliding body 214 returns to its upper position (initial position) due to the biasing force of the four tension springs 216.

[0063] <Left and right movement mechanism> Figures 13-17 are explanatory diagrams of the left-right movement mechanism in the 6-axis movable system 148. Figure 13 is a plan view of the charger 114, and Figure 14 is a plan view of the charger 114 with the charging head assembly (charging head 150 and connector 142), head support 232, and left-right movement plate 230 (Figure 16) removed. Figures 16 and 17 show the components on the underside of the head support 232, with the head support 232 visible through it. Figure 18 is a view without the head support 232 visible through it.

[0064] Figures 13(B) and 14(B) show the charging head 150 in the central position (initial position) in the left-right direction, Figures 13(A) and 14(A) show the charging head 150 on the right side, and Figures 13(C) and 14(C) show the charging head 150 on the left side.

[0065] As shown in Figure 14, the 6-axis movable system 148 includes two parallel links 228 that are pivotably positioned on the upper surface of the vertical sliding body 214. Also, as shown in Figures 16 and 17, the 6-axis movable system 148 includes a left-right moving plate 230 that is coupled to the upper surface of the two parallel links 228 and connects them. The left-right moving plate 230 is located between the two parallel links 228 and the head support 232. As shown in Figure 14, each of the two parallel links 228 is pivotable left and right around an axis 229 provided at its front end.

[0066] Figure 15 shows the back side of the vertical sliding body 214. Two torsion springs 220 are located on the back side of the vertical sliding body 214. Each of the two torsion springs 220 is held in place by the vertical sliding body 214 by a spring retainer 224. The two spring retainers 224 are located below the shafts 229 (Figure 14) of the two parallel links 228. As shown in Figure 15, the vertical sliding body 214 has four spring supports 222 that protrude downward. The left and right ends of each torsion spring 220 are supported by two spring supports 222.

[0067] Each of the two parallel links 228 has projecting rods 226 (Figure 15) that protrude downward on either side of the shaft 229 (Figure 14). The vertical sliding body 214 has holes 225 through which the two projecting rods 226 of each parallel link 228 pass to the back side. The holes 225 are sized to allow the movement of the projecting rods 226 accompanying the pivoting movement of the parallel link 228. Each parallel link 228 is positioned in the center in the left-right direction (Figure 14(B)) by having the two projecting rods 226 of each parallel link 228 in contact with the corresponding torsion spring 220.

[0068] The left-right moving plate 230 (Figure 16) is equipped with a rod-shaped member (hereinafter referred to as the central rod) that protrudes upward from its upper surface. The tip of the central rod of the left-right moving plate 230 is connected to the head support 232. Specifically, the central rod supports the head support 232 from below at the position of the yaw movement axis 237 of the head support 232.

[0069] As shown in Figure 13(A), when a force is applied to the charging head 150 from the alignment plate toward the right (left in Figure 13), this force is transmitted to the two parallel links 228 via the central rod of the head support 232 and the left-right movement plate 230. Then, on the back side of the vertical sliding body 214 (Figure 15), the left protruding rod 226 of each parallel link moves to the upper right against the biasing force of each torsion spring 220, causing the charging head 150 (head support 232) to move to the right. Also, as shown in Figure 13(C), when a force is applied to the charging head 150 from the alignment plate toward the left (right in Figure 13), this force is transmitted to the two parallel links 228 via the central rod of the head support 232 and the left-right movement plate 230. Then, on the back side of the vertical sliding body 214 (Figure 15), the right-side protruding rod 226 of each parallel link moves to the upper left against the biasing force of each torsion spring 220, causing the charging head 150 (head support 232) to move to the left. Also, when the force applied to the charging head 150 is released, the two parallel links 228 return to their central position due to the biasing force of the two torsion springs 220 (Figure 15) (Figure 14(B)), causing the charging head 150 to return to its central position (initial position) in the left-right direction (Figure 13(B)).

[0070] <Yaw movement mechanism> Figures 18 and 19 are explanatory diagrams of the yaw movement mechanism in the 6-axis movable system 148. Figure 18 is a plan view of the charger 114 with the charging head assembly (charging head 150 and connector 142) removed, and Figure 19 is a plan view of the charger 114. Figure 19(B) shows the charging head 150 in the neutral position (initial position) of the yaw angle, Figure 19(A) shows the charging head 150 with a yaw angle deflected to the right, and Figure 19(C) shows the charging head 150 with a yaw angle deflected to the left.

[0071] As mentioned above, the central rod of the left-right moving plate 230 (Figure 18) supports the head support 232 at the position of the axis 237 of the head support 232. The head support 232 (charging head 150) is movable in the yaw direction around the axis 237 relative to the central rod of the left-right moving plate 230 (yaw angle can be adjusted). A torsion spring 234 is positioned on the upper surface of the head support 232. The torsion spring 234 is held by the head support 232 at the same position as the axis 237 by a "spring holding part 238". The head support 232 is equipped with two spring supports 236 that protrude upward. Both the left and right ends of the torsion spring 234 are supported by the two spring supports 236.

[0072] The left-right moving plate 230 is provided with projecting rods 240 (Figures 16-18) that protrude upward to the left and right of the central rod (position of the axis 237). The head support 232 is provided with two holes 239 through which the two projecting rods 240 of the left-right moving plate 230 pass. The holes 239 are sized to allow the movement of the projecting rods 240 within the holes 239 in accordance with the yaw angle of the head support 232. The head support 232 (charging head 150) is held in the neutral position of the yaw angle by the contact of the two projecting rods 240 of the left-right moving plate 230 with the torsion spring 234.

[0073] As shown in Figure 19(A), when a yaw deflection force to the right is applied to the charging head 150 from the alignment plate, the protruding rod 240 on the left side of the left-right movement plate 230 (right side in Figure 18) moves relatively downward within the hole 239 against the biasing force of the torsion spring 234, causing the charging head 150 (head support 232) to yaw deflect to the right. Also, as shown in Figure 19(C), when a yaw deflection force to the left is applied to the charging head 150 from the alignment plate, the protruding rod 240 on the right side of the left-right movement plate 230 (left side in Figure 18) moves relatively downward within the hole 239 against the biasing force of the torsion spring 234, causing the charging head 150 (head support 232) to yaw deflect to the left. Furthermore, when the force applied to the charging head 150 is released, the charging head 150 (head support 232) returns to the neutral position (initial position) of the yaw angle due to the biasing force of the torsion spring 234 (Figure 19(B)).

[0074] <Pitch shifting mechanism> Figure 20 is an explanatory diagram of the pitch movement mechanism in the 6-axis movable system 148. Figure 20(A) shows the charging head 150 in the rear-up position (initial position), Figure 20(B) shows the charging head 150 in the intermediate position, and Figure 20(C) shows the charging head 150 in the rear-down position.

