WO2019219339A1

WO2019219339A1 - Charger robot for a motor vehicle, method, device and computer-readable storage medium with instructions for controlling a charger robot

Info

Publication number: WO2019219339A1
Application number: PCT/EP2019/060389
Authority: WO
Inventors: Daniel Schütz; Stephan Herold; Kristin Fondahl; Robert SCHLABE; Moritz BÖSENBERG; Malte JÖRG; Nabil HAMMOUCHE; Özkan Yavuz SAHIN
Original assignee: Volkswagen Aktiengesellschaft
Priority date: 2018-05-16
Filing date: 2019-04-23
Publication date: 2019-11-21
Also published as: DE102018207680A1

Abstract

The invention relates to a charger robot (1) for a motor vehicle, a method, a device and a computer-readable storage medium with instruction for controlling a charger robot (1). The charger robot (1) has a robot structure formed by two or more structural elements (2), as well as a plug receiver (3) for a charging plug (4). Self-locking drives (8) permit a movement of the plug receiver (3) relative to a charging plug socket of the the motor vehicle. A sensor system (10) detects a force exerted on the plug receiver (3) or the charging plug (4). A control device (11) controls the charger robot (1) in response to a force exerted on the plug receiver (3) or the charging plug (4) detected (20) by the sensor system (10).

Description

description

Charging robot for a motor vehicle, method, apparatus and computer readable

Storage medium with instructions for controlling a charging robot

The present invention relates to a loading robot for a motor vehicle and a

Method, apparatus and computer readable storage medium having instructions for controlling such a loader robot.

For the automatic charging of electric vehicles in the private garage charging robots are currently being developed, which are able to a charging plug into a charging socket

Electric vehicle. For a robotic solution for a private garage, the challenge is to develop a cost-effective system.

Against this background, CN 105539190 A describes an automatic charging device with three degrees of freedom for an electric motor vehicle and a control method for the charging device. The loader includes three-way motion platforms, motion platform motors, Hall sensors, mounting brackets and a loading port. The motion platforms include a base, a vertical motion motion platform, a forward-reverse motion motion platform, and a left-right motion platform. The paths of movement of the three platforms are perpendicular to each other. The motion platforms are interconnected by the base. The loader can be controlled to move flexibly in the three directions and to have a charging interface in close abutment with the vehicle.

DE 20 2012 003 577 U1 describes an automatic connector for use in charging stations for electric vehicles. In the floor area there is a 180-degree hinged housing, which can be rotated by a rotary actuator in a working position. In this case, the power supply is to a plug that can be moved in any direction and can be connected to an arranged under a vehicle power outlet. The housing is activated only when the position for establishing the contact connection has been detected in the vehicle. If the vehicle has reached the required position, then under the vehicle, the folding housing is rotated 180, so that the plug points upwards in the direction of the vehicle above it. The plug is then placed in the socket under the vehicle

inserted. US 2014/0333261 A1 describes an automatic charging device for an electric vehicle. The charging device comprises a charging plug and a

Movement mechanism for the charging plug. The moving mechanism includes a first moving device, a second moving device, and a third moving device

Mover. The first movement device and the second

Movement device are connected to each other and move the charging connector laterally or in the longitudinal direction, to align it relative to a charging socket of the electric vehicle. The third moving device vertically moves the charging plug to insert or remove it from the charging socket.

DE 10 2016 207 767 A1 describes a device for plugging an electrical charging plug into a charging socket of an electric vehicle. The device has a parallel kinematic system which allows three translational degrees of freedom of movement and one rotational degree of freedom of movement. At the parallel kinematic system, a charging plug is mounted so that the charging plug can be moved in the four degrees of freedom of movement. The parallel kinematic system is mounted on a frame attachable to a wall. The frame allows a first Drehrerichtung of

Parallel kinematics system about a first axis and a fixation of the aligned according to the first Drehrerichtung parallel kinematic system.

For vehicles with an air suspension is a challenge that the vehicle lowers after parking or parking the vehicle in the first 30min about 5cm. The lowering of the vehicle must be taken into account in the robot concept, so that no damage to the vehicle or the robot loader occur. This can be done in different ways.

