CN206171211U - E vehicle to unknown automatically inserts charging plug through robot - Google Patents

Abstract

The utility model relates to automatically inserting a charging plug into an unknown E vehicle through a robot (the E gas station does not know the vehicle data), in particular to an interface for automatically inserting a charging plug (5) into a vehicle (7) The robot (4) in (6) comprises at least one actuator (10) and at least one detecting device (12) for detecting the interface (6), wherein the robot (4) is constructed in such a way that the robot (4) is After detecting the interface (6), the charging plug (5) is automatically inserted into the interface (6), wherein the robot (4) is designed in such a way that the robot (4) determines at least the interface ( 6) and depending on the type of the interface (6) to select the charging plug (5) for the insertion process, and the utility model relates to a method for automatically inserting the charging plug (5) into the vehicle (7) method in interface (6).

Description

Automatic insertion of charging plugs for unknown E vehicles by robot

technical field

The utility model relates to a robot and a method for automatically inserting a charging plug of a charging station into an interface of a vehicle.

Background technique

High-voltage vehicle batteries with high capacities can be realized through the gradual continued development of batteries with very high energy densities. Electric vehicles can thus be used for long distances.

In order to keep the charging time (stopping time of the vehicle) short, the energy store must be charged with very high power (high current). The cable cross-section required for this must be enlarged. This increases the weight of the charging cable. In addition, the stiffness of the cable and thus the resistance to movement is increased.

The manipulation/insertion process thus becomes difficult and uncomfortable for people.

A charging system and method are known from DE 10 2009 006 982 A1 for charging an energy source of a transport device with a robotic unit movable in particular in three axes, which automatically couples a charging device to an interface of the energy source . The coupling for the energy supply here can easily be tilted during the insertion process in order to balance the vertical axis and/or be insensitive to rotation.

A charging system for motor vehicles is known from document DE 10 2012 014 936 A1, with a robot with a control device, a force detection device and a plug fixed to the robot, which plug is set up to be able to establish a connection with a mating plug on the vehicle side A loose plug-in connection for charging an electric energy store of a motor vehicle, wherein the control device is configured to communicate with the force detection device and the plug guided by the robot communicates with the force detection device based on the force determined by the force detection device. Mating plug connection. Furthermore, this publication discloses a detection device for detecting an object in order to carry out a prepositioning.

The detection device is designed, for example, as a camera. The robot can have multi-axis force and/or torque sensors here. Additionally or alternatively, the force detection device can have one or more force sensors at the shaft, in particular the joint, and/or the transmission of the drive, in particular the robot, in particular at the rotary joint drive motor and/or the transmission With torque sensor. Furthermore, the robot can have an actuator designed as a gripper for automatically opening or closing the charging plug. Furthermore, a safety friction clutch is known between the plug and the robot arm, which breaks off in the event of excessive relative movements during the charging process. The automatic insertion of the charging plug can be carried out very well with the aid of such a robot.

Contents of the invention

Starting from the prior art, the technical problem of the invention is to create a robot whose usability is improved and to provide a corresponding method for its use.

The solution to the technical problem results from a robot with the features of claim 1 and a method with the features of claim 9 . Further advantageous refinements of the invention emerge from the subclaims.

For this purpose, a robot for automatically inserting a charging plug into an interface of a vehicle comprises at least one actuator and at least one detection device for detecting the interface, wherein the robot automatically inserts the charging plug into the interface after detecting the interface. The robot is designed in such a way that it determines at least the position and type of the interface from the data of the detection device and selects the charging plug for the insertion process as a function of the type of interface. It is hereby also possible to charge vehicles which cannot communicate with the switchboard or the robot of the charging station. Thus, contrary to the prior art, the data of the detection device are not only used for pre-positioning, but also for determining the type and position of the vehicle's connections, so that vehicles for which no prior information is available can also be charged.

The type of interface can be determined, for example, by comparing the data of the detection device with the data of a database of existing interfaces stored in the robot or switchboard.

In one embodiment, a geometric feature of the vehicle is additionally determined from the data of the detection device and stored together with the data on the type and position of the interface. As a result, these data can then be used at a later point in time and the system learns to a certain extent on its own, so that in new vehicles with similar geometrical features, information on the type and position of the connections is already available. This data can be stored in the robot or switchboard at the charging station.

In a further embodiment, the robot has a further actuator which can automatically open or close the charging flap in front of the connection, so that the charging process can be further automated.

In a further embodiment, the robot has at least one force detection device. This firstly makes it possible to align the detection device relative to the interface by manual contact by the robot. As a result, manual prepositioning can be carried out very easily, in particular if the robot is positioned inappropriately relative to the interface so that the detection device cannot detect the interface in a sensory manner.

Alternatively or additionally, the at least one force detection device can be used to carry out the insertion process at least partially force-regulated, as described in DE 10 2012 014 936 A1.

In a further embodiment, the robot is designed in such a way that the actuator grasps the charging plug of the charging point and carries out the insertion process of the charging plug, wherein after the insertion process is completed (that is to say before the end of charging) the actuator releases the charging plug and The robot moves into another position. The robot can thus operate several charging points and already carry out another plug-in process while the first vehicle is still being charged.

