WO2019166234A1

WO2019166234A1 - Device and method for automatically connecting/separating a charging connector to a charging connector socket of a vehicle

Info

Publication number: WO2019166234A1
Application number: PCT/EP2019/053744
Authority: WO
Inventors: Tobias Ortmaier; Matthias Dagen; Simon Aden; Lennart Claassen; Jens Kotlarski
Original assignee: Forward Ttc Gmbh
Priority date: 2018-03-02
Filing date: 2019-02-14
Publication date: 2019-09-06
Also published as: DE102018104762A1; DE102018104762B4

Abstract

The invention relates to a device (1) for automatically connecting and/or separating a charging connector (15) to/from a charging connector socket (21) of a vehicle (2) with at least one positioning unit (10), which is designed to move the charging connector (15) along a plug-in direction (B) into the charging connector socket (21) and/or along an unplugging direction (C) out of the charging connector socket (21). The device (1) is characterised by a vibration unit (13), which is designed to cause the charging connector (15) to vibrate in relation to the charging connector socket (21).

Description

DESCRIPTION

Apparatus and method for automatically connecting / disconnecting a charging port to a charging port receptacle of a vehicle

The present invention relates to a device for automatically connecting and / or disconnecting a charging connection to or from a charging connection receptacle of a vehicle according to claim 1, a method for automatically connecting a charging connection with a charge connection receptacle of a vehicle according to the patent claim 10 and a method for automatic disconnection of a charging port from a charging port receptacle of a vehicle according to claim 12.

For a long time, vehicles have been used on land, water and in the air, for To carry persons as well as objects. Have in most applications vehicles with combus- tion engines hitherto prevailed, so are known from time to time also vehicles whose drives are fully constantly or partially fed with electrical energy. This also applies to land vehicles where, for a long time, e.g. Golfmobiles, electric carts and electric trucks are used for special applications as electrically operable vehicles. For some years now, due to rising environmental awareness, the trend in land vehicles is becoming more and more of electrically powered vehicles, so that such buses, trucks and passenger cars are increasingly being developed for market readiness and are increasingly coming onto the market. Such vehicles are called depending on the implementation of the electric drive or the power supply of the electric drive as electric vehicles or hybrid electric motor vehicle.

In the electrically operable land vehicles such as buses, trucks and cars the limited range so far represents a major disadvantage. This results We sentlichen from the weight, from the size and from the cost of the rechargeable batteries as re rechargeable electrical energy storage. To increase the range of these vehicles, the capacity of the electric storage must be increased. This leads to the use of even heavier, larger and more expensive rer accumulators. Due to the increased weight of the vehicle, however, also increases its energy consumption of the drive, which contradicts the idea of environmental protection and partially abolished the achievement of increase reach reach. Therefore, many electrically operable land vehicles are equipped with rechargeable electric energy storage with relatively low capacity, which indeed reduces their coverage, but can save weight, space and cost. This can be more important for the purchase decision of a customer than the range of the vehicle.

Conversely, it is therefore necessary to recharge the rechargeable electric energy storage due to its relatively low capacity as often as possible in order to start using the vehicle with as full charge and thus with the maximum possible range. For this, the vehicle may be e.g. overnight at home, during working hours there or while shopping in a parking garage connected to an electric charging station located there, in order to use as possible any interruption of use for charging.

However, this can lead to a user having to connect his vehicle to such an electrical charging station after each use and to disconnect it again from the electrical charging station before each use. Charging may require the user to go to the electrical charging station, pick up an electrical charging cable, open a shutter of the charging port of the vehicle, insert the charging plug of the electrical charging cable into the charging port of the vehicle, and thus make an electrically conductive connection to the charging station To perform charging. After charging has been completed, repeat these steps mutatis mutandis in the reverse order. This on wall and the time required for this can disturb the user and thus preclude the purchase and use of such an electrically operable vehicle.

