WO2019214935A1

WO2019214935A1 - Charging apparatus having charging plug

Info

Publication number: WO2019214935A1
Application number: PCT/EP2019/060314
Authority: WO
Inventors: Norbert Settele; Albrecht Hoene; Tobias Ortmaier; Jens Kotlarski; Matthias Dagen
Original assignee: Kuka Deutschland Gmbh
Priority date: 2018-05-08
Filing date: 2019-04-23
Publication date: 2019-11-14
Also published as: DE102018111008B3

Abstract

The invention relates to a charging apparatus (1) having a charging plug (2) for connecting to a charging connection (3) of a vehicle (4). The charging apparatus (1) comprises a movement device (5), which is designed to move the charging plug (2) in a partly or fully automatic manner and to connect same to the charging connection (3). The movement device (5) can be operated in a human-robot collaboration-restricted movement mode having restricted dynamics and/or limited force and in an unrestricted movement mode. A safety apparatus (12) having at least a touch-sensitive and movable contact body (13) is arranged on the charging plug (2). The movement device (5) can be controlled according to the safety apparatus (12). In particular, switching from the human-robot collaboration-restricted movement mode to the unrestricted movement mode can be enabled or prevented on the basis of the state of the safety apparatus (12).

Description

LOADING DEVICE WITH CHARGER

DESCRIPTION

The invention relates to a charging technology for electric vehicles, in particular a charging plug, a

Charging device with a partially or fully automatically feasible charging plug and a

Loading preparation process.

In practice it is known to vehicles with a

equip electrical drive energy storage, which provides a significant part or the full power for the drive of the vehicle. Such vehicles are referred to in the context of the present invention as electric vehicles or hybrid vehicles.

Furthermore, they are autonomous and highly automated

Vehicle guidance systems in development and partly in practice introduced by the vehicles with or without passengers in the field of electrical

Charging station are movable. Charging a vehicle in the present disclosure means transferring electrical energy to the electrical system

Drive energy storage of the vehicle.

The charging technique according to the present disclosure seeks to provide an apparatus and method by which an electrical charging process for a vehicle possibly initiated and / or carried out without human involvement, the charging technique has a safety technology to prevent injury in the event of unexpected access from the outside or a fault.

The invention solves this problem by the features of the independent claims.

The present disclosure includes a charging device with a charging plug for connection to a

Charging connection of a vehicle. The charging port may be a charging socket, which is usually arranged in the side region of the body. The vehicle may be in particular a passenger car or truck driven partly or fully electrically. The vehicle may have two, four or more wheels.

The charging device comprises a movement device, which is designed to move the charging connector partially or fully automatically and to connect to the charging port. The motion device is operable in a limited dynamic range and / or limited force MRK restricted motion mode as well as in an unrestricted motion mode. On the charging plug is a protective device with at least one

touch-sensitive and movable contact body

arranged. The movement device is controllable depending on the protection device. In particular, one is Switching from the MRK restricted motion mode in the unrestricted motion mode based on a state of the protection device is releasable or preventable.

The abbreviation "MRK" stands for human-robot cooperation and in particular human-robot-collaboration and is one more established in the field of automation technology

Term. What requirements for a MRK-compliant

Movement and the appropriate training of a

Moving device are, for example, the technical specification ISO / TS 15066 or the standard EN ISO 10218-1,2 refer.

A charging plug according to the present disclosure is provided for connection to a charging port of a vehicle by means of a joining movement. The charging plug has a foot area on a plug housing

arranged. From the foot area, a guide wall extends in the direction of the intended

Joining movement. On the guide wall is a

Formed peripheral side, which runs corresponding to substantially parallel to the direction of the joining movement. On the front side of the guide wall is preferably a

Opening area provided for at least one electrical contact of the charging plug. The charging plug has the aforementioned protective device with at least one touch-sensitive and movable contact body. Depending on the protection device is a

safety-related condition ascertainable, in particular in condition of external access to the Charging plug and in particular its peripheral side or opening area close. In particular, it can be concluded that there is a pinch.