[0075] As shown in Figure 16, a ball joint 242 is positioned on the upper front side of the head support 232. The ball joint 242 is located at the tip of a projection 231 that protrudes upward from the left-right movement plate 230. The head support 232 is provided with a hole 241 for the projection 231 of the left-right movement plate 230 to pass through. The hole 241 is elongated horizontally so that the projection 231 can move relatively within the hole 241 when the head support 232 moves yaw around the axis 237.

[0076] In Figure 20, the ball joint 242 is shown by a dashed line. A coupling portion 247 connecting the charging head 150 and the head support 232 is provided on the front side of the ball joint 242. The ball joint 242 is connected to a portion that protrudes rearward from the coupling portion 247. The front lower part of the connector 142 has a structure that avoids contact with the ball joint 242. The charging head 150 is movable in the pitch direction and the roll direction relative to the ball joint 242.

[0077] As shown in Figures 20 and 21A, two compression coil springs 244 are positioned at the rear of the head support 232, between the head support 232 and the charging head 150. The two compression coil springs 244 are positioned apart to the left and right. Each compression coil spring 244 is located on the outer circumference of a rod-shaped member extending upward from the head support 232 and on the outer circumference of a rod-shaped member extending downward from the charging head 150.

[0078] As shown in Figure 21A, a vertically elongated hole 246 is provided at the upper center of the head support 232 in the left-right direction. The charging head 150 is equipped with a coupling portion 248 that connects to the head support 232 so that it can move up and down within the hole 246 of the head support 232.

[0079] As shown in Figures 20(B) and (C), when a downward force is applied to the center ball 154A of the charging head assembly 149 from the alignment plate, the rear of the charging head assembly 149 moves downward against the biasing force of the two compression coil springs 244 (Figure 21A). As a result, the charging head assembly 149 moves in the pitch direction around the ball joint 242 as an axis. When the force applied to the center ball 154A of the charging head assembly 149 is released, the rear of the charging head assembly 149 is lifted by the biasing force of the two compression coil springs 244, and the charging head assembly 149 returns to its initial position (Figure 20(A)).

[0080] <Rolling mechanism> Figures 21A, 21B, and 22 are explanatory diagrams of the roll movement mechanism in the 6-axis movable system 148. Figure 22(B) shows the charging head 150 in the neutral position (initial position) in the roll direction, Figure 22(A) shows the charging head 150 rolled to the right, and Figure 22(C) shows the charging head 150 rolled to the left.

[0081] As shown in Figures 21B and 22, a coupling portion 247 between the charging head 150 and the head support 232 is provided at the center of the front of the charging head 150 in the left-right direction. As shown in Figure 21B, the charging head assembly 149 is movable in the roll direction around a virtual line (dotted line in Figure 21B) connecting the front coupling portion 247 and the rear coupling portion 248.

[0082] As shown in Figure 22(A), when a downward force is applied from the alignment plate to the side ball 156A on the right side (left side in Figure 22) of the charging head assembly 149, the right part of the charging head 150 moves downward against the biasing force of the right compression coil spring 244 (Figure 21A), causing the charging head assembly 149 to move to a right-rolled position. Also, as shown in Figure 22(C), when a downward force is applied from the alignment plate to the side ball 156A on the left side (right side in Figure 22) of the charging head assembly 149, the left part of the charging head 150 moves downward against the biasing force of the left compression coil spring 244 (Figure 21A), causing the charging head assembly 149 to move to a left-rolled position. Furthermore, when the force applied to the side ball 156A of the charging head assembly 149 is released, the charging head assembly 149 returns to the neutral position (initial position) due to the biasing force of the compression coil spring 244 (Figure 22B).

[0083] <Electrical configuration of the charging system and detailed structure of the connector> Next, the electrical configuration of the charging system and the detailed structure of the connectors will be described. The correspondence between each part of the electrical configuration described below and each part of the charging system 110 described above is as follows: The power conversion system 100 (power transmission system, Figure 23) corresponds to the charging system 110 (Figure 1). The primary power converter 10 (Figure 23) corresponds to the charger 114. The secondary power converter 20 corresponds to a part of the charging system 110 mounted on the vehicle 112. The primary connector 30p corresponds to the connector 142 of the charger 114. The secondary connector 30s corresponds to the connector 122 of the vehicle 112. The secondary DC power supply 32s corresponds to the battery 120 of the vehicle 112.

[0084] Furthermore, the following also shows a configuration in which power is transmitted from the battery 120 (secondary DC power supply 32s) of the vehicle 112 to the power supply (primary DC power supply 32p) of the charger 114.

[0085] Figure 23 shows the configuration of a power conversion system 100 (power transmission system) according to an embodiment of the present invention. The power conversion system 100 comprises a primary power converter 10 and a secondary power converter 20. The primary power converter 10 comprises a primary switching circuit 12, a primary connector 30p, a primary DC power supply 32p, a primary signal transmission circuit 16, and a primary controller 14.

[0086] The primary switching circuit 12 includes a U-phase switching arm U, a V-phase switching arm V, a W-phase switching arm W, and a capacitor Ca. Each of the U-phase switching arm U, V-phase switching arm V, and W-phase switching arm W is equipped with an upper switching element S1 and a lower switching element S2 connected in series. Each switching element may be a MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) or an IGBT (Insulated Gate Bipolar Transistor). When MOSFETs are used as switching elements, two switching elements are connected in series, meaning that the source of one MOSFET is connected to the drain of the other MOSFET. When IGBTs are used as switching elements, two switching elements are connected in series, meaning that the emitter of one IGBT is connected to the collector of the other IGBT.

[0087] The U-phase switching arm U, the V-phase switching arm V, and the W-phase switching arm W are connected in parallel. That is, the upper ends of the upper switching elements S1 on each switching arm are connected in common, and the lower ends of the lower switching elements S2 on each switching arm are connected in common. Capacitor Ca is also connected in parallel to the U-phase switching arm U, the V-phase switching arm V, and the W-phase switching arm W. That is, the upper end of capacitor Ca is connected to the upper end of each switching arm, and the lower end is connected to the lower end of each switching arm.

[0088] The primary connector 30p is equipped with a U-phase winding 28Up, a V-phase winding 28Vp, and a W-phase winding 28Wp. One end of the U-phase winding 28Up is connected to the connection point (switching element connection point) between the upper switching element S1 and the lower switching element S2 of the U-phase switching arm U. One end of the V-phase winding 28Vp and one end of the W-phase winding 28Wp are connected to the switching element connection points of the V-phase switching arm V and the W-phase switching arm W, respectively. The other ends of the U-phase winding 28Up, V-phase winding 28Vp, and W-phase winding 28Wp are connected in common.