Such a manual plugging operation of a charging plug in a corresponding charging socket of the vehicle and the removal of the charging plug from the charging socket can be referred to as plugging or Abste bridges of the charging plug. Both plug-in operations can often require relatively large forces, which can make the implementation of the plugging as well as stake out even more unpleasant for the user. These forces can be overcome by jamming the mating partners, i. of the charging connector and the charging socket, during the plugging or stakeout are caused. These forces can also result from a large-area contact of the plug-in partners, which can correspondingly cause comparatively large frictional forces. Also, a desired close fit of the mating partners can lead to increased forces when plugging in and unplugging, but this can have the advantage of a secure hold of the charging plug in the charging socket during the plugged state.

Incidentally, the forces that are required for the plugging and staking, due to the position and or or orientation of the connector, due to changing environmental conditions due to contamination and / or damage to the contact partners, due to manufacturing tolerances of the contact partners, due vary from changing contact partners and the like between the individual plug operations vary greatly. For this reason, currently charging devices are being developed in order to remove as completely as possible the previously described steps of a charging process. For example, the goal of the joint project AUTOPLES ("Automated Parking & Charging of Electric Vehicle Systems") is that an electrically operable vehicle in the absence of the user self-propelled within a predetermined radius of action such as inside a parking garage, start an electric charging station, there perform the charging and The corresponding charging station has an actuated mechanical system which moves the charging plug in height and in width and can extend to the parked vehicle and drive away from the parked vehicle a camera and corresponding Ver drive for image processing and image recognition, the charging port of the vehicle can be optically detected and detected and the charging plug of the charging station are introduced into this automatically to make an electrically conductive connection and durchzuf the charge lead. After charging is completed, the separation can also be done automatically.

A disadvantage of this aktuierten mechanical system that only a single degree of freedom is available to perform the plugging and staking. Thus, against the above-described forces only one must work with increased force, which on the one hand does not always have to be successful, e.g. in the case of position deviations and / or in the case of orientation deviations between the charging plug and charging socket and blockages caused thereby. Also, this may require a correspondingly powerful drive for this axis, which can incur corresponding costs. Also, this weight of the drive of the other axes and drives is mitzubewegen. On the other hand, the increased force when connecting or disconnecting may cause damage to the charging connector and / or the charging socket.

A manual joining is therefore superior to this aktuierten mechanical system, but can be performed by a user during manual joining six-dimensional compensatory movements who to avoid jamming and jamming and to reduce the friction forces when plugging and staking and thus the total required joining forces to reduce.

A similar objective is pursued by the GINKO initiative ("Generic Infrastructure for the Seamless Energetic Coupling of Electric Vehicles - Chemnitz"), where a charging plug is guided by the end effector of a six-axis articulated-arm robot.

Such a six-axis articulated robot would basically be able to simulate the six-dimensional compensatory movements of a user and thus reduce the joining forces. However, this six-axis articulated robot lacks the appropriate sensors to receive a feedback on the current joining forces and to be able to react by compensating movements. DE 10 2012 014 936 Al describes a charging system for a motor vehicle, in particular a Perso nenkraftwagen, with a robot with a control means, with a force detection means and with a robot attached to the plug, which is adapted to a vehicle-side Ge genstecker a detachable Plug connection for charging an electrical energy storage of the motor vehicle produce. The control means is adapted to communicate with the force sensing means and to connect the robotized connector to the mating connector based on a force detected by the force sensing means. In other words, by means of the charging system of DE 10 2012 014 936 A1, a force-controlled connection can take place.

The disadvantage here, however, that additional sensors are required for detecting the forces and, if necessary, the moments, in particular in six dimensions, which can lead to additional costs. Also, the implementation of such a force control he can require an additional calculation effort, which can increase the cost of the necessary arithmetic unit. Thus, the implementation of such a force control can cause significant costs, which can contradict the use of these options for the user for cost reasons.

