CN114930676A - Charger robot for inductively charging vehicles - Google Patents
Charger robot for inductively charging vehiclesDownload PDFInfo
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- CN114930676A CN114930676ACN202080092866.3ACN202080092866ACN114930676ACN 114930676 ACN114930676 ACN 114930676ACN 202080092866 ACN202080092866 ACN 202080092866ACN 114930676 ACN114930676 ACN 114930676A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Translated fromChinese
Description
Translated fromChinese本发明涉及一种根据权利要求1的前序部分所述的充电机器人以及一种根据权利要求8的前序部分所述的充电系统。The invention relates to a charging robot according to the preamble of
在交通工具、尤其电动交通工具的技术领域中，越来越多地提出如下要求，能够以较小的技术耗费和客户友好的方式对这种交通工具的电池进行充电。In the technical field of vehicles, in particular electric vehicles, there is an increasing need to be able to charge the batteries of such vehicles in a less technically complex and customer-friendly manner.
为此，已知不同的装配附件。例如文献DE 10 2010 027 670 A1公开了一种用于为电动车充电的设备，该设备能够定位用于为车辆充电的接口。随后能够以传感器引导的方式将电动车的定位的充电接口连接到充电站上。For this purpose, different fitting accessories are known. For example, the
此外，文献EP 0 708 517 A1描述了一种用于为车辆中的电池充电的自对准的充电装置。充电装置可以尤其感应式地为电池充电。充电装置包括位置固定地安装的定向运动机构。Furthermore, document EP 0 708 517 A1 describes a self-aligning charging device for charging a battery in a vehicle. The charging device can in particular charge the battery inductively. The charging device includes a fixedly mounted directional movement mechanism.
最后，由文献AT 513 353 A1已知一种可自主移动的维护设备，其可以移动到车辆下方，以便对车辆的电池进行感应充电。Finally, an autonomously movable maintenance device is known from document AT 513 353 A1, which can be moved under a vehicle in order to inductively charge the battery of the vehicle.
然而，已知的解决方案具有不同的缺点。因此，在许多这些解决方案中需要待充电的交通工具必须始终相当准确地定位在充电设备之前。这一方面降低了交通工具使用者的舒适度，另一方面由于交通工具和充电设备之间的最佳相对位置的不可避免的偏差而不利地影响充电过程的效率，尤其是在感应充电过程中的效率。However, the known solutions have different disadvantages. Therefore, in many of these solutions the vehicle to be charged must always be positioned fairly accurately in front of the charging device. This reduces the comfort of the vehicle user on the one hand, and on the other hand adversely affects the efficiency of the charging process, especially during inductive charging, due to the unavoidable deviation of the optimum relative position between the vehicle and the charging device s efficiency.
在基于插接连接的充电装置中，建立与交通工具的连接又相应地耗费。In the case of a charging device based on a plug-in connection, establishing a connection to the vehicle is again complicated.
充电设备自动地相对于给定交通工具定向的解决方案在技术上是相对低效的，因为始终只能操作停在相应设备前面的交通工具或者交通工具在其结构类型方面几乎不允许变化。The solution in which the charging device is automatically oriented relative to a given vehicle is technically relatively inefficient, since only the vehicle parked in front of the respective device can always be operated or the vehicle can hardly allow changes in its type of construction.
本发明所要解决技术问题是，提出一种改进的技术解决方案，以解决所述问题。The technical problem to be solved by the present invention is to propose an improved technical solution to solve the problem.
所述技术问题通过独立权利要求1和8的技术方案解决。本发明的其他优选的设计方案由在从属权利要求和说明书中提到的其余技术特征得出。Said technical problem is solved by the technical solutions of
本发明的第一方面涉及一种用于为交通工具充电的充电机器人，所述充电机器人具有感应式的充电装置，所述交通工具具有感应式的充电接口，所述感应式的充电接口构造用于为至少一个交通工具充电。交通工具在充电过程期间优选处于静止位置(泊车位置)中。A first aspect of the present invention relates to a charging robot for charging a vehicle, the charging robot having an inductive charging device, the vehicle having an inductive charging interface, the inductive charging interface being constructed for for charging at least one vehicle. The vehicle is preferably in a stationary position (parking position) during the charging process.
根据本发明规定，所述充电机器人包括可运动的悬臂，所述充电机器人在所述悬臂上导引所述感应式的充电装置。According to the invention, the charging robot comprises a movable boom on which the charging robot guides the inductive charging device.