The present disclosure further includes

Loading preparation process for partial or

Fully automatic connection of a charging plug to a charging port on a vehicle. The

Charge preparation method makes of the charging device and / or the charging plug according to the present

Revelation use. It includes at least the following steps.

The charging plug is fully or partially moved by means of a moving device, wherein the

Movement device in a MRK-restricted

Movement mode is operated. The movement in the MRK restricted movement mode is preferably one

Prepositioning movement, by which the charging plug is positioned and aligned relative to the charging port, in particular such that it can be connected by a single and preferably linear joining movement with the charging port.

A condition of the protection device on the charging plug is detected. Depending on the state of the

Protection device, the movement device is switched to an unlimited movement mode. The

Switching takes place in particular if and especially only if and / or only if no safety-relevant condition is detected.

The movement device is in unlimited

Motion mode operated to connect the charging plug in a joining movement with the charging port. The joining movement is preferably a simple and short

Movement, in particular a linear or at most slightly curved plug movement. The joining movement is preferably carried out only after a successful pre-positioning of the charging plug.

According to a preferred embodiment, the joining movement is carried out in dependence on a state of the protective device and in particular interrupted when a safety-relevant state is detected by the protective device. Alternatively or additionally, other safety measures can be carried out during and / or during detection of a safety-relevant state. For example, a signaling can be made in order to draw attention to the safety-relevant state, for example by honking or other acoustic and / or visual signals.

In the MRK-restricted movement mode, the maximum forces and moments acting outwards from the movement device are limited such that injuries to a person caused by the movement device and / or the moving charging plug are excluded or high

Probability limited to an acceptable level become. The MRK-limited mode of movement thus effectively protects people who may be unexpectedly in the area and possibly access the outside of the movement device, the charging plug or a space between the charging plug and the charging port.

To carry out the joining movement, in particular for the mechanical connection of the charging plug with the

However, charge ports may be forces

(including moments) or a dynamic

(Movement speed / movement impulse etc.)

necessary, which are well above the permissible limits for MRK operation.

By the charging technique according to the present disclosure and in particular the use of the protection device on the charging plug a simple, cost-effective and safe protection function is provided which ensures in particular an effective contact or terminal protection.

Outside the joining process, i. especially during the pre-positioning a movement is lower and safer in terms of risk of injury

Drive energy / driving forces or a safe drive control executed, in particular such that an exceeding of the force limits is excluded. If no safety-relevant status is detected after completion of the pre-positioning, and

in particular, the state of the protection device not suggests that there is external access to the charging plug and / or the environment of the charging plug in the direction of the joining movement, the

Movement device are switched to the unrestricted motion mode. In this movement mode, operation of the movement device is permitted with significantly higher drive energy / drive forces or with unrestricted drive control and / or certain drives or device parts of the movement device, in particular drives or sub-devices specifically intended for the joining movement

which, due to their maximum effective forces, moments, dynamics, etc., do not meet the limit values for MRK-compatible operation. The joining movement is preferably limited to a minimum movement, which is necessary for bringing into contact and secure connection of charging plug and charging port. The joining movement can be limited in particular to a linear plug movement whose movement length corresponds to the overlap length of the charging plug and charging connection in the securely connected state, plus if necessary. Tolerance distance, which can remain free before the joining movement between the opening portion of the charging plug and an outer boundary contour of the charging port , This length is preferably less than 5 cm,

in particular less than 1 cm.

Further preferred embodiments of the invention are described in the subclaims, the following Description of the figures and the accompanying drawings.

The invention is illustrated by way of example and schematically in the drawings. Show it:

Figure 1: a schematic side view of a

Charging device according to the present disclosure, wherein the charging plug for performing a joining movement relative to a charging port

prepositioned;

Figure 2: a perspective view of a

Charging plug (2) according to the present disclosure with a protective device in a preferred

Execution variant;

FIG. 3 shows a charging plug analogous to FIG. 2 with another embodiment variant of a protective device;

Figures 4 and 5: schematic sectional views of a

Charging plug and a charging port with other variants of a protective device.