[0089] The positive terminal of the primary DC power supply 32p is connected to the common connection point of the U-phase winding 28Up, the V-phase winding 28Vp, and the W-phase winding 28Wp, while the negative terminal of the primary DC power supply 32p is connected to the lower end of each switching arm.

[0090] The primary controller 14 controls the switching of the upper switching element S1 and lower switching element S2 of each switching arm. The upper switching element S1 and lower switching element S2 of each switching arm are alternately turned on and off by the control of the primary controller 14. That is, when the upper switching element S1 goes from off to on, the lower switching element S2 goes from on to off, and when the upper switching element S1 goes from on to off, the lower switching element S2 goes from off to on.

[0091] The switching phases of the U-phase switching arm U, the V-phase switching arm V, and the W-phase switching arm W are different. For example, the switching phase of the V-phase switching arm V may lag behind the U-phase switching arm U by a range of 60° to 120°, and the switching phase of the W-phase switching arm W may lag behind the V-phase switching arm V by a range of 60° to 120°.

[0092] The switching of the U-phase switching arm U, the V-phase switching arm V, and the W-phase switching arm W induces electromotive forces in the U-phase winding 28Up, the V-phase winding 28Vp, and the W-phase winding 28Wp, respectively. The combined voltage of the output voltage of the primary DC power supply 32p and the induced electromotive forces generated in each phase winding is applied to capacitor Ca, and capacitor Ca is charged.

[0093] The U-phase winding 28Up, V-phase winding 28Vp, and W-phase winding 28Wp of the primary connector 30p are coupled to the U-phase winding 28Us, V-phase winding 28Vs, and W-phase winding 28Ws of the secondary connector 30s, respectively. Switching of each switching arm of the primary switching circuit 12 causes alternating current to flow through the U-phase winding 28Up, V-phase winding 28Vp, and W-phase winding 28Wp, respectively, and induces electromotive forces in the U-phase winding 28Us, V-phase winding 28Vs, and W-phase winding 28Ws.

[0094] The secondary power converter 20 comprises a secondary switching circuit 22, a secondary connector 30s, a secondary DC power supply 32s, a secondary signal transmission circuit 26, and a secondary controller 24. The secondary power converter 20 has the same configuration as the primary power converter 10. That is, the secondary switching circuit 22, secondary connector 30s, secondary DC power supply 32s, secondary signal transmission circuit 26, and secondary controller 24 have the same configuration and operate similarly as the primary switching circuit 12, primary connector 30p, primary DC power supply 32p, primary signal transmission circuit 16, and primary controller 14, respectively.

[0095] The switching of each switching arm of the secondary switching circuit 22 converts the induced electromotive force generated in the U-phase winding 28Us, V-phase winding 28Vs, and W-phase winding 28Ws into a DC voltage. This DC voltage is applied to the capacitor Ca of the secondary switching circuit 22, and the capacitor Ca is charged. In addition, the switching of each switching arm of the secondary switching circuit 22 generates induced electromotive force in the U-phase winding 28Us, V-phase winding 28Vs, and W-phase winding 28Ws. The voltage obtained by combining the output voltage of the secondary DC power supply 32s and the induced electromotive force generated in each phase winding is applied to the secondary DC power supply 32s. Through this operation, power is transmitted from the capacitor Ca to the secondary power converter 20 via the primary connector 30p and the secondary connector 30s.

[0096] The above describes the operation in which power is transmitted from the primary power converter 10 to the secondary power converter 20 via the primary connector 30p and the secondary connector 30s. Reverse power transmission is also possible by adjusting the switching timing of the primary switching circuit 12 and the secondary switching circuit 22.

[0097] The primary connector 30p has a U-phase winding 28Up, a V-phase winding 28Vp, and a W-phase winding 28Wp, in addition to a signal winding 28gp, while the secondary connector 30s has a U-phase winding 28Us, a V-phase winding 28Vs, and a W-phase winding 28Ws, in addition to a signal winding 28gs. When the primary connector 30p and the secondary connector 30s are brought close together, the signal windings 28gp and 28gs are coupled.

[0098] The primary signal transmission circuit 16 is connected to both ends of the signal winding 28gp, and the secondary signal transmission circuit 26 is connected to both ends of the signal winding 28gs. The primary signal transmission circuit 16 transmits a downlink timing signal to the secondary signal transmission circuit 26 via the signal windings 28gp and 28gs, according to the control of the primary controller 14. The downlink timing signal is a signal that defines the switching timing of the secondary switching circuit 22. The secondary controller 24 controls the switching of the secondary switching circuit 22 according to the timing indicated by the downlink timing signal received by the secondary signal transmission circuit 26. This synchronizes the switching timing of the primary switching circuit 12 and the secondary switching circuit 22.

[0099] The secondary signal transmission circuit 26 may also transmit an upstream timing signal to the primary signal transmission circuit 16 via signal windings 28gs and 28gp, in accordance with the control of the secondary controller 24. The upstream timing signal is a signal that defines the switching timing of the primary switching circuit 12. The primary controller 14 controls the switching of the primary switching circuit 12 according to the timing indicated by the upstream timing signal received by the primary signal transmission circuit 16.

[0100] Figure 24A shows a perspective view of the primary connector 30p. Figure 24B shows a perspective view of the core unit 36p of the primary connector 30p. Figure 24C shows perspective views of the U-phase winding 28Up, the V-phase winding 28Vp, and the W-phase winding 28Wp. As shown in Figure 24B, the core unit 36p consists of a roughly disc-shaped common core Ep extending along the xy-plane, four columnar cores Ap~Dp projecting from the common core Ep in the positive z-axis direction, and a neutral columnar core Np projecting from the center of the common core Ep in the positive z-axis direction.

[0101] Each of the columnar cores Ap to Dp has a shape obtained by dividing a cylindrical shape with a cylindrical hole in the center into four sections at 90° angular intervals in a plane containing the central axis of the cylinder. The columnar cores Ap to Dp are arranged in this order clockwise in Figure 24A. A neutral columnar core Np is located in the region surrounded by the columnar cores Ap to Dp.

[0102] As shown in Figure 24C, the W-phase winding 28Wp circulates around the columnar cores Ap and Bp in the forward direction, bundling them together, and around the columnar cores Dp and Cp in the reverse direction, bundling them together. Note that the terms "forward direction" and "reverse direction" are relative, indicating that the direction of circulation around columnar cores Ap and Bp is opposite to the direction of circulation around columnar cores Dp and Cp, and do not indicate an absolute direction of circulation.

[0103] The W-phase winding 28Wp may circle around the columnar cores Ap and Bp multiple times in the positive direction, and then circle around the columnar cores Dp and Cp multiple times in the negative direction. Alternatively, the W-phase winding 28Wp may circle around the columnar cores Ap to Dp in a figure-eight pattern, such as once in the positive direction around the columnar cores Ap and Bp, and then once in the negative direction around the columnar cores Dp and Cp, and repeat this figure-eight pattern multiple times.