Another disadvantage is the use of multi-axis and in particular of six-axis robotic arms and comparable handling equipment that a high number of degrees of freedom is erforder Lich, which may also lead to relatively high costs due to the necessary drives, if necessary. Sensors and control means.

An object of the present invention is to provide a device and a method of the type described above, so that the disadvantages described above can be reduced or avoided. In particular, a plugging and / or staking of such a charging plug in a corresponding charging socket or from a corresponding charging socket pos as easy as possible, safe and / or reliable can be performed automatically. Additionally or alternatively, the joining forces or separation forces occurring here are as simple as possible to reduce who can, so that the plugging and / or staking are performed with minimum forces and thus with the smallest possible, lightweight, inexpensive and or or low-power drives can. At least an alternative to such known devices and methods should be provided.

The object is achieved by a device having the features of claim 1, by a method having the features of claim 10 and by a method having the features of claim 12. Advantageous developments are described in the subclaims. Thus, the present invention relates to an apparatus for automatically connecting and / or disconnecting a charging port to or from a charging port receptacle of a vehicle. The charging connection can also be referred to as a charging plug and the corresponding charging connection receptacle as a charging socket or mating connector. Under this automatically is the connection of a charging port with a Aufladeanschlussaufnahme a vehicle completely or whats the best to understand without the assistance of a user; For example, the triggering of this method can be carried out by the user, but the method itself can then be carried out without the assistance of the user. This also applies to a separation, which can be done in the reverse direction or in the reverse order of the steps. The vehicle may be any type of vehicle, in particular any type of land vehicle, aircraft, spacecraft or watercraft. Preferably, however, the present invention is directed to a land vehicle such as a bus, a truck or a passenger car.

Connecting is understood to mean the establishment of a connection between a charging connection of a corresponding device, as will be described below, and a corresponding charging connection of the vehicle such that an energy store of the vehicle can be charged or filled up by means of energy. A disconnection is understood as the removal of this connection. This energy can e.g. an electrical energy but also a fluid such as a liquid such as e.g. Kerosene, oil, diesel or petrol or a gas. The energy storage device can be a rechargeable battery or a liquid tank or a tank depending on the energy to be absorbed. Depending on the energy to be transmitted, the charging port and the charging port receptacle may be an electrical plug and a corresponding electrical plug receptacle or a filler neck and a tank opening. Preferably, however, the present de invention is directed to the electrical charging of at least one rechargeable electric accumulator of a land vehicle, so that a charging plug as a charging port and a charging socket or a mating connector are used as Aufladeanschlussaufnahme.

The device has at least one positioning unit, which is designed to move the charging connection along a contact direction into the charging connection receptacle and / or to move it out of the charging connection receptacle along a staking direction.

Under a positioning unit any means are understood to change the position of the charging connection in space at least two-dimensional, preferably three-dimensional. Preferably, furthermore, the orientation of the charging connection in space can be changed at least two-dimensionally, preferably three-dimensionally. In particular, as a positioning unit driven serial kinematics such as an articulated robot and the like can be used, which can move the charging port. The positioning unit may be fixed be net, for example, by the fixed arrangement on a substrate, on a wall, on a column, under a ceiling and the like. Alternatively, the positioning unit can also be designed to be movable on the whole as a whole on a background in order to obtain a larger operating range and, for example, to be able to reach more than one vehicle. This can be advantageous, in particular, if the charging connection is detachably arranged on the positioning unit, so that the positioning unit can record a second charging connection after the connection of a first charging connection with the charging connection receiver of a first vehicle and rerun the connection with the charging connection receiver of a second vehicle , This can increase the flexibility of using the positioning unit and further reduce costs.