充电机器人与任何交通工具兼容，所述交通工具包括可充电电池，优选可充电的驱动电池以及与可充电的驱动电池再连接的感应接口。The charging robot is compatible with any vehicle that includes a rechargeable battery, preferably a rechargeable drive battery, and an inductive interface to reconnect with the rechargeable drive battery.
充电机器人能够运动到不同的停放的交通工具或者至少从其位置到达这些交通工具并且利用可运动的悬臂灵活地对交通工具的不同结构类型作出反应，由此利用本发明的充电机器人的充电过程明显比在现有技术中更有效。本发明的充电机器人的利用率也显著提高，使得其能够灵活地处理各种不同的交通工具。The charging robot can move to different parked vehicles or at least reach these vehicles from its position and react flexibly to different types of vehicles with the movable boom, whereby the charging process with the charging robot according to the invention is obvious. more efficient than in the prior art. The utilization rate of the charging robot of the present invention is also significantly improved, so that it can flexibly handle various vehicles.
因此，除了所有陆地交通工具之外，本发明的充电机器人尤其也适用于对难以调动的交通工具、如船舶或飞机，以及拖车和集装箱进行充电。Therefore, in addition to all land vehicles, the charging robot of the present invention is particularly suitable for charging vehicles that are difficult to maneuver, such as ships or planes, as well as trailers and containers.
通过使用可运动的悬臂，在优选的设计方案中，本发明的所述充电机器人可以是静止的充电机器人，并且所述充电机器人的悬臂构造用于到达至少两个并排的或相对对置的交通工具停放面。By using a movable cantilever, in a preferred design, the charging robot of the present invention can be a stationary charging robot, and the cantilever of the charging robot is configured to reach at least two side-by-side or opposite traffic Tool parking surface.
优选地，悬臂到达四个交通工具停放面，其中，优选分别两个交通工具停放面并排布置并且因此形成第一组，该第一组与也是由两个并排布置的交通工具停放面组成的第二组相对置。Preferably, the cantilever reaches four vehicle parking surfaces, wherein preferably in each case two vehicle parking surfaces are arranged side by side and thus form a first group with a first group, which also consists of two vehicle parking surfaces arranged side by side. The two groups are opposite.
研究表明，这种布局可以通过静止的充电机器人以特别有利的成本效益比实现。当然，也可以通过静止的充电机器人操作多于四个的交通工具停放面。Studies have shown that this layout can be achieved at a particularly favorable cost-benefit ratio with stationary charging robots. Of course, more than four vehicle parking surfaces can also be operated by the stationary charging robot.
交通工具停放面的定义要广义地解释并且在最广义上涉及设置用于停放交通工具的空间区域。结合乘用车或商用车，交通工具停放面例如可以是泊车位。The definition of a vehicle parking area is to be interpreted broadly and relates in the broadest sense to the area of space provided for parking vehicles. In conjunction with a passenger car or a commercial vehicle, the vehicle parking surface can be, for example, a parking space.
优选地，静止的充电机器人以其悬臂达到交通工具停放面的面积的至少10％。此外优选地，充电机器人达到交通工具停放面的面积的至少20％、特别优选地至少30％、尤其至少40％并且非常特别优选地至少50％。由此，对于停放交通工具的位置和定向允许宽大的公差。换言之，充电机器人可以在交通工具停放面的宽区域中良好地到达充电接口。Preferably, the stationary charging robot reaches at least 10% of the area of the vehicle parking surface with its cantilever. Furthermore preferably, the charging robot covers at least 20%, particularly preferably at least 30%, especially at least 40% and very particularly preferably at least 50% of the area of the vehicle's parking surface. Thereby, wide tolerances are allowed for the position and orientation of the parked vehicle. In other words, the charging robot can reach the charging interface well in a wide area of the vehicle's parking surface.
所描述的交通工具停放面的特征也适用于本发明的充电机器人的以下备选的优选设计方案。The described features of the vehicle parking surface also apply to the following alternative preferred embodiments of the charging robot according to the invention.
在此规定，所述充电机器人是可移动的充电机器人，所述可移动的充电机器人能够驶向不同的交通工具停放面。In this context, it is provided that the charging robot is a mobile charging robot that can drive to different vehicle parking surfaces.
由此，充电机器人的灵活性显著提高，而充电机器人的机械的和电子的结构在其复杂性方面没有过度增加。As a result, the flexibility of the charging robot is significantly increased without the mechanical and electronic structure of the charging robot being excessively increased in terms of its complexity.
在本发明的充电机器人的优选的设计方案中规定，所述悬臂构造为，使得所述充电机器人能够在交通工具下方的可变的结构高度上导引所述悬臂。In a preferred configuration of the charging robot according to the invention, the cantilever is designed such that the charging robot can guide the cantilever over a variable structural height below the vehicle.