[0104] The U-phase winding 28Up is located on the common core Ep side of the W-phase winding 28Wp. The U-phase winding 28Up is provided on the columnar cores Ap and Bp so as to orbit the columnar core Bp in the positive direction and the columnar core Ap in the opposite direction. The U-phase winding 28Up may orbit the columnar core Bp multiple times in the positive direction, and then orbit the columnar core Ap multiple times in the negative direction. Alternatively, the U-phase winding 28Up may orbit the columnar cores Ap and Bp in a figure-eight pattern, such as orbiting the columnar core Bp once in the positive direction, and then orbiting the columnar core Ap once in the negative direction, and repeat this figure-eight orbit multiple times.

[0105] The V-phase winding 28Vp is also located closer to the common core than the W-phase winding 28Wp. The V-phase winding 28Vp is provided on the columnar cores Cp and Dp so as to orbit the columnar core Dp in the positive direction and the columnar core Cp in the opposite direction. The V-phase winding 28Vp may orbit the columnar core Dp multiple times in the positive direction, and then orbit the columnar core Cp multiple times in the negative direction. Alternatively, the V-phase winding 28Vp may orbit the columnar cores Cp and Dp in a figure-eight pattern, such as orbiting the columnar core Dp once in the positive direction, and then orbiting the columnar core Cp once in the negative direction, and repeat this figure-eight orbit multiple times.

[0106] The magnetic flux generated from the sections of the W-phase winding 28Wp that circulate around the columnar cores Ap and Bp links with section A of the U-phase winding 28Up that circulates around columnar core Ap, and section B that circulates around columnar core Bp. This generates induced electromotive forces in sections A and B. However, the U-phase winding 28Up circulates in opposite directions in sections A and B. Therefore, the induced electromotive forces generated in sections A and B cancel each other out, and the induced electromotive force output from both ends of the U-phase winding 28Up is small or zero. Furthermore, the direction of the magnetic flux generated from section A and linked to the W-phase winding 28Wp is opposite to the direction of the magnetic flux generated from section B and linked to the W-phase winding 28Wp. Therefore, the induced electromotive force generated in the W-phase winding 28Wp based on the magnetic flux generated from sections A and B of the U-phase winding 28Up is small or zero.

[0107] The magnetic flux generated from the sections of the W-phase winding 28Wp that circulate around the columnar cores Cp and Dp links with the C section of the V-phase winding 28Vp that circulates around the columnar core Cp and the D section that circulates around the columnar core Dp. This generates induced electromotive forces in the C and D sections. However, the V-phase winding 28Vp circulates in opposite directions between the C and D sections. Therefore, the induced electromotive forces generated in the C and D sections cancel each other out, and the induced electromotive force output from both ends of the V-phase winding 28Vp is small or zero. Furthermore, the direction of the magnetic flux generated from the C section and linked to the W-phase winding 28Wp is opposite to the direction of the magnetic flux generated from the D section and linked to the W-phase winding 28Wp. Therefore, the induced electromotive force generated in the W-phase winding 28Wp based on the magnetic flux generated from the C and D sections of the V-phase winding 28Vp is small or zero.

[0108] Thus, the U-phase winding 28Up, the V-phase winding 28Vp, and the W-phase winding 28Wp are mutually non-interfering. That is, they either do not generate mutually induced electromotive forces, or the mutually generated induced electromotive forces are negligible. More specifically, the magnetic flux generated from any one winding and linked with the other two windings generates either negligible or zero induced electromotive forces in each of the other two windings.

[0109] A signal winding 28gp is routed around the neutral columnar core Np. The effect of the magnetic flux generated by the signal winding 28gp on the other windings will be described later.

[0110] Figure 25 shows a perspective view of the secondary connector 30s. Each component of the secondary connector 30s is denoted by a symbol obtained by replacing the "p" at the end of the symbol of the corresponding component in the primary connector 30p with "s". The structure of the secondary connector 30s is a mirror image of the structure of the primary connector 30p shown in Figures 24A to 24C. For the secondary connector 30s, the winding direction of all windings may be reversed for structures that are mirror images of the structure of the primary connector 30p. The same applies to the windings of each secondary connector described below.

[0111] The primary connector 30p and the secondary connector 30s are positioned so that the tip surfaces of the columnar cores Ap to Dp of the primary connector 30p and the tip surfaces of the columnar cores As to Ds of the secondary connector 30s face each other without contact. As a result, the U-phase winding 28Up, V-phase winding 28Vp, and W-phase winding 28Wp of the primary connector 30p are coupled to the U-phase winding 28Us, V-phase winding 28Vs, and W-phase winding 28Ws of the secondary connector 30s, respectively, forming a non-interference transformer. In other words, a non-interference transformer is formed in which the primary connector 30p is the primary-side transformer winding structure (connector winding structure) and the secondary connector 30s is the secondary-side transformer winding structure (connector winding structure).

[0112] The primary connector 30p and secondary connector 30s constitute a non-interference transformer, preventing the U-phase, V-phase, and W-phase power transmission operations from influencing each other. This ensures reliable control of each phase of the primary switching circuit 12 and the secondary switching circuit 22.

[0113] Thus, the transformer winding structure of the primary connector 30p comprises a plurality of columnar cores Ap, Bp, Cp, and Dp arranged in the same direction of extension, a neutral columnar core Np, and a U-phase winding 28Up, a V-phase winding 28Vp, and a W-phase winding 28Wp as multi-phase power windings, and a signal winding 28gp.

[0114] Multiple columnar cores Ap, Bp, Cp, and Dp are arranged circumferentially in a plane intersecting their respective extension directions (z-axis direction), with one end connected to a common core Ep. A neutral columnar core Np is positioned within the vicinity of the multiple columnar cores, aligned with the extension direction of each columnar core, and with one end connected to the common core Ep. Multiple phase power windings are provided on the multiple columnar cores such that the magnetic flux linking between them is reduced. A signal winding 28gp is provided on the neutral columnar core Np. The transformer winding structure of the secondary connector 30s is a mirror image of the transformer winding structure of the primary connector 30p. For the secondary connector 30s, the winding direction of all windings may be reversed for the structure that is a mirror image of the structure of the primary connector 30p.

[0115] Figure 26 schematically shows a cross-section of a non-interference transformer when it is cut through a plane containing the columnar cores Ap, Cp, and neutral columnar core Np, as well as the columnar cores As, Cs, and Ns. The black dots shown in the cross-section of each winding indicate that the current is flowing away from the drawing plane. The "×" shape shown in the cross-section of each winding indicates that the current is flowing toward the drawing plane.