The charging port may preferably be disposed on an end effector of the positioning unit, which may be implemented by a releasable but firm connection as well as gripping the charging port by a gripper or the like of the end effector. The latter has the advantage that the charging port can be handled both by the positioning unit and by a user, so that such a charging port can be used, which can reduce the cost of a corresponding device compared to a charging port integrated in the device. Further, as described above, a plurality of charging ports can be handled one after another by the same positioning unit to perform a plurality of operations for connecting to one and the same positioning unit. On the other hand, such a charging port integrated into the device can make the implementation of the connection by the permanent and defined connection between the positioning unit and the charging port simpler, more robust and / or safer.

An attachment direction is understood to mean a direction along a common axis of the positioned and aligned charging connection and of the charging attachment receptacle, which may also be referred to as the joining direction. The stake out direction represents the opposite direction along the same axis and may also be referred to as the separating direction.

The device is characterized by a vibration unit, which is designed to stimulate the Aufladean connection to the Aufladeanschlussaufnahme to vibrate. As a vibration unit, any technical means can be used which can stimulate the charging connection with respect to the charging connection receptacle defined to vibrate. This can be realized for example by a motor with eccentric flywheel, as will be described in more detail below be. Alternatively or additionally, at least one piezoelectric actuator, also called a piezoactuator, can be used, as will also be described in more detail below. Alternatively or additionally, at least one resonant circuit, which also as Resonant vibrator can be designated, and / or at least one longitudinal oscillator such as an electrodynamic shaker can be used.

The present invention is based on the finding that in a manual connection and disconnection of such a connector from a user usually multi-dimensional movements are performed to avoid jamming and tilting and to reduce the friction occurring here. This operating behavior of a user can fiction, according to simple, robust and or or cost-effective modeled by the Aufladean circuit by means of the vibration unit relative to the Aufladeanschlussaufnahme to vibrations is excited. These vibrations can simulate the multi-dimensional movements of a person, so that this also a jamming and tilting avoided and frictional forces Kings are reduced NEN. This can facilitate both the connection and the separation, so that it can be automatically from the positioning unit easier, more reliable, faster and / or with less force leads out. In this case, it can be dispensed with, to use several axes and drives of the positioning unit for the recapture of mehrdimensiona len movements of the user, so that it can be made simpler and thus more cost-effective. In particular, can be done by the reduction of the driven axes of the positioning unit a significant Kostenredu coding in its implementation.

In particular, in this way the joining forces can be reduced, which must be applied by the positioning unit, so that the positioning unit can be equipped with actuators, which have significantly lower driving forces. This may also allow the use of smaller and / or lighter actuators, which may result in a smaller and / or lighter version of the positioning unit as a whole. Also, the use of weaker Akto Ren save energy in operation and reduce the heat which he can be testified by the operation of the actuators and is usually undesirable, so that they might even be dissipated by additional con structive or active technical means what can now be omitted. All this can also help reduce the cost of the positioning unit.

Also, the reduction of the frictional forces acting can increase the security of the connecting or separating, as must be worked by the positioning unit against significantly lower frictional forces, which leads to lower forces that must be applied by the positioning unit for the connection or Tren NEN , A use of lower forces thus also means a low re risk for the connector as well as the environment and the user.

According to one aspect of the present invention, the vibration unit is designed to stimulate the charging terminal against the charging terminal receptacle, preferably substantially, along the axis along the Ansteckrichtung and / or along the stakeout to vibrate. As a result, in particular, the friction forces during connection or disconnection can be reduced, which can bring about the advantages described above.

An effect in these directions along the common axis of the charging port and charging port receptacle can be effected by a general vibration excitation of the charging port, so that a portion of the vibrations is also effective along this axis. If a vibra tion generating drive is used, which is aligned with respect to its vibration generation along this axis, the vibration excitation substantially suc gene along this axis, to strengthen the effect along the Ansteckrichtung and or or along the stakeout ver.

In accordance with a further aspect of the present invention, the vibration unit is designed to excite the charging connection with respect to the charging connection receptacle, preferably substantially along an axis, preferably along both axes, perpendicular to the attachment direction and / or perpendicular to the attachment direction. As a result, in particular, jamming and / or jamming during connection or disconnection can be reduced, since these vibrations are generated perpendicular to the common axis of the charging connection and charging connection receptacle. This can bring about the advantages described above.