FIG. 1 shows a charging device (1) according to FIG

present disclosure at the end of a pre-positioning of the charging plug (2). The loading device (1) has a movement device (5) which has at least one MRK-restricted movement mode and one unrestricted movement Has motion mode. Incidentally, the movement device (5) can have any desired design.

The movement device (5) may comprise, for example, a carrying device (7) and an end effector (10). The support device (7) can, for example, by an industrial robot, in particular a MRK-suitable

Lightweight robot be formed. The robot can

preferably at least three axes of motion, in particular three linear axes of motion, have a

Positioning plug at least in the horizontal direction and in the vertical direction relative to a charging port (3) of a vehicle (4). Alternatively or additionally, the robot can have further axes of movement to the charging plug (2) relative to the

Aligning the charging port (3), in particular so that each electrical contacts (21) to be connected to the charging plug (2) and charging port (3) are aligned coaxially with each other.

Again alternatively or additionally, the

Movement device (5) separate drives and / or

Aligning means for fine positioning and / or alignment or fine alignment of the

Charging plug (2) opposite a charging port (3) are provided and formed. In the example of Figure 1, an end effector (10) is provided, which is connected via a receiving flange (15) with a support device (7). At the end effector (10) are a

Tilting device (9) and a joining device (6) arranged. By the tilting device (9), the charging plug (2) and in particular its electrical

Contact (21) collinear or otherwise suitable to the charging port (3) are aligned. Of the

Charging port (3) can be vehicle-specific

be formed and positioned and / or oriented. By the joining device (6), a substantially linear joining movement (X) can be performed. At least the joining device (6) or a linear drive of the

Joining device (6) can be operated with a drive energy or drive control, the forces, moments, speeds, pulses, etc. causes at least in the area of the charging plug (2), which above and

in particular significantly above the limit values intended for MRK operation, in particular above the safe force limit values.

The movement device (5) and in particular the

End effector (10) may include a vision system (11) for detecting a position and / or orientation of a

Charging connection (3) to a vehicle (4) to determine. Alternatively, the charging device can have any other detection means in order to determine the position and / or position of a charging connection (3). Again alternatively, the charging device (1) can obtain a position and / or orientation of a charging port (3) on a vehicle (4) from an external source, for example from a separately arranged one

Detection device or a remote control. The charging plug (2) is connected via a connector housing (22) with the movement device (5) and in particular the

End effector (10) connected. The connector housing (22) may have any configuration. In the example of Figure 1, the plug housing (22) has a connection for an electrical lead (16) and a handle (30) as optional elements. In addition, additional devices can be arranged on the plug housing (22), which enable or support the connection of the charging plug (2) to the charging connection (3),

For example, a vibrating drive and / or a lubricating or sliding device and / or a heating or

Defrosting device.

If external access takes place before or during the joining movement (X), in particular in the area of the charging plug (2) or between the charging plug (2) and the

Charging port (3) could be generated by the force and / or dynamics unlimited movement a significant injury. In particular, one could

Crushing or butting injury to a foreign body, and in particular to the part of a hand (8) caused when an unexpected manual access occurs.

By the protective device (12) and in particular the at least one touch-sensitive and movable contact body (13) are one or more states

detectable, which can expect a manual access in the aforementioned area. Switching to the

unlimited motion mode and preferably also that Maintaining the unrestricted motion mode is preferably allowed only if, according to the state of

Protective device (12) and in particular the at least one touch-sensitive and movable contact body (13) no signs of manual access and in particular no signs of pinching are visible, i. if no safety-related condition is detected.

Thus, switching from one motion in the MRK restricted motion mode and from the MRK restricted motion mode to one motion is unlimited

Movement mode or in the unrestricted movement mode in response to the protection device (12) controllable and in particular by allowing or denying the switching. Likewise, switching from a movement in the unrestricted movement mode or from the unrestricted movement mode to a movement in the MRK-restricted one is a matter of course

Movement mode or in the MRK-restricted

Movement mode in response to the protection device (2) controllable, in particular by triggering or force the switching.