[0116] In the primary connector 30p, the magnetic flux ΦAB emitted from the AB section of the W-phase winding 28Wp, which circles the columnar cores Ap and Bp, travels from columnar core Ap through the common core Ep to columnar core Cp and neutral columnar core Np. The magnetic flux AB passing through columnar core Cp further travels through columnar core Cs to the common core Es, and the magnetic flux AB passing through neutral columnar core Np travels through neutral columnar core Ns to the common core Es.

[0117] In the primary connector 30p, the magnetic flux ΦCD emitted from the CD section of the W-phase winding 28Wp, which circulates around the columnar cores Cp and Dp, flows from columnar core Cp towards columnar core Cs. The magnetic flux ΦCD passing through columnar core Cs flows through the common core Es towards columnar core As and neutral columnar core Ns. The magnetic flux ΦCD passing through neutral columnar core Ns further flows through neutral columnar core Np towards common core Ep.

[0118] The magnetic flux ΦAB, emitted from section AB of the W-phase winding 28Wp and passing through the neutral columnar cores Np and Ns, and the magnetic flux ΦCD, emitted from section CD of the W-phase winding 28Wp and passing through the neutral columnar cores Ns and Np, are in opposite directions and suppress each other. Therefore, the induced electromotive force generated in the signal windings 28gp and 28gs by the magnetic flux emitted from the W-phase winding 28Wp is zero or negligible.

[0119] Figure 27 shows the magnetic flux Φg emitted from the signal winding 28gp in the same cross-section as in Figure 26. The magnetic flux Φg passes through the neutral columnar core Np and the neutral columnar core Ns towards the common core Es. From the common core Es, the magnetic flux Φg passes through the columnar core As and the columnar core Cs. The magnetic flux Φg passing through columnar core As further passes through columnar core Ap, and the magnetic flux Φg passing through columnar core Cs further passes through columnar core Cp. As shown in Figure 27, the magnetic flux Φg passes downward through columnar cores As and Ap, and also passes downward through columnar cores Cs and Cp. That is, the direction of the magnetic flux passing through columnar cores As and Ap is the same as the direction of the magnetic flux passing through columnar cores Cs and Cp.

[0120] In the W-phase windings 28Wp and 28Ws, the winding directions are opposite in the AB section and the CD section. Therefore, the induced electromotive force generated in the AB section of the W-phase winding 28Wp by the magnetic flux Φg and the induced electromotive force generated in the CD section of the W-phase winding 28Wp by the magnetic flux Φg have opposite polarities and suppress each other, resulting in an induced electromotive force of 0 or negligible in the W-phase winding 28Wp. Similarly, the induced electromotive force generated in the AB section of the W-phase winding 28Ws by the magnetic flux Φg and the induced electromotive force generated in the CD section of the W-phase winding 28Ws by the magnetic flux Φg have opposite polarities and suppress each other, resulting in an induced electromotive force of 0 or negligible in the W-phase winding 28Ws.

[0121] Thus, in the transformer winding structure of the primary connector 30p, a neutral magnetic path is formed that passes through the neutral columnar core 28Np and through each columnar core Ap to Dp. As a result, the U-phase winding 28Up, V-phase winding 28Vp, and W-phase winding Wp and the signal winding 28gp do not interfere with each other, and the induced electromotive force generated between them is zero or negligible. Similarly, in the transformer winding structure of the secondary connector 30s, a neutral magnetic path is formed that passes through the neutral columnar core 28Ns and through each columnar core As to Ds. As a result, the induced electromotive force generated between the U-phase winding 28Us, V-phase winding 28Vs, and W-phase winding Ws and the signal winding 28gs is zero or negligible.

[0122] Here, we have explained the case where magnetic flux is generated on the primary connector 30p side, but the same applies when magnetic flux is generated on the secondary connector 30s side. This is because the secondary connector 30s has a structure that is a mirror image of the primary connector 30p, or a structure in which the winding direction of all the windings is reversed from that structure.

[0123] In other words, the magnetic flux generated from each power winding (U-phase winding 28Up, V-phase winding 28Vp, W-phase winding 28Wp, U-phase winding 28Us, V-phase winding 28Vs, W-phase winding 28Ws) mainly passes through the columnar cores Ap~Dp and As~Ds, and does not pass through the neutral columnar cores Np and Ns. The magnetic flux generated from the signal windings 28gp and 28gs passes through the columnar cores surrounded by each power winding in the same direction.

[0124] Therefore, the W-phase windings 28Wp and 28Ws and the signal winding 28gp either do not generate mutually induced electromotive forces, or the mutually induced electromotive forces are so small that they are in a non-interfering relationship. By a similar principle, the U-phase windings 28Up and 28Us and the signal winding 26gp are in a non-interfering relationship, and the V-phase windings 28Vp and 28Vs and the signal winding 28gp are in a non-interfering relationship.

[0125] Returning to Figure 23, the control of the primary switching circuit 12 and the secondary switching circuit 22 will be described. The primary signal transmission circuit 16 outputs a downlink timing signal to the signal winding 28gp according to the control of the primary controller 14. The downlink timing signal is a signal in which a pulsed time waveform repeats on the time axis. The pulsed time waveform shown by the downlink timing signal indicates the timing at which the primary controller 14 switches the primary switching circuit 12. The signal winding 28gp and the signal winding 28gs are coupled, and the downlink timing signal is transmitted to the secondary signal transmission circuit 26 via the signal winding 28gp and the signal winding 28gs.

[0126] The secondary signal transmission circuit 26 detects the downstream timing signal and outputs it to the secondary controller 24. The secondary controller 24 switches the secondary switching circuit 22 according to the timing indicated by the downstream timing signal.

[0127] The secondary signal transmission circuit 26 outputs an upstream timing signal to the signal winding 28gs in accordance with the control of the secondary controller 24. The upstream timing signal is a signal in which a pulsed time waveform repeats on the time axis. The pulsed time waveform shown by the upstream timing signal indicates the timing at which the secondary controller 24 switches the secondary switching circuit 22. The upstream timing signal is transmitted to the primary signal transmission circuit 16 via the signal windings 28gs and 28gp.

[0128] The primary signal transmission circuit 16 detects the upstream timing signal and outputs it to the primary controller 14. The primary controller 14 switches the primary switching circuit 12 according to the timing indicated by the upstream timing signal. This operation synchronizes the switching timing of the primary switching circuit 12 and the secondary switching circuit 22.

[0129] As described above, the U-phase winding 28Up, V-phase winding 28Vp, and W-phase winding 28Wp in the primary connector 30p are mutually non-interfering with the signal winding 28gp. Similarly, the U-phase winding 28Us, V-phase winding 28Vs, and W-phase winding 28Ws in the secondary connector 30s are mutually non-interfering with the signal winding 28gs. This suppresses interference between the voltages and currents appearing in each phase winding and the down-phase timing signal or up-phase timing signal. Therefore, the primary switching circuit 12 and the secondary switching circuit 22 are reliably controlled.