An effect in these directions, which are perpendicular to the common axis of the charging port and Aufladeanschlussaufnahme can be effected by a general vibration excitation of the charging port, so that a portion of the vibrations is also perpendicular to this axis. If a vibration generating drive is used, which is aligned with respect to its Schwingungser generation perpendicular to this axis, the vibration excitation can be carried out substantially perpendicular to this axis in order to amplify the effect perpendicular to the common axis of Aufladean circuit and Aufladeanschlussaufnahme.

In accordance with a further aspect of the present invention, the vibration unit is designed to excite the charging connection with respect to the charging connection receptacle, preferably essentially to produce torsional vibrations about the axis along the attachment direction and / or along the attachment direction. Under a torsional vibration or torsional vibration is a mechanical vibra tion understood, which takes place in contrast to the translational oscillation to the rotational degree of freedom of a system. As a result, in particular, the friction forces during connection or disconnection can be reduced, which can bring about the advantages described above.

An effect in this direction about the common axis of the charging port and Aufladungsanschluss recording around can be effected by a general vibration excitation of the charging port, so that a part of the vibrations is also effective around this axis. If a used generating generator, which is aligned around this Ach se with respect to its vibration generation, the vibration excitation can be carried out substantially around this axis to the effect around the axis along the Ansteckrichtung around and / or about the axis along the Absteckrichtung around strengthen.

According to another aspect of the present invention, the vibration unit has at least one eccentric flywheel motor. In this way, a vibration unit can be implemented with only a single motor, which can keep the effort correspondingly low. In particular, multi-dimensional vibrations can be implemented with only a single engine, which can significantly reduce the installation space, weight, heat generation, noise, energy consumption, maintenance costs and the total costs compared to a multi-axis Kinema tik for recapturing a human multi-dimensional movements. In this case, the direction of vibration of the flywheel cause a preferred direction of vibration generation, but always multi-dimensional vibrations are generated, so that always a multidimensional vibration excitation of the charging can be done by a single motor. As an engine, preferably an electric motor can be used, which in particular can make the power supply simple.

According to a further aspect of the present invention, the vibration unit has at least one piezoelectric actuator. In this way, a vibration unit can be implemented while the properties of the piezoelectricity can be used. By means of a piezoelectric actuator, which can also be referred to as a piezoelectric actuator, in particular a preferred direction of the vibration generation can be realized very easily by the corresponding orientation of the piezoelectric actuator.

According to another aspect of the present invention, the charging port is connected to the positioning unit by means of the vibration unit. In other words, the vibration unit is fully or partially disposed between the charging port and the positioning unit or its end effector. As a result, the charging port can be particularly effectively excited to vibrate.

According to another aspect of the present invention, the charging port and / or the vibration unit are connected to the positioning unit by means of an elastic damping element. As the elastic damping element, an elastomeric Dämpfungsele element may preferably be used in the form of a rubber element, the vibrations that can be generated by the vibration unit as far as possible from the positioning unit fernhal th, so that the vibrations at the charging port Kings are used as described above NEN , According to a further aspect of the present invention, the vibration unit and the charging connection, preferably and an elastic damping element, are arranged on an end effector of the positioning unit. In this way, the vibrations generated can be brought as close as possible to the charging port in order to be used there as described above. At the same time, these vibrations can thereby be kept as far as possible from the other members, drives and other elements of the device, so as not to influence them.

The present invention also relates to a method for automatically connecting a charging terminal with a charging terminal receptacle of a vehicle with at least the steps:

Positioning the charging connection along a direction of insertion opposite the charging connection holder by means of a positioning unit,

• activating a positioning unit vibration unit to cause the charging port to vibrate against the charging port receptacle, and

• Move the charging port along the direction of insertion into the charging port receptacle. In this way, a vibration as described above can be generated and used.

