Two Degrees of Freedom Planar Passive Charging Mechanism

Abstract

This invention is designed to compensate for possible positional errors in terms of distance and angle when electric mobile platforms approach a charging station manually or autonomously, or when a charging station approaches an electric mobile platform manually or autonomously. This design is a passive mechanism with two degrees of freedom to prevent charging process defects such as arc formation and insufficient conduction conditions, and is a device that helps to perform the charging process safely and stably.

Description

1 TARIFF Two Degrees of Freedom Planar Passive Charging Mechanism Technical Area This invention enables electric mobile platforms to transfer energy via a charging station. A 5-point plan to address the negative effects of positioning errors that occur during the process. It is related to the mechanism. Specifically, between the charging surfaces of electric mobile platforms. a passive two-degree-of-freedom system that tolerates possible radial and angular misalignments It includes the mechanism. State of the Art Electric mobile platforms (autonomous and manually controlled vehicles, industrial, commercial and 10 all types of electrical power sources such as personal cargo transfer vehicles, personal and public transportation vehicles, etc. (mobile platform) with motion and position accuracy, industrial robot arms This is considerably lower compared to the previous situation. This is because sensor data is affected by environmental dynamics. and stems from the structural characteristics of the robot. Driving or load-carrying operations. While these tolerances generally do not pose a problem during the process, contact 15 occurs during the charging process. When the necessary precision cannot be ensured between the surfaces, electrical transmission cannot be safely achieved. It may not be possible to install it. The electric mobile platform is charged by transferring electricity between two surfaces. However, angular (e.g., ±7.5°) or radial (e.g., ±5 mm) deviations that occur during docking Errors reduce the transmission surface area or cause the transmission to stop completely. 20 It is possible. This situation may occur due to the charging process not starting or due to the component's current density. This leads to their safety being jeopardized. Purpose of the Invention The main purpose of this invention is to enable electric mobile platforms to be charged at charging stations manually or with a 25 autonomously approaching or mounting the electric mobile platform of the charging station Radial and angular positioning that may occur during manual or autonomous approach. The goal is to develop a system that can mechanically tolerate errors in charging. This allows the system to charge. and even if there are positioning errors between the charged elements, the difference is tolerated Both charging safety and the charging process will be guaranteed. 30 2 Explanations of the Figures Figure 1: Top view of the charging mechanism. Figure 2: Isometric view of the charging mechanism. Explanations of References in Figures 1- Mechanism connecting elements 35 2- Rotary joint 3- Mechanism side charging surface 4- Load side charging surface 5- Linear joint 6- Linear group housing 40 7- Rotating group body 8- Rotary joint movement restrictor Detailed Description of the Invention The invention is a mechanism with two degrees of freedom. This mechanism; It is connected to the main body with connecting elements (1). The first degree of freedom is 45 linear motion, with linear joint (5), and rotational motion, which is the second degree of freedom. It is provided by the rotary joint (2). Thanks to the combination of these two movements, the mechanism side charging surface (3), load side charging surface (4) on the mobile side position of the transmission area It can follow passively. The mechanism has a kinematic series connection structure and 50 with linear group housing (6) and rotary group housing (7) joint combination It has been created. The mechanism side located at the end of the structure is the charging surface (3) mobile It provides electrical transmission with the load side charging surface (4) on the platform. The electric mobile platform is approaching the charging station or the charging station is approaching the electric mobile platform. Position errors that may occur while approaching the platform, passive movement of the mechanism This is achieved thanks to the mechanism. This passive movement provided by the mechanism takes 55 to the charging station. or the mechanism is angular so as not to damage the mobile platform in any way. movement within the desired tolerance range with rotary joint movement limiter (8) This element remains. It also defines the limits of rotational motion. It also prevents the mechanism from locking. When approaching... The mechanism arranges the conduction surfaces in such a way as to ensure maximum contact or interaction. 60 3 It adjusts its own configuration to align. This capability is activated at the moment of contact. the acting forces are the force input required for the manipulation of the passive mechanism. This has been achieved through design methods that allow it to be used as such. When the charging process is complete and the electric mobile platform is separated from the charging station, Thanks to the flexible elements in the mechanism, the system returns to its starting position at 65°. It rotates. These flexible elements are inside rotary joints (2) and linear joints (5). It is located. How the invention can be applied to industry. This invention involves the combined use of electric mobile platforms and charging stations. It can be applied in industrial facilities, logistics centers, warehouse areas and similar sites. 70 Thanks to the two-degree-of-freedom passive mechanism, mobile phones of different manufacturers and models can be used. Positioning errors between platforms and charging stations are tolerated, ensuring safety and A repeatable charging process can be ensured.