[0130] The primary signal transmission circuit 16 acquires an upstream timing signal from the signal winding 28gp. The primary controller 14 operates as a connector disconnection detection device that detects when the coupling between the primary connector 30p (transformer winding structure) and the secondary connector 30s (other winding structure) becomes loose, based on the level of the upstream timing signal. The primary controller 14 also has a function to stop the switching of the primary switching circuit 12 when it detects that the coupling between the primary connector 30p and the secondary connector 30s has become loose.

[0131] Similarly, the secondary signal transmission circuit 26 obtains a downstream timing signal from the signal winding 28gs. The secondary controller 24 acts as a connector disconnection detection device that detects when the coupling between the primary connector 30p (transformer winding structure) and the secondary connector 30s (other winding structure) becomes loose, based on the level of the downstream timing signal. The secondary controller 24 also has the function of stopping the switching of the secondary switching circuit 22 when it detects that the coupling between the primary connector 30p and the secondary connector 30s has become loose.

[0132] Specifically, the secondary controller 24 determines whether the level of the downstream timing signal is below a predetermined threshold, and if the level of the downstream timing signal is below the predetermined threshold, it stops switching the secondary switching circuit 22. Similarly, the primary controller 14 determines whether the level of the upstream timing signal is below a predetermined threshold, and if the level of the upstream timing signal is below the predetermined threshold, it stops switching the primary switching circuit 12.

[0133] Through this process, when a connector disconnection occurs (a loose connection), such as when the secondary connector 30s is detached from the primary connector 30p, or when the position of the secondary connector 30s relative to the primary connector 30p is shifted from the appropriate position, the switching operation of the primary switching circuit 12 and the secondary switching circuit 22 is stopped.

[0134] Figure 28(a) conceptually shows the relationship between the distance between the primary connector 30p and the secondary connector 30s (interconnector distance) and the coupling coefficient. The horizontal axis represents the interconnector distance, and the vertical axis represents the coupling coefficient. The coupling coefficient represents the degree of coupling between the U-phase winding 28Up and the U-phase winding 28Us, the degree of coupling between the V-phase winding 28Vp and the V-phase winding 28Vs, and the degree of coupling between the W-phase winding 28Wp and the W-phase winding 28Ws. The coupling coefficient k of two windings is defined, for example, as k = M / √(L1·L2), where L1 is the inductance of one winding, L2 is the inductance of the other winding, and M is the mutual inductance of these windings.

[0135] Figures 28(b) to (f) show control timing charts for the primary switching circuit 12 and the secondary switching circuit 22. The horizontal axis in each figure represents time. Figure 28(b) shows the initial trigger signal used internally by the primary controller 14. The initial trigger signal indicates the timing for initiating the switching of the primary switching circuit 12. Figure 28(c) shows the switching control signal for the primary switching circuit 12. Along with the rising edge of the switching control signal, for example, the on / off state of the upper switching element S1 and the on / off state of the lower switching element S2 of the U-phase switching arm U of the primary switching circuit 12 may be switched.

[0136] Figure 28(d) shows the terminal voltage of the signal winding 28gp (primary signal winding voltage). Downward timing signals and upward timing signals appear alternately in the primary signal winding voltage over time. The downward timing signal is synchronized with the switching control signal for the primary switching circuit 12 (Figure 28(c)). The upward timing signal appearing in the primary signal winding voltage has a smaller amplitude than the downward timing signal. In the upper right of Figure 28(d), the time waveform of the downward timing signal is shown when the time axis scale is stretched. One pulse of the downward timing signal has a time waveform in which a sine wave decays over time and converges to zero.

[0137] Figure 28(e) shows the terminal voltage of signal winding 28gs (secondary signal winding voltage). Upward and downward timing signals alternately appear in the secondary signal winding voltage over time. The downward timing signal appearing in the secondary signal winding voltage has a smaller amplitude than the upward timing signal. The upper right of Figure 28(e) shows the time waveform of the downward timing signal. The time waveform on the right is the time waveform when the distance between the primary connector 30p and the secondary connector 30s is larger than that of the time waveform on the left.

[0138] Figure 28(f) shows the switching control signal for the secondary switching circuit 22. This switching control signal is synchronized with the down-link timing signal. After a predetermined time has elapsed from the rising edge of the switching control signal, for example, the on / off state of the upper switching element S1 and the on / off state of the lower switching element S2 of the U-phase switching arm U of the secondary switching circuit 22 may be switched.

[0139] The larger the distance between connectors, the smaller the coupling coefficient. This reduces the amplitude of the upstream timing signal detected by the primary signal transmission circuit 16, and reduces the amplitude of the downstream timing signal detected by the secondary signal transmission circuit 26. Therefore, as described above, the primary controller 14 may detect a connector disconnection in accordance with the level (amplitude) of the upstream timing signal detected by the primary signal transmission circuit 16. Similarly, the secondary controller 24 may detect a connector disconnection in accordance with the level (amplitude) of the downstream timing signal detected by the secondary signal transmission circuit 26.

[0140] The primary controller 14 may also store a table associating the levels of upstream timing signals with the distance between connectors. The level of the upstream timing signal is defined, for example, as the maximum absolute value. The primary controller 14 may determine the distance between connectors by referring to the table and obtaining the distance corresponding to the level of the upstream timing signal. Similarly, the secondary controller 24 may store a table associating the levels of downstream timing signals with the distance between connectors. The level of the downstream timing signal is defined, for example, as the maximum absolute value. The secondary controller 24 may determine the distance between connectors by referring to the table and obtaining the distance corresponding to the level of the downstream timing signal.

[0141] Figure 29 shows an example configuration of the primary signal transmission circuit 16-1 and the secondary signal transmission circuit 26-1. The primary signal transmission circuit 16-1 comprises a DC power supply 42p, a switching arm Xp, and a resonant capacitor 40p. The switching arm Xp comprises an upper switching element Q1 and a lower switching element Q2 connected in series.

[0142] The lower end of the lower switching element Q2 is connected to the negative terminal of the 42p DC power supply. The upper end of the upper switching element Q1 is connected to the positive terminal of the 42p DC power supply. One end of the resonant capacitor 40p is connected to the connection point between the upper switching element Q1 and the lower switching element Q2 of the switching arm Xp, and the other end of the resonant capacitor 40p is connected to one end of the signal winding 28gp. The other end of the signal winding 28gp is connected to the lower end of the lower switching element Q2.