The movement device (5) is designed to connect the charging plug (2) through at least one

Prepositioning movement relative to the charging port (3) to position and preferred relative to the

Align charging port (3). The

Prepositioning movement is preferably restricted in MRK Movement mode executed, in particular exclusively in the MRK-limited motion mode.

In the example of Figure 1 is thus by the

Carrying device (7), in particular a robot, the end effector (10) with the charging plug (2) received thereon in the vertical and horizontal direction in front of the

Charging port (3) positioned. By the

Tilting device (9), the charging plug (2) is aligned relative to the charging port (3). The carrying device (7) and the tilting device (9) are preferably exclusively in the MRK-restricted movement mode

pressed.

The tilting device (9) can bring about an orientation of the charging plug about one, two or more axes of rotation, in particular about a vertical axis and a horizontal axis, which runs essentially perpendicular to the intended joining movement (X). In addition, a

Alignment about a further axis of rotation take place

in particular about a central axis or another axis of the charging plug (2), which is aligned parallel or coaxial with the direction of the joining movement (X).

The movement device (5) and in particular the

End effector (10) is preferably designed, the charging plug (2) by the joining movement (X) with the

Charging port (3) to connect. The joining movement (X) is carried out in the unrestricted movement mode, ie with a dynamic and / or with a force above the limits allowed in MRK-restricted motion mode.

In the example of FIG. 1, the joining movement (X) is carried out or caused by the joining device (6) and in particular a linear drive. The

Joining device (6) and in particular the linear drive is preferably controllable and has a brake or

Blockade function on. Is preferred by a

Activation of the braking or blocking function one

Immediate interruption of the joining movement (X) can be achieved. The braking or blocking function is preferably designed such that the movement of the charging plug (2) is brought to a standstill by a maximum value of the force and / or dynamics during the joining movement (X) while maintaining at least one predetermined limit value.

The predetermined limit can, for example, a

maximum braking distance and / or a minimum

Brake acceleration and / or a maximum deceleration time. The at least one limit value, in particular a force limit value, may be determined taking into account the abovementioned standards or specifications for MRK operation, in particular with regard to the joining force. Alternatively, the at least one threshold may be established in other suitable ways. According to a preferred embodiment, the at least one threshold may be statically determined. According to an alternative and likewise preferred embodiment, the at least one limit value can be defined dynamically, in particular in FIG Depending on a used charging plug (2), a known boundary contour of the charging plug (2) and / or the charging port (3) and / or in dependence on a current driving force and / or

Movement speed during the joining movement (X).

The charging device is preferably designed to initiate at least one protective measure when the unrestricted movement mode is active, in particular during the joining movement (X), and when, as soon as or during a safety-relevant state based on the protection device (12) is detected. Such

Protective measure may be in particular, the instantaneous movement of the charging plug (2) and / or other

mitbewegter device components to interrupt, in particular by the operation of the above-mentioned braking or blocking function. Alternatively or additionally, a protective measure may be to switch to the MRK-restricted movement mode. Such switching is especially during the

unrestricted motion mode makes sense, if no joining movement (X) is taking place. Again alternatively or additionally, a protective measure may be to initiate or carry out a separating movement by which the charging plug (2) is separated and / or removed from the charging port (3). This protective measure may also be limited during the presence of a MRK

Motion mode triggered or completed. Again alternatively or additionally, a protective measure can Issue a security alert. The

Safety warnings may be issued in any manner and in one or more forms, such as visual indication, electronic signal, audible signal, or the like.

According to a further preferred embodiment, a limited movement mode can also be provided for a separating movement.

Figures 1 and 2 show a preferred

Variant of the protection device (12). This has a switching frame (14), which the

Opening region (17) and / or the peripheral side (18) of the charging plug (2) annularly surrounds. The switching frame (14) may be formed in one or more pieces. It is preferably movable in the direction of the intended joining movement (X) of the charging plug (2). Alternatively or

In addition, another mobility can be provided.