在可移动的充电机器人中对于悬臂来说，例如单一的自由度就足够了。由此悬臂例如可以向下翻转并且然后可移动的充电机器人驶向停放的交通工具的下方或旁边，这取决于交通工具的充电接口位于何处。In mobile charging robots, for example, a single degree of freedom is sufficient for the cantilever. As a result, the boom can be tilted downwards, for example, and the mobile charging robot can then drive under or beside the parked vehicle, depending on where the charging interface of the vehicle is located.
在静止的充电机器人中对于悬臂来说，两个自由度已经足够了，例如是机器人围绕其竖直轴线的可能的旋转运动和悬臂的移出运动的形式，或者例如在悬臂的两部分的可水平枢转出的运动结合机器人围绕其竖直轴线的旋转运动的情况下至少三个自由度就足够了。In a stationary charging robot, two degrees of freedom are sufficient for the cantilever, for example in the form of a possible rotational movement of the robot about its vertical axis and an extension movement of the cantilever, or, for example, in the horizontal direction of the two parts of the cantilever At least three degrees of freedom are sufficient in the case of the pivoting out movement combined with the rotational movement of the robot about its vertical axis.
此外优选地，悬臂总是在另一自由度上可高度调节。换言之，悬臂例如如此构造，使得所述悬臂可良好地到达交通工具的不同的底部，方式是，为此设置自身的自由度。此外要注意的是，在调整高度时不会出现感应式的充电装置相对于充电接口的倾斜，因为这种倾斜不利地影响感应式的充电过程。Furthermore, preferably, the cantilever is always height-adjustable in another degree of freedom. In other words, the boom is designed, for example, in such a way that it can reach different bottoms of the vehicle well, by providing its own degrees of freedom for this purpose. In addition, it should be noted that when adjusting the height, no inclination of the inductive charging device relative to the charging interface occurs, since this inclination adversely affects the inductive charging process.
当然，充电接口并不需要总是设置在交通工具的下方。因此例如充电机器人的充电板也可以从前方驶近交通工具并且充电接口设置在保险杠的区域中。Of course, the charging interface need not always be arranged below the vehicle. Thus, for example, the charging pad of the charging robot can also approach the vehicle from the front and the charging interface is arranged in the area of the bumper.
在本发明的充电机器人的另一优选的设计方案中规定，所述充电机器人在针对交通工具的感应式的充电接口方面实施测量的情况下确定并调节用于感应式的充电装置的充电位置，所述测量从以下组中选择：磁场测量、磁矢量测量、阻抗测量。In a further preferred embodiment of the charging robot according to the invention, it is provided that the charging robot determines and adjusts the charging position for the inductive charging device while carrying out measurements for the inductive charging interface of the vehicle, The measurements are selected from the group: Magnetic Field Measurements, Magnetic Vector Measurements, Impedance Measurements.
作为充电位置，在此始终力求在充电机器人的感应式的充电装置和交通工具的相应的感应式的充电接口之间的最佳的相对位置和最小间距。As the charging position, an optimum relative position and a minimum distance between the inductive charging device of the charging robot and the corresponding inductive charging interface of the vehicle are always sought.
如果为了充电例如将充电机器人的充电板移动到交通工具下方，则充电机器人可以用微弱的测量电流加载充电板并且在测量技术上检测在充电接口处出现的反向磁场。基于反向磁场的特性，充电机器人由此可以确定充电位置并且相应地定位充电板。If, for example, the charging plate of the charging robot is moved under the vehicle for charging, the charging robot can load the charging plate with a weak measuring current and detect the magnetic field inversely occurring at the charging interface in measurement technology. Based on the properties of the reverse magnetic field, the charging robot can thus determine the charging position and position the charging pad accordingly.
以这种方式显著降低了在交通工具停放时对准确度的要求，其中，尽管如此仍确保充电过程能够最佳地进行。为此不需要待充电的交通工具的耗费的技术装备。In this way, the requirements for accuracy when the vehicle is parked are significantly reduced, wherein it is nevertheless ensured that the charging process can be carried out optimally. No complex technical equipment of the vehicle to be charged is required for this purpose.
必要时可以设置用于实现充电机器人与交通工具之间的通信的另外的预防措施，以便例如交换为交通工具充电的准备情况及其充电状态和充电要求。If necessary, additional precautions can be provided for enabling communication between the charging robot and the vehicle, for example to exchange readiness to charge the vehicle and its state of charge and charging requirements.