In a first approach, the robotic loader holds the charging plug over a gripper, so that the charging plug is detachable after plugging in from the loading robot and the robotic loader does not have to move when lowering the vehicle. However, a gripper or tool requires an application-specific development and represents another component that can fail. In addition, a mechanism with actuator for opening and closing the gripper is needed. Due to the cost sensitivity of the intended charger robot, it is advisable to dispense with a gripper. In addition, the detection of the geometrically unique contour of the charging socket on the vehicle for positionally accurate plugging is already solved today, while finding the handle of the charging plug in the inserted state is connected to undetermined position with additional high effort. In a second approach, the charging plug is connected to the charging robot so that the system can not automatically solve the charging plug from the robot loader. The robot loader is designed to be non-self-locking, so that after the plugging operation, when the charging plug is plugged into the vehicle and the charging robot is connected to the charging plug, the drives of the charging robot are de-energized and therefore also lowered when lowering the vehicle of the robots. A non-self-locking

Robot structure or a non-self-locking drive concept, e.g. via toothed belt or a spindle with coarse thread, thus solves the problem of tracking when lowering the vehicle. On the other hand, if the robot structure is in a non-plugged position, the robot structure falls down in the case of currentless drives. In this case, brakes can be provided on the drives, which in turn lead to increased costs in the overall system of the charger robot.

In a third approach, the charging plug is also connected to the loading robot so that the system can not automatically solve the charging plug from the robot loader. However, the robotic loader is designed to be self-locking, so that after the plugging operation, when the charging plug is plugged into the vehicle and the charging robot is connected to the charging plug, the drives of the charging robot must be tracked when lowering the vehicle. In this case, a controlled tracking of the charging robot when lowering the vehicle must be guaranteed. In the non-plugged state, the robot structure via the self-locking in the drive concept, e.g. by a self-locking spindle or worm gear, even in the case of power interruption held. However, the robot structure is held in de-energized drives in the mated state at a fixed position, so that a lowering of the vehicle leads to a relative movement to the loading robot. This can lead to damage to the vehicle and the loading robot.

It is an object of the invention to provide solutions for a loading robot and the control of such a charging robot, which allow in a cost-effective manner to cope with the lowering of a vehicle to be loaded as well as the occurrence of power interruptions.

This object is achieved by a loading robot having the features of claim 1, by a method having the features of claim 10, by an apparatus having the features of claim 11, and by a computer-readable storage medium having instructions according to claim 12. Preferred embodiments of the invention are the subject of the dependent claims. According to a first aspect of the invention, a loading robot for a motor vehicle comprises:

a robotic structure of two or more structural members;

- A connector receptacle for a charging plug;

- Drives for a movement of the connector receptacle relative to a charging socket of the motor vehicle, wherein the drives are designed to be self-locking;

a sensor for detecting a force applied to the plug receptacle or the charging plug; and

a control device for controlling the charging robot in response to a force detected by the sensor and applied to the plug receptacle or the charging plug.

According to a further aspect of the invention, a method for controlling a charging robot according to the invention comprises the steps:

Detecting a force applied to the plug receptacle or the charging plug;

Determining a compensating movement based on the detected force applied to the plug receptacle or the charging plug; and

- Drive the drives according to the specific compensation movement.

According to a further aspect of the invention, an apparatus for controlling a charging robot according to the invention comprises:

- A computing unit for determining a compensating movement based on a detected force exerted on the plug receptacle or the charging plug force; and

- A drive control for driving the drives according to the determined

Compensating movement.

In accordance with another aspect of the invention, a computer-readable storage medium includes instructions that, when executed by a computer, cause the computer to perform the following steps to control a loader robot according to the invention:

Detecting a force applied to the plug receptacle or the charging plug;

- Drive the drives according to the specific compensation movement.

The term computer is to be understood broadly. In particular, it also includes

Controllers and other processor-based data processing devices.

According to the invention it is provided that the robot has a concept for active

Tracking has. The motor vehicle lowers, while the charging plug is inserted is, the loading robot detects a change in position and corrects the position of the charging robot or the charging plug relative to the motor vehicle. The change in position is detected indirectly via the forces resulting from the position change, which are exerted on the plug receptacle or the charging plug. The active tracking can damage the charger robot, in particular at the charging plug, but also at the

Charging socket reliably prevented.