In a basic position, the switching frame (14)

preferably arranged with a boundary contour in the direction of movement (X) in front of the opening region (17) of the charging plug (2). A movement of the switching frame (14) or one of its switching frame segments is preferred

sensory detectable and leads to the detection of a safety-relevant condition. In the example of Figure 2, the switching frame (14) by four switching segments (14, 14, 14 ''') formed, of which the second Switch frame segment (14 ^{/ y} ) in the basic position and the other switching frame segments (14 ', 14'') in one

Trigger position are shown.

Figure 3 shows another embodiment of the

Protective device (12). Here, the protective device (12) has a plurality of switching means (20) which surround the

Opening region (17) and / or the insertion of the charging plug (2) are arranged, in particular in an annular arrangement. The switching means (20) are shown in a basic position in which the in the

Moving direction (X) facing ends of the switching means (20) substantially at the level of the end face of the

Charging plug (2) in the opening area (17) lie.

Alternatively, the front ends in the

Movement direction (X) in the basic position have a different position, in particular in the direction of movement (X) beyond the opening area (17) protrude.

The switching means (20) are preferably at least in

Direction of the intended joining movement (X) of the

Charging plug (2) movable. Alternatively or additionally, a mobility in a different direction

be provided. Preferably, by detecting a movement of at least one switching means (20) from the home position to a trip position

safety-relevant condition recorded.

FIG. 4 shows another variant of the protective device (12). Here is an on or Multi-part switching frame (14) provided analogous to the above. Furthermore, the charging plug (2) is at least partially of a flexible

Form bellows (24) surrounded. In the example of FIG. 4, the shaped bellows (24) are fastened on one side to the foot region (23) of the charging plug (2). Alternatively, any other fastening variant can be selected. The shaped bellows (24) surrounds in the example of Figure 4, the peripheral side (18) of the charging plug (2) and further preferably the protective device (12), so that they are protected from external weather conditions and other undesirable effects. Instead of a

Form bellows can be provided any other limited dimensionally stable and flexible enveloping means.

FIG. 5 again shows another embodiment of the protective device (12). Here, the charging plug (2) is at least partially surrounded by a protective skin (25). The protective skin (25) can have any design and shape. It preferably extends at least in the region of the peripheral side (18) of the charging plug (2) and / or at the edge of the opening region (17) of the

Charging plug (2) or at the edge of the insertion.

In the example of Figure 5, the protective skin (25) is spaced at one or more locations by an elastic means against a contour of the charging plug (2). It can, for example, a flexible padding

be provided and / or one or more outlined in Figure 5 elastic return elements (26) or Feathers. A gas volume may be enclosed between the protective skin (25) and a contour of the charging plug (2) and / or a contour of the foot region (23). The

Gas volume can undergo a change in state by touching or changing the shape of the protective skin (25). The charging device (1) and / or the charging plug (2) preferably has a detection device (27) which detects or monitors the state and in particular the pressure of the gas volume. On the basis of a change of state of the gas volume, in particular on the basis of a

Pressure change / pressure increase, the achievement of a certain predetermined pressure and / or a

Gas acceleration is a safety-relevant condition detectable. In the example of Figure 5 is the

Detecting device (27) in the foot area (23) of

Charging plug arranged. Alternatively, the

Detecting device (27) may be arranged at any other location. The detection device (27) may be a pneumatic safety valve.

At least one contact-sensitive element (28) can be arranged on or under the protective skin (25) of the charging plug (2). This may in particular be a switching contact strip or a switching mat. Based on a touch or change in shape of the protective skin and / or the contact-sensitive element (28) may be

safety-relevant condition are recorded.

At or below the protective skin (25) may alternatively or additionally arranged a capacitive sensor element (29) be. Based on the measuring signal of the capacitive

Sensor element (29) can be a safety-relevant

State be determined.

