DE102018010075A1 - Charging device and method for producing an electrical connection between a motor vehicle and a charging device for charging an energy storage of the motor vehicle - Google Patents

Abstract

The invention relates to a charging device (1) for charging an electrical energy store of a motor vehicle (2), comprising a base (15) with an arm holder (10), and a robot arm arranged above the arm holder (10) on the base (15) (3) on which a first connection unit (8) for establishing the electrical connection with a vehicle-side second connection unit (9) is arranged, wherein the robot arm (3) as a single degree of freedom relative to the arm holder has a change in length. In order to reduce the complexity of the charging device (1), it is provided that the base has two linear drives (4, 5) whose respective single degrees of freedom are oriented vertically relative to each other, - the arm support (10) by an interaction of the two linear drives (4, 5) with respect to the degrees of freedom of both linear drives (4, 5) is displaceable, wherein the robot arm (3) is designed as a telescopic arm with a telescopic extension and the only degree of freedom relative to the arm support (10) is a change in length along the telescopic extension , And- the first connection unit (8) via a spring element (14) on the robot arm (3) is arranged.

Description

The invention relates to a charging device for producing an electrical connection for charging an electrical energy storage device of a motor vehicle with a base to which an arm posture is arranged, and a robot arm arranged on the base via the arm support to which a first connection unit for establishing the electrical connection with a vehicle-side second connection unit is arranged. Moreover, the invention relates to a method for producing an electrical connection.

Robot arms for automatically establishing an electrical connection between a motor vehicle and a charging station usually have at least two links and two joints. It is envisaged that one of the joints connects the links with each other and connects the other of the joints of one of the links with a base. The joints allow for rotational movement of the limbs relative to each other and relative to the base. The base is arranged for example on a garage wall, a garage ceiling or a substrate on which the motor vehicle is parked for loading.

From the DE 10 2013 011 197 A1 as well as the US 2013 338 820 A1 In each case, a robot arm with a plug for the automated charging of a motor vehicle is known, wherein the robot arm is formed to a change in length.

The first connection unit may in particular be a charging plug. The second connection unit may be a charging socket of the motor vehicle corresponding to the charging plug. Alternatively, conversely, the first connection unit can be designed as a socket and the second connection unit as a plug.

The first connection unit may be arranged on one of the base-remote side of the robot arm. By corresponding movement of the robot arm, the first connection unit for establishing electrical connection can be moved in the direction of the second connection unit.

The disadvantage is that such a charging device is designed very expensive.

It is therefore an object of the present invention to provide a less complicated charging device for automatically establishing an electrical connection with a motor vehicle.

This object is achieved by the subject independent claims. Advantageous embodiments with expedient developments are the subject of the dependent claims.

• - die Basis zwei Linearantriebe, deren jeweils einziger Freiheitsgrad relativ zueinander senkrecht ausgerichtet ist, aufweist, wobei
• - die Armhalterung durch ein Zusammenspiel der zwei Linearantriebe bezüglich der Freiheitsgrade beider Linearantriebe verschiebbar ist, wobei
• - der Roboterarm als Teleskoparm mit einem Teleskopauszug ausgeführt ist und der einzige Freiheitsgrad relativ zu der Armhalterung eine Längenänderung längs zu dem Teleskopauszug ist, und wobei
• - die erste Verbindungseinheit über ein Federelement an dem Roboterarm angeordnet ist.

In order to develop a charging device with the features of the preamble of patent claim 1 such that a lower complexity of the charging device is made possible, it is provided according to the invention that

• - The base two linear actuators, each having a single degree of freedom is oriented perpendicular to each other, wherein
• - The arm holder is displaceable by an interaction of the two linear drives with respect to the degrees of freedom of both linear drives, wherein
• - The robot arm is designed as a telescopic arm with a telescopic extension and the only degree of freedom relative to the arm holder is a change in length along the telescopic extension, and wherein
• - The first connection unit is arranged via a spring element on the robot arm.