[0143] The secondary signal transmission circuit 26-1 comprises a DC power supply 42s, a switching arm Xs, and a resonant capacitor 40s. The secondary signal transmission circuit 26-1 has the same configuration as the primary signal transmission circuit 16-1. The DC power supply 42s, the switching arm Xs, and the resonant capacitor 40s correspond to the DC power supply 42p, the switching arm Xp, and the resonant capacitor 40p, respectively. One end of the resonant capacitor 40s is connected to the connection point between the upper switching element Q1 and the lower switching element Q2 of the switching arm Xs, and the other end of the resonant capacitor 40s is connected to one end of the signal winding 28gs. The other end of the signal winding 28gs is connected to the lower end of the lower switching element Q2.

[0144] The operation of transmitting a downstream signal from the primary signal transmission circuit 16-1 will now be described. The upper switching element Q1 and the lower switching element Q2 of the switching arm Xp are switched on and off alternately. Each time the upper switching element Q1 and the lower switching element Q2 are switched on or off, a pulse voltage is applied to the series resonant circuit consisting of the resonant capacitor 40p and the signal winding 28gp. Each time a pulse voltage is applied, a current with an oscillating waveform flows through the series resonant circuit. The series resonant circuit causes the voltage generated in the signal winding 28gp to oscillate at a reduced rate. That is, the series resonant circuit constitutes a damped oscillation circuit, and the oscillating waveform of the voltage generated in the signal winding 28gp is attenuated by the resistance component contained in the upper switching element Q1 or the lower switching element Q2, and the resistance component contained in the signal winding 28gp, resulting in a damped oscillation waveform.

[0145] The current flowing through the signal winding 28gp induces an electromotive force in the signal winding 28gs with a damped oscillation waveform. The signal detector 44s provided on the signal winding 28gs detects the induced electromotive force generated in the signal winding 28gs as a down-link timing signal and outputs it to the secondary controller 24.

[0146] The operation of transmitting an uplink signal from the secondary signal transmission circuit 26-1 will now be described. The upper switching element Q1 and the lower switching element Q2 of the switching arm Xs are switched on and off alternately. Each time the upper switching element Q1 and the lower switching element Q2 are switched on or off, a pulse voltage is applied to the series resonant circuit formed by the resonant capacitor 40s and the signal winding 28gs. Following the same principle as the primary side, each time a pulse voltage is applied, a current with a damped oscillation waveform flows through the series resonant circuit.

[0147] The current flowing through the signal winding 28gs induces an electromotive force in the signal winding 28gp with a damped oscillation waveform. The signal detector 44p, located on the signal winding 28gp, detects the induced electromotive force generated in the signal winding 28gp as an upstream timing signal and outputs it to the primary controller 14.

[0148] [Structure of the present invention] Configuration 1: A vehicle having a battery, connector, and guide member, A charger having a connector and a guide member on which the connector is arranged, With the connector of the vehicle and the connector of the charger facing each other, the charger charges the battery of the vehicle. The guide member of the charger is movable in accordance with the movement of the vehicle, so as to come into contact with the guide member of the vehicle, it can correct any misalignment between the vehicle's connector and the charger's connector. A charging system characterized by the following features. Configuration 2: The charging system described in Configuration 1, The connector of the vehicle and the connector of the charger are contactless connectors. The vehicle's battery is charged from the charger while the vehicle's connector and the charger's connector are in contact or not in contact. A charging system characterized by the following features. Configuration 3: A charging system as described in configuration 1 or 2, The charger is installed on the ground, and the connector of the charger faces upward. The guide member of the vehicle is installed on the underside of the vehicle, and the connector of the vehicle faces downwards. A charging system characterized by the following features. Configuration 4: The charging system described in configuration 3, The guide member of the charger includes a charging head that is movable relative to the base portion of the charger, and the connector of the charger is located on the charging head. The guide member of the vehicle is fixed to the vehicle. A charging system characterized by the following features. Configuration 5: The charging system described in configuration 4, The guide member of the vehicle includes a tapered groove, The charging head includes a protrusion that contacts the inner wall of the tapered groove of the guide member of the vehicle, The protrusion of the charging head contacts the inner wall of the tapered groove of the vehicle's guide member as the vehicle moves, thereby correcting the misalignment between the vehicle's connector and the charger's connector. A charging system characterized by the following features. Configuration 6: The charging system described in configuration 4, The guide member of the vehicle is plate-shaped and includes a V-groove extending in the front-rear direction and a tapered groove connected to the V-groove. The charging head includes a spherical structure that fits into the V-groove of the guide member of the vehicle, As the vehicle moves, the spherical structure of the charging head is guided through the tapered groove of the vehicle's guide member into the V-groove, thereby correcting any misalignment between the vehicle's connector and the charger's connector. A charging system characterized by the following features. Composition 7: The charging system described in configuration 4, The guide member of the vehicle is plate-shaped and includes a plurality of V-grooves around the connector of the vehicle. One of the multiple V-grooves is a V-groove that extends in the front-rear direction, The guide member of the vehicle includes a tapered groove connected to the V-groove extending in the front-rear direction, The charging head includes three spherical structures provided around the connector of the charger, As the vehicle moves, one of the spherical structures of the charging head is guided through the tapered groove of the vehicle's guide member into the V-groove extending in the front-rear direction, and the remaining spherical structures of the charging head are guided into the remaining V-grooves of the vehicle's guide member, thereby correcting the misalignment between the vehicle's connector and the charger's connector. A charging system characterized by the following features. Composition 8: The charging system described in configuration 7, The charging head is movable relative to the base of the charger in six axes: forward / backward, left / right, up / down, roll, pitch, and yaw. A charging system characterized by the following features. Composition 9: A vehicle having a battery, a connector, and a guide member, A charger located outside the vehicle has a connector and a guide member on which the connector is positioned. With the connector of the vehicle and the connector of the charger facing each other, the charger charges the battery of the vehicle. The guide member of the vehicle is configured to move so as the vehicle moves, it comes into contact with the guide member of the charger, thereby correcting any misalignment between the connector of the vehicle and the connector of the charger. A vehicle characterized by the following features. Configuration 10: A charger having a connector and a guide member on which the connector is arranged, The vehicle that receives power from the charger has a battery, a connector, and a guide member. With the connector of the vehicle and the connector of the charger facing each other, the charger charges the battery of the vehicle. The guide member of the charger is movable in accordance with the movement of the vehicle, so as to come into contact with the guide member of the vehicle, it can correct any misalignment between the vehicle's connector and the charger's connector. A charger characterized by the following features. [Explanation of symbols]

[0149] 10 Primary power converter, 12 Primary switching circuit, 14 Primary controller, 16, 16-1 Primary transmission circuit, 20 Secondary power converter, 22 Secondary switching circuit, 24 Secondary controller, 26-1 Secondary transmission circuit, 28Up, 28Us U-phase winding, 28Vp, 28Vs V-phase winding, 28Wp, 28Ws W-phase winding, 28gp, 28gs signal winding, 30p Primary connector, 30s Secondary connector, 32p Primary DC power supply, 32s Secondary DC power supply, 36p, 36s Core unit, 40p, 40s Resonant capacitor, 42p, 42s DC power supply, 44p, 44s Signal detector, 100 Power conversion system (power transmission system), UU-phase switching arm, VV-phase switching arm, WW-phase switching arm, Ca Capacitors: Ap, Bp, Cp, Dp, As, Bs, Cs, Ds (columnar cores), Np, Ns (neutral columnar cores), Ep, Es (common cores).