According to one aspect of the invention, the sensor device is set up to detect a change in a current consumption at at least one of the drives. This approach is particularly suitable for not too large gear ratios on the drives. In a

Embodiment of this solution regulate the drives to a fixed position. If the current consumption at one or more drives changes, the kinematic model of the robot structure indicates a movement of the charging plug and the drives can be tracked. In another embodiment of this solution, the drives run in the mated, unmoved state, i. with plugged in charging plug, in a zero-force control. The drives compensate only the weight of the robot structure in the current position. If an external additional force is introduced via the lowering of the motor vehicle into the charging plug, the structure can be moved to a new position.

According to one aspect of the invention, the sensor system has a sensor module between the charging plug and the robot structure, which outputs a manipulated variable in response to a force. By tracking the robot structure based on the manipulated variable by means of the control device, the force on the charging plug can be minimized. This approach is particularly suitable for large gear ratios on the drives. By arranging the sensor module between the robot structure and the charging plug, the forces occurring are detected directly at the location of the force introduction. In addition, the sensor module concept allows tracking regardless of the specific drive or transmission selection.

According to one aspect of the invention, the sensor module is integrated in the connector receptacle. In this case, the sensor module is embedded in an elastic material, that is enclosed by the elastic material, or is held by a spring system. The connector receptacle connects the robot structure to the charging connector. The modulus of elasticity of the material and the geometric shape of the plug receptacle or the spring constants are chosen so that the charging plug is held without deformation of the connector receptacle. In this case the sensor module gives no signal when using buttons (binary) or when using Potentiometers (analog) only a small signal. If an additional external force acts on the plug, for example by lowering the vehicle, the sensor signal changes, which can be used by the control device for compensating movement of the charging robot.

According to one aspect of the invention, the sensor module has at least one sensor element for detecting forces perpendicular to a plug-in direction of the charging plug in a charging socket. For the detection of the lowering, it is sufficient if at least one sensor element detects the movement of the charging plug down. Detecting down, up, left, and right movements requires four sensor elements. By a cross arrangement of the sensor elements also a diagonal tilting of the charging plug can be identified, if e.g. the sensor element for the upward movements and the sensor element for the movements to the left are triggered. For a more accurate direction detection analogue sensors are to be preferred.

According to one aspect of the invention, the sensor module has at least one further

Sensor element for detecting forces in the plugging direction. Also with this

Sensor element may be a binary or analog sensor. This sensor element can be used to limit the insertion force or to detect a collision. The sensor module can thus not only detect the lowering of the motor vehicle, but is also suitable for collision detection.

According to one aspect of the invention, the loading robot has an energy store for securing a power supply of the drives and the control device in the event of a power supply interruption via a connection to a power grid. In the event that a power interruption occurs during a charging process, the robot has in addition to a connection to the power supply via an additional

Energy storage, such as an accumulator. By using an additional energy storage can be ensured that the robot structure can be spent without power supply from the power grid from any position in the rest position. In particular, it is ensured that the user or an automatic control system can drive the charger plug in the event of a power failure from the inserted state to the idle state. Otherwise, use of the vehicle would be prevented by the inserted charging plug.

In one embodiment, the drives and the control device are connected to the power supply parallel to the energy store. Alternatively, the drives and the Control device fed only from the energy storage, which in turn is connected via a charger to the power grid. With both approaches, the energy storage can be easily integrated into the robot system. Due to the long life of the charger robot, the charger can be small and the capacity of the charger

Energy storage for a few mating cycles are selected. In this way, the costs in the overall system can be minimized.

According to one aspect of the invention, the control device is set up

To move the plug receptacle to a rest position when the power supply is disconnected via the mains connection. If there is an interruption to the power supply during a charging process, the pick-up of the charging plug is initiated because the charging process is also interrupted. If the charging robot receives a charging request via a communication interface to the vehicle or the user, while there is an interruption to the power grid, preferably no plug-in procedure is initiated. Instead, a corresponding message is output to the vehicle or to the user. The user may then take appropriate action to correct the interruption.