All the above and shown in the figures

Variants of the protective device (12) can be combined with each other in any way. In particular, the one or more switching means (20) may be provided alternatively or in addition to a one-piece or multi-part switching frame (14). Any type, number or combination of switching means, switch frames, switch frame segments, contact-sensitive elements and / or capacitive sensor elements may be provided in combination with the protective skin (25) and / or the bellows (24) or other enveloping structure.

In the examples shown, the charging plug (2) has one or more guide walls (19), which has a

Form border contour of the charging plug (2) transversely to the intended guide movement (X). On such

Guide wall (19) can be omitted if necessary. A peripheral side (18) of the charging plug (2) can optionally

be defined exclusively by relative to the foot region (23) in the direction of the joining movement (X) projecting electrical contacts (21).

If one or more guide walls (19) on

Charging plug (2) are provided, these can in

Connected state within or outside of possibly be present at the charging port (3) existing guide walls (19).

The one or more electrical contacts (21) of the charging plug (2) can have any desired design. In particular, one or more male

Contacts and one or more female contacts on the charging plug (2) may be provided. Alternatively, other forms of contact are possible, for example, only in

Area of the front side of the charging plug superficially on contact points of a charging connection (3) can be applied surfaces or contours.

The invention can be modified in various ways. In particular, all features shown or described with respect to the embodiment variants can be combined with one another in any desired way, replaced with one another or omitted.

The protection device may have an anticipatory contact (not shown) which, during the joining movement, produces the first physical system and possibly current-conducting contact with the charging connection. This

Pre-emptive contact can be compared to the others

electrical contacts (21) and with respect to the end face (17) to the charging port out. Switching between the restricted and the unrestricted mode can be done depending on the state of the leading contact. In particular, a switch to the unrestricted mode (only) may be permitted if the anticipatory contact has a physical and / or current conducting facility.

REFERENCE LIST Charger

charging plug

charging port

Vehicle / electric vehicle

mover

Joining device / linear drive

Carrying device / robot

Foreign body / hand

tilt device

end effector

Vision System

guard

Contact body

Schaltrahmen

First switching frame segment

Second switch frame segment

receiving flange

Supply line, electrical

Face / face / opening area / insertion area

Peripheral side / lateral surface

guide wall

switching means

Electric contact

plug housing

footer

bellow 25 protective skin

26 Elastic element

27 detection device / gas pressure sensor /

Gas flow sensor

28 contact-sensitive element

29 Capacitive sensor element

30 handle

X joining movement

Claims

1. charging device with a charging plug (2) for

Connection to a charging port (3) of a

Vehicle (4), wherein the charging device (1) comprises a movement device (5), which

is designed to move the charging plug (2) partially or fully automated and with the

Charging port (3) to connect, thereby

characterized in that the movement device (5) is operable in an MRK restricted movement mode with limited dynamics and / or limited force and in an unrestricted movement mode, and that on the charging plug (2) a protection device (12) with at least one

is arranged touch-sensitive and movable contact body (13), wherein the movement device (5) in dependence on the protective device (12) is controllable.

2.) Charging device according to claim 1, wherein a

Switching from a movement in the MRK-restricted movement mode to the unrestricted movement mode in dependence on the protection device (12) is controllable, in particular by allowing or denying the switching.

3.) Charging device according to the preceding claim, 1 or 2, wherein the moving device (5) is adapted to the charging plug (2) through

at least one Vorpositionierbewegung relative to the charging port (3) to position and preferably to align, and wherein the Vorpositionierbewegung in the MRK-restricted movement mode is executable, in particular exclusively in the MRK-restricted movement mode.

4.) Charging device according to one of the preceding

Claims, wherein the movement device (5) is designed to pass through the charging plug (2)

at least one joining movement (X) with the

Charging port (3) to connect, the

Joining movement (X) in the unrestricted movement mode is executable, in particular with a dynamic and / or with a force that is above the limits, which is allowed in the MRK-restricted movement mode.