Also, the vibration generation can be started exactly when its effect who should use the.

According to one aspect of the present invention, the method comprises at least the further step of: upon reaching the end of the moving in, deactivating the vibrating unit.

Accordingly, the vibration generation can be stopped again once it has served its purpose. Also, this can prevent the generation of unwanted vibrations.

The present invention also relates to a method for automatically disconnecting a charging port from a charging port receptacle of a vehicle comprising at least the steps of: activating a vibrating unit of the positioning unit so as to make the charging port vibrate with respect to the charging port receptacle, and

• Moving out of the charging port along a stake out from the Aufladeanschlussaufnahme using the positioning unit. In this way, a vibration as described above can be generated and used. Also, the vibration generation can be started exactly when its effect who should use the.

According to one aspect of the present invention, the method comprises at least the further step: upon reaching the end of the moving out, deactivating the vibration unit.

An embodiment and further advantages of the invention are explained below in connection with the following figures. It shows:

Figure 1 is a schematic side view of a device according to the invention in the Ausfüh tion of a method according to the invention for automatically connecting or selbsttäti conditions separating a charging port and a Aufladeanschlussaufnahme.

2 shows a flow diagram of a method according to the invention for automatically connecting the charging port to the charging port receptacle; and

Fig. 3 is a flow diagram of a method according to the invention for automatically disconnecting the charging on the Aufladeanschlussaufnahme.

The o.g. Figure is considered in Cartesian coordinates. It extends a longitudinal direction X, which may also be referred to as depth X. Perpendicular to the longitudinal direction X extends a transverse direction Rich, which may also be referred to as width (not shown). Perpendicular to both the longitudinal direction X and the transverse direction extends a vertical direction Z, which can also be referred to as height Z.

A device 1 according to the invention for automatically connecting and / or automatically disconnecting a charging connection 15 with a charging connection receptacle 21 of a vehicle 2, which is referred to as charging device 1 briefly in the following, has a positioning unit 10, which is embodied as a robot arm 10. The Rotoberarm 10 is fixedly disposed on a substrate 3 at one end of its kinematic chain, which forms its base. From this base as the first member of the robot arm 10, this extends over a plurality of actuated joints as well as members towards its opposite end, which has an end effector 11. At the end effector 11, the previously mentioned charging terminal 15 is arranged, which can also be referred to as a charging connector 15. The charging plug 15 is adapted to be connected by connecting in the form of an Inei nandersteckens with the aforementioned charging terminal receptacle 21 so become electrically conductive that a transfer of electrical energy can take place. On the charge connection receptacle 21 may also be referred to as a charging socket 21 or 21 as mating connector.

The charging socket 21 is arranged on the previously mentioned vehicle 2, which is an electrically operable vehicle 2 in the form of a passenger vehicle 2 and therefore in addition to a rule electrical drive also has a rechargeable electric energy storage (not shown). This rechargeable electric energy storage can be electrically powered by the charging device 1 and thereby charged when the charging plug 15 is in the charging socket 21 and a charging operation is operated. The charging socket 21 is for this purpose electrically conductively connected to the rechargeable electric energy storage device (not shown) and arranged externally accessible in the Ka rosserie 20 of the vehicle 2. The charging socket 21 may be charged outside the charging process by means of a cover such as e.g. Covered by a gas cap (not shown), protected and closed ver. The fuel cap may be used to release the charging socket 21, e.g. Released by means of a verriegelba ren spring mechanism by the vehicle 2 or by the user and the charging socket 21 are thereby made available for the charging connector 15.

The end effector 11 has, in addition to the charging plug 15, an elastic damping unit 12 in the form of a rubber block 12, which is arranged with its one side at the end of the end effector 11 fixed to. On its opposite side, a vibration unit 13 in the form of a motor 13 with eccentric flywheel is arranged on the rubber block 12. Below the Vibrationsein unit 13, the charging plug 15 is arranged and rigidly and fixedly connected by means of a rigid connecting element 14 with the vibration unit 13.