Preferably, the control device is arranged before moving the

Robotic structure in the rest position to unlock a locking element of the charging plug. Depending on the design of the charging plug, the charging plug can be locked in the charging socket to prevent it from falling out or unauthorized removal of the charging plug. In this case, the locking element must first be unlocked before the robot structure can be moved.

Further features of the present invention will become apparent from the following description and the appended claims, taken in conjunction with the figures.

Fig. 1 shows schematically an embodiment of a charging robot for a

Motor vehicle;

Fig. 2 shows schematically a method for controlling a charging robot;

Fig. 3 shows a first embodiment of a device for controlling a

Loading robot; Fig. 4 shows a second embodiment of a device for controlling a charging robot;

Fig. 5 shows schematically a preferred embodiment of a loading robot for a

Motor vehicle;

Fig. 6 shows schematically a first concept of protection of the power supply;

Fig. 7 schematically shows a second concept of protection of the power supply;

and

FIGS. 8-17 schematically show various embodiments of a sensor module.

For a better understanding of the principles of the present invention, embodiments of the invention will be explained in more detail below with reference to the figures. It is understood that the invention is not limited to these embodiments, and that the features described can also be combined or modified without departing from the scope of the invention as defined in the appended claims.

Fig. 1 shows schematically in the form of a schematic diagram of an embodiment of a

Charging robot 1 for a motor vehicle. The loading robot 1 has a robot structure of a series of structural members 2, on which by means of joints 7 a work platform 9 is mounted. The work platform 9 carries a plug receptacle 3. In the plug receptacle 3, a charging plug 4 can be introduced and fixed there. The structural members 2 are attached via further joints 7 to carriage 6, which are movable along linear axes 5. About drives 8, the carriage 6 and thus the structural members 2 are moved. By the movement of the structural members 2 is a movement or positioning of the

Plug receptacle 3 with the charging plug 4 in the room possible. The drives 8 are

Self-locking executed. For controlling the movement, the loading robot 1 has a control device 11, which outputs suitable control signals to the drives 8. By means of a sensor 10 forces are detected, for example, by lowering the

Motor vehicle are exerted on the connector receptacle 3 or the charging plug 4. The control device 1 1 is set up to control the loading robot 1 in response to a force detected by the sensor 10, in particular to track the plug receptacle 3 or the charging plug 4. Fig. 2 shows schematically a method for controlling a charging robot according to the invention. In a first step, one on the plug receptacle or the

The force applied to the charging connector is 20. Based on the detected force exerted on the connector receptacle or charging connector, a compensation movement is then determined 21. The actuators are then driven according to the particular compensation movement 22. Optionally, an interruption of a power supply via a connector may occur during the charging process be detected 23 to a power grid. In such a case, the robot structure is moved to a defined rest position 25. If the charging plug is locked in the charging socket, a locking element of the charging plug is first unlocked before moving the robot structure 24. Receives 26, the charging robot via a communication interface to the vehicle or to the User, while there is an interruption to the power grid, so no

Plugging initiated. Instead, a corresponding message is issued to the vehicle or to the user 27.

3 shows a simplified schematic representation of a first embodiment of a device 30 for controlling a charging robot according to the invention. The device 30 has an input 31, via which sensor signals of a sensor system of the charging robot can be received. The sensor system can also be integrated into the device 30. The device 30 also has a computing unit 32 for determining a

Compensation movement based on a detected, on the plug receptacle or the

Charging plug exerted force. A drive controller 33 then drives the drives according to the particular compensation movement, for example, by issuing control signals directly to the drives or by appropriate commands

Control modules of the drives. Optionally, during the charging process, an interruption of a power supply via a connection to a power supply can be detected based on the received sensor signals. If this happens, cause the

Drive control 33, a movement of the robot structure in a defined rest position. If the charging plug is locked in the charging socket, before moving the

Robot structure first unlocks a locking element of the charging plug. The data generated by the drive control 33 are output via an output 36 of the device 30 to the loading robot.