5.) Charging device according to one of the preceding

Claims, wherein the charging device (1) is adapted to provide a switching from the MRK restricted movement mode to the unrestricted movement mode after completion of the pre-positioning.

6.) Charging device according to one of the preceding

Claims, wherein the charging device (1) is adapted to, during the unrestricted

Movement mode depending on the

Protective device (12) at least one

Trigger protective measure, in particular to interrupt a momentary movement of the charging plug (2); and / or to switch to the MRK restricted motion mode; and / or cancel a charge; and or

- to initiate a separation movement to the

Remove the charging plug (2) from the charging port (3); and / or - issue a safety alert.

7.) Charging device according to one of the preceding

Claims, wherein the protective device a

Has switching frame (14), the one

Opening area (17) and / or at least one extending in the intended joining direction (X)

Circumferentially surrounds peripheral side (18) of the charging plug, wherein the switching frame (14) in particular in the direction of the intended joining movement (X) of the charging plug (2) is movable. Charging device according to one of the preceding

Claims, wherein the protective device (12) has a plurality of switching means (20) which surround a

Opening region (17) and / or insertion of the charging plug are arranged, in particular in an annular arrangement.

Charging device according to one of the preceding

Claims, wherein a switching means (20) in the direction of the intended joining movement (X) of the charging plug (2) is movable. Charging device according to one of the preceding

Claims, wherein the charging plug (2) is at least partially surrounded by a flexible form bellows (24) which is fixed on one side to a foot region (23) of the charging plug (2). Charging device according to one of the preceding

Claims, wherein the charging plug (2) is at least partially surrounded by a protective skin (25), in particular in the region of a peripheral side which is parallel to the direction of the intended joining movement (X) and / or at the edge of the opening portion (17) or insertion. Charging device according to one of the preceding

Claims, wherein between a protective skin (25) and a contour of the charging plug (2) and / or a contour of the foot region (23) of the charging plug (2), a gas volume is included, and wherein a

Detection device (27) is provided, which detects a safety-relevant state based on a change in state of the gas volume. Charging device according to claim 10, wherein on or under a protective skin (25) of the charging plug (2) at least one contact-sensitive element (28) is arranged, in particular a switching contact strip or a switching mat, and wherein based on a touch or shape change of

Protective skin (25) and / or the contact-sensitive

Elements (28) a safety-relevant state is detected. Charging device according to claim 10, wherein at least one capacitive sensor element (29) is arranged on or under a protective skin (25) of the charging plug (2), and wherein on the basis of the measuring signal of the capacitive sensor element (29)

safety-relevant condition can be determined. Charging plug for connection to a charging port

(3) a vehicle (4) by means of a joining movement (X), wherein the charging plug (2) with a foot portion (23) on a connector housing (22) is arranged, and being of the foot region (23) in the direction of the intended joining movement (X) one

Guide wall (19) with a peripheral side (18) extends, and wherein at the front side of the

Guide wall (19) an opening portion (17) to at least one electrical contact (21) of the

Charging plug (2) is provided, thereby

in that the charging plug (2) has a protective device (12) with at least one

is arranged contact-sensitive and movable contact body (13), wherein, depending on the

Guard (12) a safety-relevant state is detected. Loading preparation process for partial or

Fully automatic connection of a charging plug (2) to a charging port (3) on a vehicle (4) using a charging device and / or a charging plug (2) according to one of the preceding claims, the method comprising the following steps: Full or partial automatic movement of the

Charging plug (2) by means of a

Movement device (5), wherein the

Moving device (5) is operated in a MRK restricted movement mode;

Detecting a state of the protection device (12) at the charging plug (2) and switching to an unrestricted movement mode depending on the state of the protection device (12);

Actuating the movement device (5) in the unrestricted movement mode to the charging plug (2) in at least one

Joining movement (X) to the charging port (3) to connect. 1 7.) charging preparation method according to the preceding claim, wherein the joining movement (X) in dependence on a state of the protective device (12) is carried out and in particular interrupted when by the protective device (12) a

safety-relevant condition is detected.