In a further embodiment, the robot or the detection device is designed to be movable in such a way that the detection device can be moved relative to the vehicle in order to detect the interface. For this purpose, for example, a trajectory determined in advance is followed until an interface is detected.

With regard to the refinement of the method aspect of the invention, reference can be made to the preceding embodiments in all respects.

Description of drawings

Next, the utility model is explained in more detail according to preferred embodiments. The single figure shows a schematic illustration of a charging station for charging an energy store of a motor vehicle.

detailed description

The charging station 1 includes a switchboard 2 , a plurality of charging piles 3 and a robot 4 . Charging post 3 is at least partially designed with a plurality of charging plugs 5 , which are designed for different connections 6 on vehicle 7 . Furthermore, the switchboard 2 includes a wireless communication interface 8 . The robot 4 also has a wireless communication interface 9 , a first actuator 10 and a second actuator 11 . A detection device 12 , for example in the form of a camera, is arranged on the actuator 10 . The actuators 10 , 11 are associated with force detection devices 13 , 14 . Furthermore, the robot 4 includes at least one evaluation and control unit 15 . The robot 4 is configured to be movable along the guide 16 .

If an unknown vehicle 7 with an unknown interface 6 now arrives at the charging station 1 , but cannot communicate with the charging station 1 or the switchboard 2 of the charging station 1 , then the vehicle 7 is assigned a charging point 3 . This allocation can be carried out by personnel or by optical instructions. The vehicle 7 is then steered autonomously or assisted by the driver and parked at the assigned charging point 3 . If the connection 6 is locked by a charging flap (not shown), this is opened either manually by the driver, automatically by the vehicle 7 or by means of an actuator 11 . The detection device 12 then detects the position and type of the interface 6 as well as the geometry of the vehicle 7 . For this purpose, if possible, the detection device 12 is aligned in advance with respect to the interface 6 . This can be done, for example automatically, by the robot 4 itself by moving and/or pivoting the detection device 12 , for example. Alternatively, this can also be done manually by moving the actuator 10 in the direction of the interface by the guided contact, since it is displaced due to the force setting of the contact force. The robot 4 then evaluates the detected type of the interface 6 in the evaluation and control unit 15 and grasps the charging plug 5 suitable for this purpose. The charging plug 5 is then automatically inserted into the socket 6 by means of an actuator 10 in a force-regulated manner. Then the connection of the charging plug 5 to the connection 6 can then be locked automatically or manually. The actuator 10 then releases the charging plug 5 and the robot 4 moves along the guide 16 towards the other charging point 3 or into the rest position. Data on the type and position of the interface 6 are stored together with the geometrical data of the vehicle 7 in the robot 4 and/or switchboard 2 so that they are available for the next visit to the charging station 1 .

If the charging process is completed or should be completed earlier, the robot 4 drives to the corresponding charging point 3 and automatically unlocks the charging plug 5 according to instructions from the vehicle 7 or according to instructions from the driver. The robot 4 then pulls the charging plug 5 and places the charging plug 5 in or at the charging post 3 (for example in a storage box). The charging flap is then closed by the robot 4 , the vehicle 7 or the driver and the vehicle 7 can be removed from the charging station 1 .

Claims (8)

1. one kind is used for the robot (4) being automatically inserted into charging plug (5) in the interface of vehicle (7) (6), including at least One executor (10) and at least one detection device (12) for being used for sniffing interface (6), wherein the robot (4) so structure Make, that is, cause the robot (4) that the charging plug (5) is automatically inserted into into interface (6) after the interface (6) is detected In,

Characterized in that,

The robot (4) is constructed so as to, that is, cause the robot (4) at least true from the data of the detection device (12) The position of the fixed interface (6) and type and the type selecting of the interface (6) is depended on to be used for the charging of insertion process and insert Head (5).

2. robot according to claim 1, it is characterised in that the robot (4) is constructed so as to, that is, cause from described The geometric properties of vehicle (7) are additionally determined in the data of detection device (12) and by the geometric properties and the interface (6) Type and the data of position be stored together.

3. according to robot in any one of the preceding claims wherein, it is characterised in that the robot (4) is held with another Row device (11), another executor is constructed so as to, i.e., another executor can be automatically turned on or charge closing cover plate.

4. robot according to claim 1 and 2, it is characterised in that the robot (4) detects with least one power Equipment (13,14).

5. robot according to claim 4, it is characterised in that the robot (4) is constructed so as to, i.e., by the machine The manual contact of device people (4) makes the detection device (12) be aligned relative to the interface (6).

6. robot according to claim 4, it is characterised in that the robot (4) is constructed so as to, that is, cause at least portion Point soil fertility adjustably realizes insertion process.

7. robot according to claim 1 and 2, it is characterised in that the robot (4) is constructed so as to, that is, cause institute State executor (10) to catch the charging plug (5) of charging pile (3) and perform the insertion process of the charging plug (5), wherein The executor (10) discharges the charging plug (5) and the robot (4) goes to another one after insertion process terminates Put.

8. robot according to claim 1 and 2, it is characterised in that the robot (4) or the detection device (12) It is configured to so to move, that is, the detection device (12) is moved relative to vehicle (7), for detects the interface (6)。