The arithmetic unit 32 and the drive control 33 can be controlled by a control unit 34. If necessary, settings of the computing unit 32, the drive control 33 or the control unit 34 can be changed via a user interface 37. Via the user interface 37, the user can also request a loading enter. Such may alternatively or additionally emanate from the vehicle and received via the input 31. If a charge request is received while there is an interruption to the power grid, then no plugging operation is initiated. Instead, a corresponding message is output via the output 36 to the vehicle or via the user interface 37 to the user.

If necessary, the data accumulating in the device 30 can be stored in a memory 35 of the device 30, for example for later evaluation or for use by the components of the device 30. The arithmetic unit 32, which

Drive controller 33 and control unit 34 may be implemented as dedicated hardware, for example as integrated circuits. Of course, they can also be partially or fully combined or implemented as software on a computer

suitable processor is running, for example on a GPU or a CPU. The input 31 and the output 36 may be implemented as separate interfaces or as a combined bidirectional interface.

4 shows a simplified schematic representation of a second embodiment of a device 40 for controlling a charging robot according to the invention. The device 40 has a processor 42 and a memory 41. For example, device 40 is a computer or controller. The memory 41 stores instructions which, when executed by the processor 42, cause the device 40 to execute the steps according to one of the described methods. The instructions stored in the memory 41 thus embody an executable by the processor 42

Program, which realizes the method according to the invention. The device 40 has an input 43 for receiving information, in particular data from a sensor system of the charging robot. Data generated by the processor 42 are transmitted via a

Output 44 provided. In addition, they can be stored in the memory 41. The input 43 and the output 44 can become a bidirectional interface

be summarized.

The processor 42 may include one or more processor units, such as microprocessors, digital signal processors, or combinations thereof.

The memories 35, 41 of the described embodiments can have both volatile and non-volatile memory areas and a wide variety of memory devices and

Storage media include, for example, hard disks, optical storage media or semiconductor memory. Hereinafter, preferred embodiments of the invention will be described with reference to FIGS 5 to 17.

Fig. 5 shows schematically a preferred embodiment of a charging robot 1 for a motor vehicle. The loading robot 1 largely corresponds to the loading robot 1 from FIG. 1, but in addition it has an energy store 16. The energy storage 16 serves to protect the power supply of the drives 8 and the control device 11 in the event that there is an interruption of the power supply through the power grid. The energy store 16 can be incorporated into the robot system in different ways, as will be explained below with reference to FIGS. 6 and 7. If an interruption is detected, the control device 1 1 causes a movement of the

Robot structure in a defined storage position. In this case, the control device 1 1, if necessary, unlock a locking element of the charging plug 4 before. Another difference to the loading robot 1 of FIG. 1 is that the sensor 10 a

Sensor module 12 which is disposed between the charging connector 4 and the robot structure. Details of this sensor module 12 will be explained below with reference to FIGS. 8 to 18

Fig. 6 shows schematically a first concept of securing the power supply via an additional energy store 16, e.g. an accumulator. In this concept, the control device 1 1 and the drives 8 are connected in parallel to the energy storage 16 via a supply control 18 to the power grid 17. The supply control 18 may for example be part of a DC power supply or a control unit of an independent UPS (UPS: uninterruptible power supply).

7 shows schematically a second concept of securing the power supply via an additional energy store 16. In this concept, the control device 11 and the drives 8 are connected directly to the energy store 16 and are therefore always fed from the energy store 16. The energy storage 16 in turn is connected to a charger 19, which in turn is connected to the power grid 17. Due to the usually long service life of the charging robot, the charger 19 can be made small and the capacity of the energy storage 16 can be selected for a few mating cycles in order to minimize the costs in the overall system.

In the following, different embodiments of the sensor module 12

described. Basically, a wide variety of sensor principles can be used. In analog sensors, for example, magnetic sensors (eg, 3D magnetic sensors), electrical sensors (eg potentiometers or buttons) or optical sensors (eg

Optocouplers or light barriers) are used. Digital / binary sensors may include electrical sensors (e.g., microswitches) or optical sensors (e.g.

Optocouplers or light barriers) are installed.