The charging device according to the invention thus has a total of three independently controllable, linear degrees of freedom. In this way, on the one hand, a particularly simple control of the movement of the first connection unit relative to the base is made possible and, on the other hand, a low mechanical complexity is made possible. The robotic arm may additionally include an actuator for controlling movement of the telescoping arm.

By the spring element, a sufficient flexibility between the charging device and the motor vehicle can be made possible. This applies in particular when the first and / or the second connection unit have means for locking the electrical connection, in particular of the first and the second connection unit with one another. A movement of the motor vehicle in such a locked state could otherwise result in damage to the charging device, in particular the first connection unit, and / or the second connection unit. The spring element may be, for example, a helical spring or an elastic rubber.

It should be noted that the spring element is only optional part of the charging device according to the invention. For example, the necessary flexibility in other ways, for example, by a slight play in the two linear drives and / or the telescopic extension, be ensured.

• - Bewegen einer Armhalterung relativ zu einer Basis einer Ladeeinrichtung durch Ansteuern zweier Linearantriebe der Basis, und anschließend
• - Herstellen der Verbindung durch Bewegen eines als Teleskoparm ausgeführten und an der Armhalterung angeordneten Roboterarms, wobei ein Teleskopauszug des Roboterarms in Richtung einer fahrzeugseitigen zweiten Verbindungseinheit entlang des einzigen Freiheitsgrades des Roboterarms relativ zu der Basis bewegt wird, so dass eine am Roboterarm über ein Federelement angeordnete erste Verbindungseinheit mit der zweiten Verbindungseinheit elektrisch leitend verbunden wird.

A second aspect of the invention relates to a method for, in particular automated, establishing an electrical connection between a motor vehicle and a charging device for charging an electrical energy store of the motor vehicle. The method comprises the following steps:

• - Moving an arm holder relative to a base of a charging device by driving two linear drives of the base, and then
• Establishing a connection by moving a robot arm designed as a telescopic arm and arranged on the arm support, a telescopic extension of the robot arm being moved in the direction of a vehicle-side second connection unit along the single degree of freedom of the robot arm relative to the base, so that a robot arm is arranged via a spring element first connection unit is electrically conductively connected to the second connection unit.

In particular, the method is carried out by the charging device according to the invention. For example, the charging device according to the invention has a control unit for carrying out the method.

According to a development of the method, it is provided in an additional step that after a locking of the electrical connection between the first and the second connection unit, the spring element is tensioned by a movement of the robot arm in the direction of the base. For example, a telescoping arm shortening movement is performed by the robot arm for this purpose. In this way, the spring element is tensioned, which improves the above-mentioned flexibility between the charging device and the motor vehicle.

Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing (s). The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or in isolation, without the scope of To leave invention.

• 1 in einer schematischen Ansicht ein Kraftfahrzeug, welches an einer Ladeeinrichtung steht;
• 2 auszugsweise eine schematische Seitenansicht des Kraftfahrzeugs sowie die Ladeeinrichtung; und
• 3 eine schematische Perspektivansicht eines Roboterarms der Ladeeinrichtung.

Showing:

• 1 in a schematic view of a motor vehicle, which is on a charging device;
• 2 in extracts a schematic side view of the motor vehicle and the charging device; and
• 3 a schematic perspective view of a robot arm of the charger.

1 and 2 show a motor vehicle 2 with a second charging unit 9 , By means of the second charging unit 9 For example, an electrical connection to a charging device can be established. This electrical connection allows the supply of the motor vehicle 2 with electrical energy for charging an electrical energy storage of the motor vehicle 2 , By way of example, the electrical energy store is a traction battery or a high-voltage electrical store, in particular having an operating voltage of more than 200 V. The electric energy store can be an electric drive machine of the motor vehicle 2 be supplied with electrical energy.

