Device for positioning a charger connector

Abstract

The invention relates to a device for positioning a charger connector, in particular with respect to a vehicle mating connector, the device comprising a hanger for a charging cable assembly connected at one end to the charger connector, the hanger comprising a first hanger point for clamping the charging cable assembly at a point away from the one end in a predetermined orientation and position, the orientation and position together with the rigidity of the cable assembly and the gravitational force acting on the cable assembly defining a preferred position and / or preferred orientation of the one end, and a second hanger point for engaging the charging cable assembly at the one end of the charger connector, wherein the second hanger point comprises a manipulator for manipulating the position and / or orientation of the charger connector with respect to a fixed world within a range around the preferred position and / or preferred orientation of the one end of the cable assembly.

Description

Technical Field

[0001] The present invention relates to a device for positioning a charger connector, particularly relative to a vehicle contra connector. Background Technology

[0002] Electric vehicles continue to gain popularity. Previously claimed drawbacks (such as a lack of charging points) appear to have been overcome, not only because installing charging points in home or office environments is now readily available to many. As more people become accustomed to charging their cars, there is also room for further simplification of the charging process for users. One direction for simplification is the automatic connection and disconnection of the electrical connectors between the vehicle and the charger. For trucks and buses, it is known to use large contact surfaces on or under vehicles and / or systems using pantographs. For passenger cars, and also for other applications where manual connection must be possible, known solutions are unsuitable or inconvenient to apply. For example, it is inconvenient or impractical to implement them with large contact surfaces or pantographs for passenger cars; on the other hand, it is desirable to keep the charger compact and simple in many cases.

[0003] Attempts to automate this process, which involves inserting a standard charger connector into and connecting it to a vehicle docking connector, are hampered by several factors. Inserting a standard charging connector into a standard vehicle docking connector is a highly precise task. The high charging currents required by the increasingly common DC chargers for charging vehicles result in heavy, stiff cables, while still necessitating the necessary precision, care, and safety in connecting and disconnecting the connector. The combination of the precision required to manipulate the charging cable and the considerable force and torque involved makes automating this operation challenging, especially when additional speed requirements are placed on the process. Summary of the Invention

[0004] The objective of this invention is to provide a solution for automating the connection between a charger connector and a vehicle docking connector for an electric vehicle, or at least to eliminate at least one of the disadvantages of the prior art.

[0005] The present invention further proposes an apparatus for positioning a charger connector, specifically relative to a vehicle docking connector, the apparatus comprising a charging cable assembly and a hanger for connecting the charging cable assembly to the charger connector at one end, the hanger comprising: a first hanger point for clamping the charging cable assembly in a predetermined orientation and position at a point remote from one end, the orientation having a preferred position and / or defining a preferred orientation of one end together with the rigidity of the cable assembly and the gravity acting on the cable assembly; and a second hanger point for engaging the charging cable assembly at one end of the charger connector, wherein the second hanger point includes a manipulator for manipulating the position and / or orientation of the charger connector relative to a fixed world within a range of preferred position and / or preferred orientation around one end of the cable assembly.

[0006] CN 107719181A, US2017270805A1, DE 102016014463A1, DE102017217601A1, and US2020031248A1 are examples of devices in which a charging cable assembly is held in a predetermined orientation and position, but these orientations do not, together with the rigidity of the cable assembly and the gravity acting on the cable assembly, have a preferred position and / or orientation in which one end is held by a second suspension point. Instead, in all these examples, if the second suspension point is removed, one end will fall to the ground.

[0007] The cable assembly according to the invention may include multiple cables that can be connected together, possibly as a single cable or in a common housing, conduit, or the like. It is generally suitable to meet (DC) standards, having a maximum charging current of at least 40 amps, but preferably at least 100 amps, and more preferably at least 200 amps, and / or at most at least 45 kW of charging power. The assembly may also include liquid cooling facilities for cables used in specialized vehicle applications, allowing currents of up to 300 amps and even 500 amps or significantly higher than 500 A.

[0008] Examples of suitable cables are: Phoenix contact CCS-2, DC cable, rated current 125A; Phoenix contact CCS-2, DC cable, rated current 200A; Phoenix contact CCS-2, HPC, liquid-cooled DC cable, rated current 500A; Phoenix contact CCS-1, HPC, liquid-cooled DC cable, rated current 500A; Huber & Suhne CCS-2HPC, liquid-cooled DC cable, rated current 500A; Huber & Suhne CCS-1HPC, liquid-cooled DC cable, rated current 500A; Phoenix contact GB / T, DC cable, rated current 80A; Phoenix contact GB / T, DC cable, rated current 250A; Anderson Power products, Euro-Din, 320A cable for battery-powered industrial trucks.

[0009] Possible connectors that can be applied include, for example, CCS-1, CCS-2, GB / T, CHAdeMO, ChaoJi, HPCCV, and Euro-DIN.

[0010] It can be used for any cable and / or plug according to standards IEC 62893 (charging cables for electric vehicles), IEC 62196 (plugs, sockets, vehicle connectors and vehicle entrances), IEC TS 62196-3-1CD (DC charging vehicle connectors and cable assemblies with thermal management systems), IEC 61851-23 (electric vehicle conductive charging systems - DC electric vehicle charging stations), GB / T (Chinese plug standard), DIN 43589 (connectors for battery-powered industrial trucks, 80, 160, 320A), UL 62 (US UL standard for the safety of cords and cables for electric vehicles), and UL 2251 (US UL standard for safety plugs, sockets and connectors for electric vehicles).