FIG. 8 schematically shows a first embodiment of a sensor module 12. Partial image a) shows an isometric view, partial image b) shows a plan view. The sensor module 12 has a mechanical interface 50 for plug receptacle, which is represented here and below only by a rod. The rod is embedded in an elastic material 13 at the lower end. Instead of the elastic material 13 and a spring system can be realized. The sensor module 12 comprises four potentiometers 51, which are actuated upon tilting of the rod by means of a respective mechanical coupling 53. Based on the resulting signals of the potentiometer 51, the tilting of the rod can be detected and evaluated. Two buttons 52, which detect forces in the direction of insertion, can also be used to realize an emergency stop. The sensor module 12 functions like a joystick in this example. The potentiometers 51 and buttons 52 are preferably of two

Monitored microcontrollers. In this case, each microcontroller monitors each one potentiometer 51 for a horizontal and a vertical movement and a button 52. The microcontroller communicate with each other, e.g. via UART (UART: Universal Asynchronous Receiver Transmitter) or I2C (I2C: I-Squared-C) to ensure mutual monitoring. Each microcontroller is connected to a motor controller via a CAN connection (CAN: Controller Area Network). The buttons 52 can optionally be switched to an emergency stop relay circuit which disconnects the power supply.

Fig. 9 shows schematically a second embodiment of a sensor module 12. This embodiment corresponds to the principle of the embodiment of Fig. 8, however, the mechanical interface is not embedded here in the elastic material 13 or is not held by the spring system. Rather, the elastic material 13 or the spring system serves for the connection of two components 54. As before, the sensor module 12 again comprises four potentiometers and two buttons (not explicitly shown), by means of which the

Deflection perpendicular to the direction of insertion and the pressure in the direction of insertion.

10 shows schematically a third embodiment of a sensor module 12. This embodiment corresponds to the principle of the embodiment of FIG. 9, but the sensor module 12 is designed as a stylus cube. Drawing a) shows a section through the stylus cube, drawing b) a look into the stylus cube. By means of the elastic material 13 and the spring system, two components 54 are interconnected. One of the components has an actuator 55 which engages the stylus cube. By a relative tilting of the components 54 or compression of the components 54 in

Plug-in direction button 52 on the side walls or the bottom of the stylus cube actuated by the actuator 55. On the basis of an evaluation, which button 52 has been actuated, the direction of the tilt can be determined or the compression in

Plugging direction are detected. In the example shown, the sensor module 12 uses five buttons 52.

Fig. 1 1 shows schematically a fourth embodiment of a sensor module 12. Das

Sensor module 12 includes a centrally disposed elastic material 13 and

Spring system, a support plate 56 with four buttons 52 and a plate-shaped formed actuating element 55. Part of a) shows a side view of the sensor module 12 in

Normal state, partial image b) a side view in the case of a relative tilting by an off-center force F, partial image c) a side view in the case of a pressure in

Insertion direction by a centrally acting force F and partial image d) is a plan view of the support plate 56. By means of the elastic material 13 and the spring system is the

Actuator 55 is connected to the support plate 56. In the case of a relative

Tilting one or two buttons 52 are actuated. With a pressure in the plugging direction, however, all four buttons 52 are actuated. Based on an evaluation, which button 52 has been actuated, thus the direction of the deflection can be determined or

Compression in plugging direction to be detected.

12 schematically shows a fifth embodiment of a sensor module 12. This embodiment corresponds to the principle of the embodiment of FIG. 11, but instead of the four buttons eight sensors 57 are used, for example microswitches or piezosensors. The sensor module 12 optionally comprises a centrally arranged elastic material 13 or spring system, a carrier plate 56 with eight sensors 57 and a cruciform trained actuator 55 with eight trigger elements 58 for the sensors 57. A specific storage of the support plate 56 and the actuator 55 is the simplicity not shown. Partial image a) shows a perspective view of the sensor module 12, partial image b) is a top view of the support plate 56 and partial image c) is a top view of the actuating element 55. When using microswitches, a digital signal is passed on actuation, so that a reorientation of the charger robot can be initiated. When using piezosensors, however, the pressures that occur can be considered quantitatively. As before, only a few of the sensors 57 will trip in the case of a relative tilt. In the case of a pressure in the plug-in direction, on the other hand, all the sensors 57 are triggered. Based on an evaluation of the sensor signals can Thus, determines the direction of the deflection or a compression in the direction of insertion are detected.