特别优选地，在可移动的充电机器人的情况下，该充电机器人可以配备有相应的导航技术，例如基于相机的导航技术，并且在静止的或可移动的充电机器人的情况下装配有相应的环境传感器、驱动马达等。Particularly preferably, in the case of a mobile charging robot, the charging robot can be equipped with corresponding navigation technology, eg camera-based navigation technology, and in the case of a stationary or mobile charging robot, with a corresponding environment Sensors, drive motors, etc.
感应式的充电装置必要时也可以模块化地在充电机器人上更换。If necessary, the inductive charging device can also be replaced on the charging robot in a modular fashion.
在本发明的充电机器人的另一优选的设计方案中规定，所述充电机器人包括充电储能器。In another preferred design solution of the charging robot of the present invention, it is provided that the charging robot includes a charging energy store.
在本发明的充电机器人的另一优选的设计方案中规定，所述充电机器人能通过柔性的线路与充电电源连接。In another preferred design solution of the charging robot of the present invention, it is provided that the charging robot can be connected to a charging power source through a flexible circuit.
尤其对于可移动的充电机器人来说，自身的充电储能器是优选的变型方案。但是原则上，对于静止的和可移动的充电机器人也考虑柔性的线路。In particular for mobile charging robots, the own charging energy store is a preferred variant. In principle, however, flexible lines are also considered for stationary and mobile charging robots.
如果可移动的充电机器人的充电储能器配备有足够的电容量，则充电机器人甚至可以尽可能与位置无关地发挥作用并且例如也可以为停放在自由街道空间中的交通工具充电。If the charging energy store of the mobile charging robot is provided with sufficient electrical capacity, the charging robot can even function as position-independently as possible and, for example, can also charge vehicles parked in free street space.
原则上在充电机器人的所有变型方案中，可以将充电储能器用作缓冲蓄电池，使得交通工具上的充电功率甚至可以高于在电网接口上的功率或充电电源的功率。In principle, in all variants of the charging robot, the charging energy store can be used as a buffer battery, so that the charging power on the vehicle can even be higher than the power on the grid connection or the power of the charging source.
本发明的另一方面涉及一种充电系统，其包括根据前述说明书中所述的根据本发明的充电机器人以及至少一个交通工具停放面和至少一个具有感应式的充电接口的交通工具，所述感应式的充电接口布置在所述交通工具停放面上。Another aspect of the invention relates to a charging system comprising a charging robot according to the invention as described in the preceding description and at least one vehicle parking surface and at least one vehicle having an inductive charging interface, the inductive A charging interface of the type is arranged on the parking surface of the vehicle.
在本发明的充电系统的优选设计方案中，所述充电系统包括多个交通工具停放面和停放在这些交通工具停放面上的多个交通工具。在此规定，所述充电机器人是可移动的充电机器人，所述可移动的充电机器人能够驶向所述交通工具并且为所述交通工具充电。In a preferred design solution of the charging system of the present invention, the charging system includes a plurality of vehicle parking surfaces and a plurality of vehicles parked on the vehicle parking surfaces. Provision is made here for the charging robot to be a mobile charging robot which is able to approach the vehicle and charge the vehicle.
这种充电系统的变型方案是特别灵活的。This variant of the charging system is particularly flexible.
在本发明的充电系统的备选的设计方案中规定，所述充电系统包括多个交通工具停放面和停放在这些交通工具停放面上的多个交通工具。在此还规定，所述充电机器人是静止的充电机器人，所述静止的充电机器人能够从其位置上为所述交通工具充电。In an alternative configuration of the charging system according to the invention, it is provided that the charging system includes a plurality of vehicle parking surfaces and a plurality of vehicles parked on the vehicle parking surfaces. It is also provided here that the charging robot is a stationary charging robot which can charge the vehicle from its position.
在该变型方案中，本发明的充电系统能够在狭窄空间中并且以尽可能少的技术手段为多个交通工具供电。In this variant, the charging system of the invention is able to supply a plurality of vehicles in a confined space and with as few technical means as possible.
如果存在足够的自由空间，使得可移动的充电机器人可以在交通工具之间导航，则充电系统的两个变型方案也可以相互组合。The two variants of the charging system can also be combined with one another if there is sufficient free space for the mobile charging robot to navigate between vehicles.
换句话说，本发明涉及一种充电机器人，其在灵活的悬臂上导引感应式的充电板。所述充电板在此可以如此灵活地被导引，使得在此可以对多个未运动的交通工具进行充电。In other words, the invention relates to a charging robot that guides an inductive charging pad on a flexible cantilever. The charging plate can be guided so flexibly that a plurality of stationary vehicles can be charged here.