[0150] 110 Charging system, 112 Vehicle, 114 Charger, 120 Battery, 122,122A Connector (vehicle connector), 124,124A Guide member (alignment plate, vehicle guide member), 125 Plate body, 126 Subplate, 127 Front-rear V-groove, 128 Left-right V-groove, 130 Tapered groove, 132 Opening (connector opening of alignment plate), 142,142A Connector (charger connector), 144 Guide member (charger guide member), 146 Base section, 146B Rear section, 148 6-axis movable system, 149 Charging head assembly, 150,150A Charging head, 151 Head plate, 152 Opening (connector opening of charging head), 154 Center ball caster, 154A Center ball (spherical structure), 156 Side ball caster, 156A Side ball (spherical structure), 160 Wheel stopper, 162 Rear bumper, 200 Gas spring, 210 Slide guide, 212 Front / rear sliding body, 212F Front section, 212C Cylindrical section, 214 Up / down sliding body, 216 Tension spring, 218 Parallel link (for up / down direction), 219 Shaft (shaft of parallel link for up / down direction), 220 Torsion spring (for left / right direction), 222 Spring seat, 224 Spring retainer, 225 Hole (for projection rod, hole in up / down sliding body), 226 Projection rod (spring compression part), 228 Parallel link (for left / right direction), 229 Shaft (shaft of parallel link for left / right direction), 230 Left / right moving plate, 231 Projection part, 232 Head support, 234 Torsion spring (for yaw direction), 236 Spring seat, 237 238 Axis (yaw direction axis), 239 Spring retainer, 239 Hole (for projection rod, hole in head support), 240 Projection rod (spring compression part), 241 Hole (for ball joint, hole in head support), 242 Ball joint (pitch direction axis), 244 Compression coil spring, 246 Hole (rear hole in head support), 247, 248 Connecting parts.

Claims

1. A vehicle having a battery, connector, and guide member, A charger having a connector and a guide member on which the connector is arranged, With the connector of the vehicle and the connector of the charger facing each other, the charger charges the battery of the vehicle. The charging system is such that the guide member of the charger is movable in accordance with the movement of the vehicle, so as to contact the guide member of the vehicle, in order to correct any misalignment between the connector of the vehicle and the connector of the charger. The aforementioned charger is installed on the ground, The guide member of the charger includes a charging head that is movable relative to the base portion of the charger. The charging head is positioned such that the connector of the charger faces upwards. The charging head includes three spherical structures provided around the connector of the charger, The guide member of the vehicle has a plate shape and is fixed to the underside of the vehicle. The connector of the aforementioned vehicle faces downwards. The guide member of the vehicle includes a plurality of V-grooves around the connector of the vehicle. One of the multiple V-grooves is a V-groove that extends in the front-rear direction, The guide member of the vehicle includes a tapered groove connected to the V-groove extending in the front-rear direction, As the vehicle moves, one of the spherical structures of the charging head is guided through the tapered groove of the vehicle's guide member into the V-groove extending in the front-rear direction, and the remaining spherical structures of the charging head are guided into the remaining V-grooves of the vehicle's guide member, thereby correcting the misalignment between the vehicle's connector and the charger's connector. A charging system characterized by the following features.

2. A charging system according to claim 1, The connector of the vehicle and the connector of the charger are contactless connectors. The vehicle's battery is charged from the charger while the vehicle's connector and the charger's connector are in contact or not in contact. A charging system characterized by the following features.

3. A charging system according to claim 1 or 2, The charging head is movable relative to the base of the charger in six axes: forward / backward, left / right, up / down, roll, pitch, and yaw. A charging system characterized by the following features.

4. A vehicle having a battery, a connector, and a guide member, A charger located outside the vehicle has a connector and a guide member on which the connector is positioned. With the connector of the vehicle and the connector of the charger facing each other, the charger charges the battery of the vehicle. In a vehicle, the guide member of the vehicle is configured to move so as the vehicle moves, it contacts the guide member of the charger, thereby correcting any misalignment between the connector of the vehicle and the connector of the charger. The aforementioned charger is installed on the ground, The guide member of the charger includes a charging head that is movable relative to the base portion of the charger. The charging head is positioned such that the connector of the charger faces upwards. The charging head includes three spherical structures provided around the connector of the charger, The guide member of the vehicle has a plate shape and is fixed to the underside of the vehicle. The connector of the aforementioned vehicle faces downwards. The guide member of the vehicle includes a plurality of V-grooves around the connector of the vehicle. One of the multiple V-grooves is a V-groove that extends in the front-rear direction, The guide member of the vehicle includes a tapered groove connected to the V-groove extending in the front-rear direction, As the vehicle moves, one of the spherical structures of the charging head is guided through the tapered groove of the vehicle's guide member into the V-groove extending in the front-rear direction, and the remaining spherical structures of the charging head are guided into the remaining V-grooves of the vehicle's guide member, thereby correcting the misalignment between the vehicle's connector and the charger's connector. A vehicle characterized by the following features.

5. A charger having a connector and a guide member on which the connector is arranged, The vehicle that receives power from the charger has a battery, a connector, and a guide member. With the connector of the vehicle and the connector of the charger facing each other, the charger charges the battery of the vehicle. In a charger, the guide member of the charger is movable in accordance with the movement of the vehicle, so as to contact the guide member of the vehicle, it can correct the misalignment between the vehicle's connector and the charger's connector. The aforementioned charger is installed on the ground, The guide member of the charger includes a charging head that is movable relative to the base portion of the charger. The charging head is positioned such that the connector of the charger faces upwards. The charging head includes three spherical structures provided around the connector of the charger, The guide member of the vehicle has a plate shape and is fixed to the underside of the vehicle. The connector of the aforementioned vehicle faces downwards. The guide member of the vehicle includes a plurality of V-grooves around the connector of the vehicle. One of the multiple V-grooves is a V-groove that extends in the front-rear direction, The guide member of the vehicle includes a tapered groove connected to the V-groove extending in the front-rear direction, As the vehicle moves, one of the spherical structures of the charging head is guided through the tapered groove of the vehicle's guide member into the V-groove extending in the front-rear direction, and the remaining spherical structures of the charging head are guided into the remaining V-grooves of the vehicle's guide member, thereby correcting the misalignment between the vehicle's connector and the charger's connector. A charger characterized by the following features.

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