During operation, the vibration unit 13 can excite the charging connector 15 to oscillate in a plurality of vibration directions A. These vibrations propagate essentially in the direction of rotation of the flywheel, but also extend in the other spatial directions, so that the charging plug 15 can be multidimensional excited by the vibration unit to vibrate.

The charging device 1 also has a control unit 16, which may also be referred to as a computer unit 16. The control unit 16 is signal transmitting or energy transmitting connected to the vibration unit 13 to operate them. Further, the control unit 16 is connected to the drives of the robot arm 10 to operate them. Furthermore, the control unit 16 can also control or regulate the electrical energy transmission via the charging plug 15 to the charging socket 21.

The charging device 1 according to the invention can now be used according to the invention as follows: 2 shows a flow chart of a method according to the invention for the automatic connection of the charging connection 15 to the charging connection receptacle 21. First of all, a positioning 100 of the charging plug 15 is carried out along a contact direction B with respect to the charging socket 21 by means of the robot arm 10. The contact direction B is that direction along the common axis of charging plug 15 and charging socket 21, in which the charging plug 15 can be inserted into the charging socket 21.

The Ansteckrichtung B can also be referred to as the joining direction B. From this initial position, the charging plug 15 can be moved along the common axis with the charging socket 21 by the robot arm 10 and connected in the Ansteckrichtung B by insertion or by plugging with the charging socket 21.

Before this, however, an activation 200 of the vibration unit 13 of the robot arm 10, so that the charging plug 15 is excited relative to the charging socket 21 to vibrate. Only in this state is carried out according to the invention a moving in 300 of the charging plug 15 in the Ansteckrichtung B in the charging SE 21, which can be done due to the vibrations of the charging plug 15 with less friction against the La deco socket 21. Also can be avoided by the vibrations clamping and tilting currency end of the contagion, so that according to the invention the connection can be made comparable to a multi-dimensional movements of a user. When the end of the in-move 300 has been reached, deactivation 400 of the vibration unit 13 takes place and the connection or plugging in is completed so that charging of the rechargeable electrical energy store of the vehicle 2 can take place.

3 shows a flowchart of a method according to the invention for the automatic disconnection of the charge connection 15 from the charge connection receptacle 21. Since the charge plug 15 is already plugged into the charge socket 21 in this case, an activation 500 of the vibration unit 13 of the robot arm 10 is initially executed. so that the charging plug 15 is excited relative to the charging socket 21 to vibrate. In this state takes place along the common axis of Ladeste cker 15 and charging socket 21 a move 600 of the charging plug 15 in a staking C from the charging socket 21 by means of the robot arm 10. The Stake C is the Aufsteckrichtung B along the common axis of charging connector 15 and Charging socket 21 opposite and can also be referred to as a separating direction C.

Due to the vibrations of the charging plug 15 relative to the charging socket 21, it is also possible for the charging plug 15 to be disconnected from the charging socket 21 with lower frictional forces and less jamming and jamming. When the end of the moving out 600 is reached, deactivating 700 of the vibrating unit 13 takes place and the disconnecting is completed.

According to the invention, a self-acting connection and disconnection of the connec tion partners in this way with less effort and with reduced interference by clamping and Verkan be done. This may make the construction of the robotic arm 10 easier, particularly with respect to its multi-axis or multi-dimensional configuration, but still allow it to simulate more dimensional movements of a user who may effect the above-described facilitation when plugged in and unplugged.