Claims

4 REQUESTS 1. A charging station with a load-side charging surface (4) on a mobile platform To establish electrical contact between the charging surface (3) and the fixed mechanism side It is a two-degree-of-freedom, planar charging mechanism designed for this purpose. at least one mechanism designed to be connected to a fixed reference body 5 fastener (1), between the mechanism linkage element (1) and a linear group housing (6), linear the mechanism side of the group body (6) according to the mechanism connecting element (1) linear motion in a direction essentially parallel to the plane of the charging surface (3) at least one linear joint (5) that allows it to do so, 10 on the linear group housing (6), the plane of the charging surface (3) on the mechanism side essentially at least one rotary joint that allows it to rotate around a perpendicular axis (2), at least one rotary joint movement that limits the rotation angle range of the rotary joint (2). constraint (8), 15 At least one rotary group housing (7) mounted on the rotary joint (2) and this The mechanism side charging surface (3) located on the rotating group housing (7) including and two degrees of freedom provided by the linear joint (5) and the rotary joint (2). thanks to the mechanism side charging surface (3), the load side charging surface (4) 20 allows for displacement in a way that compensates for planar and angular positional differences. It is a charging mechanism characterized by its ability to deliver power.

2. It is a charging mechanism according to claim 1; inside the linear joint (5) and / or the mechanism connection with the linear joint (5) between element (1), during the displacement of the linear group body (6) 25 storing mechanical energy and with this energy, a linear group body (6) is a starting point. with at least one flexible element attempting to return it to its original position It is characteristic.

3. It is a charging mechanism according to claim 1 or 2; 30 inside the rotary joint (2) and / or the rotary joint (2) and the linear group body (6) mechanical during angular displacement of the rotating group body (7) storing energy and rotating the group body (7) with this energy at an initial angular with at least one flexible element attempting to return it to its original position It is characterized by 35 4. It is a charging mechanism according to any of claims 1 to 3; The rotary joint movement limiter (8) is located on the rotary group body (7) by establishing mechanical contact with at least one counter surface, the rotary joint (2) in two directions 40 allowing it to rotate up to predefined limit angles. the design and thus the extreme angular displacement of the mechanism It is characterized by preventing the occurrence of lockups or mechanical damage.

5. It is a charging mechanism according to any of claims 1 to 4; The movement of the linear joint (5), linear group body (6), mechanism side charge 45 remaining within the plane of the (3) surface and positioning of the charge surface (4) on the load side It is characterized by being limited by a direction that is essentially parallel to its direction.

6. It is a charging mechanism according to any of claims 1 through 5; The mechanism side charging surface (3) and the load side charging surface (4), electrical 50 It must contain at least one contact surface that enables transmission and the mechanism side charging contact by following the position errors of the surface (3), the load side charging surface (4) aligning in a way that will increase the overlap area between the two surfaces during the process It is characterized by being positioned in a way that will allow for such possibilities. 55 7. The charging mechanism is based on any of 1 to 6; the mechanism connecting element (1), both the charging mechanism and the fixed structure mounting surfaces that enable the assembly, both bearing of the linear joint (5), and also according to the mechanism connection element (1) of the linear group body (6) It is characterized by carrying its movement on guide elements that guide its motion. 60 6 8. It is a charging mechanism according to any of claims 1 to 7; rotary joint (2) mounted on the linear group housing (6), rotary joint the motion restrictor (8), the rotary group mounted on the rotary joint (2) charging mechanism side attached to the body (7) and rotating group body (7) the surface (3) together with the mechanism side charging surface (3) a single rotation of freedom 65 It is characterized by forming a submodule that provides the degree.

9. It is a charging mechanism according to any of claims 1 through 8; mechanism side charging surface (3) and / or load side charging surface (4) It must have at least one of the following contact surfaces: planar, curved, or multi-part. 70 It is characterized by...

10. It is a charging mechanism according to any of claims 1 through 9; the charging mechanism, any sensors, actuators or external control systems without including, only the contact between the mobile platform and the charging station 75 linear joint (5) and rotary joint (2) using their forces as input force changing its configuration via and stored in flexible elements After the charging process ends due to the effect of energy, a mechanically defined... It is characterized by its ability to return to its starting position on its own. 80 11. Including a charging mechanism according to any of the previous requirements, a load-side charging surface carried on at least one mobile platform (4), mechanism connecting element (1) located on a fixed charging station a connected charging mechanism and located on this charging mechanism mechanism side charging surface (3), 85 electrical connection between the load side charging surface (4) and the mechanism side charging surface (3) at least one power transmission line providing a connection It is a charging system that includes... 7 12. A charging method using a charging system according to claim 11, 90 mobile platform, load side charging surface (4) mechanism side charging surface (3) positioned so that it moves correctly towards the charging station, planar and resulting from the docking and stopping position of the mobile platform angular position errors, charging mechanism linear joint (5) and rotary joint (2) causing it to shift and the mechanism side charge 95 so that the surface (3) and the load side charging surface (4) are in contact with each other alignment, Electricity is transferred to the mobile platform battery via the contacting charging surfaces (3, 4). energy is transmitted and stored in flexible elements when the charging process is complete. The charging mechanism returns to its initial position due to the effect of energy 100 It is a charging method that includes several steps.

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