The 1 and 2 also shows a charging device 1 for producing an electrical connection for charging the energy store of the motor vehicle 2 , The charging device 1 has a base 15 on which in turn two linear drives 4 . 5 includes. It is also at the base 15 an arm mount 10 arranged. The arm holder 10 is relative to the base 15 by means of the two linear drives 4 . 5 displaceable. For example, the arm holder 10 on a rail system of the base 15 arranged. In the present case, the rail system has rails 6 . 7 on. A second rail 7 is slidable on two first rails 6 stored. For example, the second rail 7 parallel to a main extension direction of the first rails 6 slidable on the first rails 6 stored. In the present example, the second rail 7 vertically displaceable on the first rails 6 arranged. The arm holder 10 in turn is displaceable on the second rail 7 arranged. In particular, the arm holder 10 along a main extension direction of the second rail 7 displaceable. The present is the arm holder 10 through the second rail 7 displaceable in horizontal direction. By appropriate displacement of both the second rail 7 relative to the first rails 6 as well as the arm holder 10 relative to the second rail 7 , is the arm holder 10 displaceable with respect to two translatory degrees of freedom. In particular, the arm holder 10 both vertically and horizontally displaceable within a plane.

For controlling the arm holder 10 with respect to a movement along the rails 6 . 7 has the base 15 respective linear drives 4 . 5 on. The linear actuators 4 . 5 are designed to hold the arm 10 concerning the rails 6 . 7 to move or to move. For example, the linear drives 4 . 5 be designed as stepper motors.

At the arm holder 10 is a robotic arm 3 arranged. The robot arm 3 is designed as a telescopic arm. Through a telescopic extension of the robot arm 3 is a length of the robot arm 3 variable. For example, the robot arm for this purpose have a further linear drive, in particular a stepper motor. In other words, the robot arm points 3 one degree of freedom. At one of the base 15 opposite side of the robot arm 3 is a first connection unit 8th on the robot arm 3 arranged. 3 shows in a schematic perspective view of the robot arm 3 , the first connection unit 8th and a spring element 14 , The first connection unit 8th is about the spring element 14 on the robot arm 3 arranged. The spring element 14 is in the present case designed as a helical spring.

For establishing the electrical connection between the motor vehicle 2 and the charging device 1 First, the arm holder 10 in a suitable position relative to the motor vehicle 2 emotional. For example, this is the position of the motor vehicle 2 by optional sensors of the charging device 1 certainly. Moving the arm holder in the appropriate position by means of linear drives 4 . 5 , By appropriate movement of the linear drives 4 . 5 becomes the arm holder 10 in particular, brought a position in which the connection between the first connection unit 8th and the second connection unit 9 by a change in length, ie in particular by an extension, of the telescopic arm designed as a robot arm is possible.

The first connection unit 8th and the second connection unit 9 can each be designed as a corresponding connector. For example, the first connection unit 8th as a plug and the second connection unit 9 designed as a socket. In another example, the first connection unit is 8th as a socket and the second connection unit 9 designed as a plug. In particular, the first connection unit 8th and / or the second connection unit 9 a locking mechanism. By the locking mechanism, a mechanical connection made between the first connection unit and the electrical connection can be made 8th and the second connection unit 9 be locked or locked. A release of the connection in the locked state is no longer possible.

An electrical connection between the first connection unit 8th , ie in particular the charging plug, and a charger 13 , in particular a so-called wallbox, is in this case partially by a spiral cable 11 provided. In the present embodiment, the spiral cable connects 11 the first connection unit 8th with the base 15 , From the base 15 closes is a conventional cable 12 indicating the electrical circuit with the charger 13 closes. A spiral cable 11 can a stowage position 18 the charging device 1 be stowed in a space-saving way.

2 shows the charger in the stowed position 18 , In 1 the charging device is shown in two different positions, namely on the one hand in the stowed position 18 , in the loading position 19 in which the connection between the connection units 8th . 9 is manufactured, and in a further unspecified exemplary position.