REFERENCE LIST (part of the description)

A vibration directions of the charging port 15th

B insertion direction

C staking direction

X longitudinal direction; depth

Z vertical direction; height

1 (charging) device

10 positioning unit; robot arm

11 end effector

12 elastic damping element

13 vibration unit; Motor with eccentric flywheel

14 connecting element

15 charging port; charging plug

16 control unit; computer unit

2 vehicle; Passenger car

20 bodywork

21 charging connection receptacle; Charging socket; Mating connector

3 underground

100 Position Charging port 15 opposite Charging port 21

200 Activate vibration unit 13

300 Moving in Charging port 15 in Charging port 21

400 Deactivate vibration unit 13 when reaching the end Move in 300

500 activate vibration unit 13

600 Moving out Charging port 15 from Charging port 21

700 Deactivate vibration unit 13 when reaching end move out 600

Claims

Anspruch [en] A device (1) for automatically connecting / disconnecting a charging port (15) to / from a charging port receptacle (21) of a vehicle (2), comprising at least one positioning unit (10) configured to charge the charging port (15) along one Ansteckrichtung (B) into the Aufladeanschlussaufnahme (21) move into it and / or along a staking (C) from the Aufladeanschlussaufnahme (21) herauszube due, characterized by a vibration unit (13), which is formed, the charging port (15) against the charging connection receptacle (21) to induce vibrations.

2. Device (1) according to claim 1, characterized in that the vibration unit (13) is formed, the charging port (15) against the Aufladean final recording (21), preferably substantially, along the axis along the Ansteckrich device (B) and / or to stimulate vibrations along the staking direction (C).

3. Device (1) according to claim 1 or 2, characterized in that the vibration unit (13) is formed, the charging port (15) against the Aufladean schlussaufnahme (21), preferably substantially, along an axis, preferably along both axes, perpendicular to the Ansteckrichtung (B) and / or perpendicular to the stake (C) to induce vibrations.

4. Device (1) according to one of the preceding claims, characterized in that the vibration unit (13) is formed, the charging port (15) against the Aufladean final recording (21), preferably substantially to the axis along the Ansteckrichtung (B) and / or along the stakeout direction (C) to induce torsional vibrations.

5. Device (1) according to one of the preceding claims, characterized in that the vibration unit (13) has at least one motor (13) with eccentric flywheel on.

6. Device (1) according to one of the preceding claims, characterized in that the vibration unit (13) has at least one piezoelectric actuator.

7. Device (1) according to one of the preceding claims, characterized in that the charging port (15) by means of the vibration unit (13) is connected to the positioning unit (10),

8. Device (1) according to one of the preceding claims, characterized in that the charging port (15) and / or the vibration unit (13) by means of an elastic Dämp tion element (12) with the positioning unit (10) is / are connected.

9. Device (1) according to one of the preceding claims, characterized in that the vibration unit (13) and the charging port (15), preferably and an elastic damping element (12), on an end effector (11) of the positioning unit (10). are arranged.

A method of automatically connecting a charging port (15) to a charging port

Final recording (21) of a vehicle (2), with at least the steps:

Positioning (100) of the charging port (15) along a Ansteckrichtung (B) opposite the Aufladeanschlussaufnahme (21) by means of a positioning unit (10), activating (200) a vibration unit (13) of the positioning unit (10), so that the charging port (15 ) is excited to vibrate with respect to the charge port receptacle (21), and

Move (300) the charging port (15) along the Ansteckrichtung (B) in the charging connection receptacle (21).

11. The method according to claim 10, characterized by at least the further step: upon reaching the end of the in-move (300), deactivating (400) of the vibration unit (13).

12. A method for automatically disconnecting a charging port (15) from a charging port receptacle (21) of a vehicle (2), comprising at least the steps of:

Activating (500) a vibration unit (13) of the positioning unit (10) so that the charging port (15) is made to oscillate with respect to the charging port receptacle (21), and Moving out (600) of the charging port (15) along a stakeout (C) from the on charging terminal receptacle (21) by means of the positioning unit (10).

13. The method according to claim 12, characterized by at least the further step:

upon reaching the end of the moving out (600), deactivating (700) the vibration unit (13).