以下结合附图在实施例中阐述本发明。在附图中：The present invention will be described in the following embodiments in conjunction with the accompanying drawings. In the attached image:
图1示出在第一实施方式中的根据本发明的充电系统，和Figure 1 shows a charging system according to the present invention in a first embodiment, and
图2示出在第二实施方式中的根据本发明的充电系统。FIG. 2 shows a charging system according to the invention in a second embodiment.
图1示出具有根据本发明的充电机器人12的根据本发明的充电系统10。图1示出在交通工具停放面14的区域中的充电机器人12，交通工具16停放在所述交通工具停放面上。FIG. 1 shows a charging
在本实施例中，交通工具16是乘用车。交通工具停放面14示例性地是停车位。In this embodiment, the
交通工具16是可电驱动的交通工具，其可以通过感应式的充电接口18被充电。The
在图1所示的实施例中，充电机器人12是可移动的充电机器人20。在所示出的实施例中，可移动的充电机器人20能够通过车轮22被驱动地运动至不同的交通工具16，以便依次对这些交通工具进行充电。为此，充电机器人装配有感应式的充电装置24。感应式的充电装置24包括充电板26，所述充电板26可以通过可移动的悬臂28实施翻转运动30。In the embodiment shown in FIG. 1 , the charging
为了给充电板26供应电能，所述充电装置24包括相应的电力电子器件32。To supply the
可移动的充电机器人20可以通过翻转运动30水平地定向悬臂28并且将充电板26导引至交通工具16下方到充电接口18的区域中。The mobile charging robot 20 can orient the
为了确定充电板26相对于充电接口18的最佳的充电位置34，可移动的充电机器人20可以基于由充电板26产生的磁场和由充电接口18产生的反磁场进行磁场测量。To determine the
图2示出根据本发明的充电系统10的备选的实施方式，其中，充电系统10同样包括多个交通工具停放面14，交通工具16停放在这些交通工具停放面上。交通工具16中仅一个示例性地在右上方示出。FIG. 2 shows an alternative embodiment of the charging
不同于图1所示的充电系统10的变型方案，在图2中的充电机器人12是静止的充电机器人36。该充电机器人设计用于从其固定位置38给交通工具16充电。Unlike the variant of the charging
静止的充电机器人36也包括可运动的悬臂28，通过该悬臂引导感应式的充电装置24。所述悬臂28在此构造用于到达不同交通工具16的感应式的充电接口18，而静止的充电机器人36不必为此离开其位置38。The
在此如图1所描述地，确保正确的充电位置34。然而不同之处在于，静止的充电机器人36不通过改变其自身的位置38来定位充电板26。而是在此相应地设计悬臂28，使得所述悬臂能够到达应被供电的、确定数量和布置方式的交通工具停放面14。附加地，静止的充电机器人36可以优选地围绕其竖直的轴线40转动。Here, the
为了提供充电能量，充电机器人12不仅可以在图1中而且可以在图2中包括充电储能器42，或者也可以通过柔性的线路44与充电电源46连接。In order to provide charging energy, the charging
附图标记列表List of reference signs
10 充电系统10 Charging system
12 充电机器人12 Charging Robot
14 交通工具停放面14 Vehicle parking area
16 交通工具16 Transportation
18 感应式的充电接口18 Inductive charging port
20 可移动的充电机器人20 Mobile charging robots
22 车轮22 wheels
24 感应式的充电装置24 Inductive charging device
26 充电板26 Charging pad
28 悬臂28 Cantilever
30 翻转运动30 Flip movement
32 电力电子器件32 Power Electronics
34 充电位置34 Charging position
36 静止的充电机器人36 Stationary charging robot
38 位置38 locations
40 竖直的轴线40 vertical axis
42 充电储能器42 Charge accumulator
44 柔性的线路44 Flexible lines
46 充电电源46 Charging power supply
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| DE102020201187.7ADE102020201187A1 (en) | 2020-01-31 | 2020-01-31 | Charging robot for inductive charging of vehicles |
| DE102020201187.7 | 2020-01-31 | ||
| PCT/EP2020/083224WO2021151542A1 (en) | 2020-01-31 | 2020-11-24 | Charging robot for inductively charging vehicles |
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| EP (1) | EP4097821A1 (en) |
| CN (1) | CN114930676A (en) |
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| DE102020201187A1 (en) | 2021-08-05 |
| EP4097821A1 (en) | 2022-12-07 |
| WO2021151542A1 (en) | 2021-08-05 |
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