In particular, it is provided that after establishing the connection between the connection units 8th . 9 the locking mechanism is transferred to the locked state. Subsequently, by the robot arm 3 the spring element 14 curious; excited. This can be achieved by shortening the length of the telescopic extension of the robot arm 3 respectively. In other words, the robot arm becomes 3 shortened by appropriate control of the telescopic extension to the spring element 14 to stretch. In the tensioned state is a movement of the motor vehicle 2 possible without the charging device 1 to damage. For example, allows a back movement of the robot arm 3 by 2 cm a movement of the motor vehicle 2 relative to the charging device 1 by 5 cm along a vehicle vertical axis and a vehicle longitudinal axis of the motor vehicle 2 and 1 cm along a vehicle transverse axis of the motor vehicle 2 , This is due to knowledge that the motor vehicle 2 When the parking brake is activated, it is usually possible to move forward and backward by a maximum of 5 cm. Measurements of a movement of the motor vehicle 2 When boarding and alighting passengers have shown that maximum movements of 5 cm and along the vehicle transverse axis movements of 1 cm are expected along the vehicle longitudinal axis and the vehicle's vertical axis. By the spring element 14 can make him a rotation of the motor vehicle 2 be compensated for its vehicle transverse axis.

Overall, the embodiment shows how a less complicated charging device is provided for automatically establishing an electrical connection with a motor vehicle.

LIST OF REFERENCE NUMBERS

1

loader

2

motor vehicle

3

robot arm

4

linear actuators

5

linear actuators

6

rail

7

rail

8th

first connecting element

9

second connecting element

10

arm bracket

11

spiral cable

12

electric wire

13

charger

14

spring element

15

Base

18

stowed

19

loading position

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102013011197 A1 [0003]
• US 2013338820 A1 [0003]

Claims (6)

Charging device (1) for establishing an electrical connection for charging an electrical energy store of a motor vehicle (2), comprising - a base (15) with an arm holder (10), and - one on the arm holder (10) on the base (15) Robot arm (3) on which a first connection unit (8) for establishing the electrical connection with a vehicle-side second connection unit (9) is arranged, wherein - the robot arm (3) as a single degree of freedom relative to the arm support has a change in length, characterized in that - the base has two linear drives (4, 5) whose respective single degrees of freedom are oriented perpendicularly relative to one another, wherein - the arm holder (10) is actuated by an interaction of the two linear drives (4, 5) with respect to the degrees of freedom of both linear drives (4, 5) is displaceable, wherein - the robot arm (3) is designed as a telescopic arm with a telescopic extension and relat the only degree of freedom iv to the arm holder (10) is a length change along the telescopic extension, and wherein - the first connection unit (8) via a spring element (14) on the robot arm (3) is arranged. Charging device (1) after Claim 1 , characterized in that the robot arm (3) by the two linear drives (4, 5) along the degrees of freedom of both linear drives (4, 5) relative to the base (15) parallel to the base (15) is displaceable. Charging device (1) after Claim 1 or 2 , characterized in that the single degree of freedom of the robot arm (3) relative to the arm support (10) is oriented perpendicular to the degrees of freedom of the two linear drives (4, 5). Charging device (1) according to one of the preceding claims, characterized in that the electrical connection between the base (10) and the first connection unit (8) is provided by a spiral cable (11) arranged outside the robot arm (3). Method for producing an electrical connection between a motor vehicle (2) and a charging device (1) for charging an energy store of the motor vehicle (2), with the steps: - Moving an arm holder (10) relative to a base (15) of the charging device (1) by driving two linear drives (4, 5) of the base (15), and then - Establishing the connection by moving a telescopic arm and arranged on the arm mount robot arm (3), wherein a telescopic extension of the robot arm (3) towards a vehicle-side second connection unit (9) along the single degree of freedom of the robot arm (3) relative to the base is moved, so that a on the robot arm (3) via a spring element (14) arranged first connection unit (8) with the second connection unit (9) is electrically connected. Method according to Claim 5 characterized in that - after the connection has been established, the first and second connection units (8, 9) are positively locked at least relative to the single degree of freedom of the robot arm (3) relative to the base (15), and subsequently - the spring element (14 ) is tensioned by a movement of the robot arm (3) away from the second connection unit (9).

Images