13 schematically shows a sixth embodiment of a sensor module 12. In this embodiment, a magnetic sensor 60 is used to detect changes in the position of a magnet 59. A concrete storage of the magnet 59 and the

Magnetic sensor 60 is not shown for the sake of simplicity. Partial image a) shows a perspective view of a first variant of the sensor module 12, partial image b) is a perspective view of a second variant of the sensor module 12. In the first

Variant only a single 3D magnetic sensor 60 is used to detect a tilt or displacement of the magnet 59 in all directions. In the second variant, a combination of two magnetic sensors 60, a bearing of an elastic material 13 or a spring system and at least two buttons 52 is used, which are arranged on a support plate 56. The magnetic sensors 60 are used here only for detecting tilting and displacements perpendicular to

Plug-in direction. Shifts in the direction of insertion, however, are detected by means of the button 52. 3D magnetic sensors have the property of accurately detecting movements in all spatial directions and are relatively inexpensive. They are also wear-free and have a more accurate resolution than other analog sensors.

14 schematically shows a seventh embodiment of a sensor module 12. In this embodiment, a combination of piezosensors 61 and optocouplers 62 is used. A concrete storage of the components is not shown for the sake of simplicity. The optocouplers 62 in turn each comprise a light-emitting

Device 63, e.g. a light emitting diode or a laser diode, and a photodetector 64, e.g. a photodiode or a phototransistor. The piezo sensors 61 have a high

Sensitivity and a very high long-term stability and are also inexpensive. With them, the occurring forces and moments are measured and as analog current

output. The optocouplers 62 may pass or sample the signals in an analog fashion, resulting in digital signals. These digital signals can then be provided to the controller. As before, the sensor module 12 has at least two buttons 52 which are arranged on a support plate 56 in order to reliably detect a compression in the insertion direction. Optionally, a bearing made of an elastic material 13 or a spring system can also be used in this embodiment.

Fig. 15 shows schematically an eighth embodiment of a sensor module 12. This embodiment corresponds to the principle of the embodiment of Fig. 8, however instead of the potentiometer photoelectric sensors used to determine the rotations. A concrete storage of the components is not shown for the sake of simplicity. The

Photocells each have a light emitting device 63 and a photodetector 64. The light-emitting device 63 may be e.g. a light emitting diode or a

Be a laser diode. The photodetector 64 may be e.g. to act a photodiode or a phototransistor. For a better overview, the light-emitting component 63 and the photodetector 64 are shown only in one of the light barriers. With the help of

Encoder disks 65, for example slices with slots, encoding of the rotation is possible. Also in this embodiment, the sensor module 12 has at least two buttons 52 which are arranged on a support plate 56 in order to reliably detect a compression in the insertion direction. Optionally, in turn, a bearing made of an elastic material 13 or a spring system can be used.

16 schematically shows a ninth embodiment of a sensor module 12. Also in this embodiment, an optical detection of changes in position is used. In turn, light emitting devices 63, e.g. Light-emitting diodes or laser diodes, and photodetectors 64, e.g. Photodiodes or phototransistors, provided. The

Light emitting devices 63 and the photodetectors 64 are disposed on a support member 66. The light-emitting devices 63 are enclosed by a mask 67, which is connected to the movable work platform. Partial image a) shows a section along the plane in which the light-emitting components 63 are arranged. Partial image b) shows a section perpendicular to the plane in which the light-emitting components 63 are arranged. A concrete storage of the components is not shown for the sake of simplicity. Each shift of the mask 67 is detected by a plurality of photodetectors 64 and uniquely determined. The function of the light-emitting components 63 can be checked as part of an initialization in a rest position loading robot. The sensor module 12 additionally has at least two buttons in order to reliably detect a compression in the insertion direction. The buttons, which are not shown in the figure, can be arranged analogously to the arrangement in FIG. 8.

Fig. 17 schematically shows a tenth embodiment of a sensor module 12. This embodiment also utilizes optical detection of position changes. For this purpose, a laser 68 transmits a light beam 69 to a beam on the rod, i. at the

mechanical interface 50 for plug receptacle, arranged mirror 70. This directs the light beam 69 on a detector matrix 71, for example a diode array. The rod is movably supported by means of a bearing 72. From the change in the position or shape of the light beam 69 on the detector matrix 71, the force exerted on the interface 50 can be determined become. A concrete storage of the components is not shown here for the sake of simplicity.

Loader Robot

structural member

plug receptacle

charging plug

linear axis

carriage

joint

drive

working Platform

sensors

control device

sensor module

elastic material

spring system

sensor element

energy storage

power grid

supply control

charger

Detecting a force applied to the plug receptacle or the charging plug Determining a compensating movement

Activation of the drives

Detecting a power interruption

Unlocking a locking element of the charging plug

Move the robot structure to a rest position

Receiving a charge request

Output a message

device

entrance

computer unit

drive control

control unit

Storage

exit

User interface device

Storage

processor

entrance

exit

mechanical interface

potentiometer

button

mechanical coupling component

actuator

support plate

sensor

triggering element

magnet

magnetic sensor

piezosensor

optocoupler

light-emitting component

photodetector

encoder disk

supporting member

mask

laser

beam of light

mirror

detector array

Claims

claims

1. Charging robot (1) for a motor vehicle, comprising:

- A robotic structure of two or more structural members (2);

- A connector receptacle (3) for a charging plug (4);

- Drives (8) for a movement of the connector receptacle (3) relative to a

Charging socket of the motor vehicle, wherein the drives (8) are self-locking;

- A sensor (10) for detecting (20) on the plug receptacle (3) or the charging plug (4) applied force; and

- A control device (1 1) for controlling the charging robot (1) in response to one of the sensor (10) detected (20), on the plug receptacle (3) or the charging plug (4) force exerted.

2. loading robot (1) according to claim 1, wherein the sensor system (10) is arranged, a

Change a current consumption at at least one of the drives (8) to capture.

3. Loading robot (1) according to claim 1, wherein the sensor system (10) has a sensor module (12) between the charging connector (4) and the robot structure that outputs a manipulated variable in response to a force.

4. Loading robot (1) according to claim 3, wherein the sensor module (12) in the

Plug receptacle (3) is integrated.

5. Loading robot (1) according to claim 3 or 4, wherein the sensor module (12) in a

elastic material (13) is embedded or held by a spring system (14).

6. loading robot (1) according to one of claims 3 to 5, wherein the sensor module (12) has at least one sensor element (15) for detecting forces perpendicular to a plugging direction of the charging plug (4) in a charging socket.

7. Loading robot (1) according to claim 6, wherein the sensor module (12) at least one

further sensor element (15) for detecting forces in the plugging direction.

8. Loading robot (1) according to one of the preceding claims, with an energy store (16) for securing a power supply of the drives (8) and the

Control device (11) in the event of a power interruption via a connection to a power grid (17), wherein the drives (8) and the

Control device (11) parallel to the energy storage (16) to the power grid (17) are connected or only from the energy storage (16) are fed and the energy storage device (16) via a charger (19) to the power grid (17).

9. Loading robot (1) according to claim 8, wherein the control device (1 1) is arranged to move the plug receptacle (3) in the event of a power interruption via the connection to the mains (17) in a rest position.

10. A method for controlling a loading robot (1) according to one of claims 1 to 9, comprising the steps:

- Detecting (20) a force exerted on the plug receptacle (3) or the charging plug (4) force;

Determining (21) a compensation movement based on the detected, on the

Plug receptacle (3) or the charging plug (4) applied force; and

- Driving (22) of the drives (8) according to the determined compensating movement.

1 1. A device (30) for controlling a loading robot (1) according to one of claims 1 to 9, comprising:

- A computing unit (32) for determining (21) a compensating movement based on a detected, on the plug receptacle (3) or the charging plug (4) applied force; and

- A drive control (33) for driving (22) of the drives (8) according to the determined compensating movement.

12. A computer readable storage medium having instructions that, when executed by a computer, execute the computer to perform the steps of the method according to

Claim 10 for controlling a charging robot (1) according to one of claims 1 to 9 cause.