[0011] Cables and / or connectors may be purchased from Huber+Suhne, Phoenix Contact, Anderson Power Products, Amphenol, Yazaki, REMA, Leoni, ITT-Canon or other vendors.

[0012] When the manipulator is not engaged, the preferred position and / or orientation, as mentioned above, can be a statically balanced (equilibrium) or unbalanced position and orientation. In the unbalanced case, the manipulator may only require the application of a small force and / or torque to balance one end and / or connector. In this context, "small" should be understood as a small fraction of the influence of the weight and size of the cable between the attachment points.

[0013] Static equilibrium can be generated by the combination of the rigidity / stiffness of the cable assembly and gravity, and can also be generated by the winding of the cable as will be explained below with reference to specific embodiments.

[0014] Position and orientation in the sense of this invention may include definitions preferably in all six degrees of freedom, particularly including three-dimensional spatial definitions and rotational definitions. When one end is positioned and oriented in a certain position and orientation, clamping away from one end defines the force and torque of the cable assembly at that end.

[0015] In the preferred location and orientation, the charging cable of the charging cable assembly does not extend or substantially does not extend in the vertically downward direction within or at the height of the second suspension point, and / or the second suspension point is not at or below the ground level. In the preferred location, one end remains stable and above the ground level when the second suspension point is removed, or when the second suspension point applies a small fraction of the force and / or torque required to hold the cable in another, non-preferred but effective position without applying the invention. In other words, a configuration in which removing the second suspension point or applying a small force to the second suspension point results in the cable suspending substantially in the direction of gravity and / or the second suspension point being located on the ground is not the object of the invention.

[0016] Preferably, in the preferred orientation, if the second suspension point is removed, one end of the charging cable forms an angle of at least 45 degrees with the horizontal plane.

[0017] A preferred position and / or orientation may be such a position and / or orientation, or within a predefined distance from such position and orientation, where the average force or torque required to move one end from its equilibrium position is the lowest local absolute force and / or torque required to hold the connector in its functional orientation. The absolute force may be the norm of a six-degree-of-freedom torque vector.

[0018] Therefore, one end of the cable assembly partially bears its own weight, thus compensating for gravity. Because each type of cable from different manufacturers has its own stiffness characteristics, weight distribution characteristics, and dimensions, different clamping positions and / or orientations and / or cable winding geometries can exist for each individual cable. This results in the desired low force and torque required to move the cable at one end. A clamping position and / or orientation and / or cable winding geometry that is effective for one cable or cable type may actually be counterproductive for another cable type. Therefore, the clamp position can be adjustable or constructible, or the clamps can have different geometries, accompanying systems for different installation scenarios.

[0019] To quantify the stiffness characteristics of a cable assembly, a model of the cable assembly can be used. According to beam theory, the known bending stiffness B is calculated using the following formula.

[0020] B = EI

[0021] Where E is Young's modulus and I is the area moment of inertia. The charging cable assembly can be modeled using its simplified version as...

[0022]

[0023] Where r is the radius of the cable assembly, and E is the Young's modulus of the cable assembly. The simplification lies in the assumption that the solid cable has a circular cross-section and that there is no distinction between the materials. These assumptions do not limit the scope of the invention in any way.

[0024] This invention is generally applicable, but not limited to, cable assemblies having radii greater than 8 mm, preferably greater than 10 mm, more preferably greater than 12 mm, and even more preferably greater than 14 mm. For cable assemblies with non-circular cross-sections, these values ​​can be replaced by equivalent area moments of inertia.

[0025] The Young's modulus of a cable assembly varies considerably depending on its type. For example, the Young's modulus of a tightly packed composite cable (such as Huber & Suhne CCS-2HPC, a liquid-cooled DC cable rated at 500A) differs by several orders of magnitude from that of a loosely packed cable (Anderson Power products, Euro-Din, 320A). Typically, the Young's modulus of a cable assembly can be on the order of 1 MPa to 100 GPa.

[0026] While these equations are far from being existing technical models of cable assemblies, they do provide a general approximation of the constrained characteristics of the cable assemblies under consideration.

[0027] In the sense of this invention, the manipulator may be, but is not limited to, the device described in Dutch patent application NL2023019, which can be controlled in the manner described in Dutch patent application NL 2024952, both of which are by the same applicant and are incorporated herein by reference.

[0028] By allowing the cable assembly to be manipulated by applying substantially less force than is required when the cable assembly is guided to the manipulator in a straight line or without explicitly forcing the cable into a particular shape, the device according to the invention provides the opportunity to manipulate heavy and stiff cables with sufficient precision while applying limited force or torque. This also allows for increased flexibility of the device, as will be explained in more detail below.

[0029] In embodiments of the invention, the manipulator has a displacement stroke whose operating range surrounds a central position and / or orientation coinciding with a preferred position and / or preferred orientation of the at least one end. The displacement stroke in the sense of the invention may include linear movement as well as changes in orientation, and therefore explicitly also includes rotational movement.

[0030] The displacement travel may include, for example, ±1m translation, ±45° rotation about the radial axis, and ±22.5° rotation in the axial direction. For passenger vehicles, the pitch angle may be ±30.0°, the yaw angle may be ±25.0°, and the roll angle may be ±10.0°. For industrial vehicles, these values ​​may be smaller and more equal to each other, for example, approximately ±12.0°.

[0031] In an alternative embodiment, the manipulator may be arranged to perform a displacement stroke over a working range about a central position and / or orientation that differs from a preferred position and / or preferred orientation of the at least one end, such that the difference between the forces required to manipulate the tip upward and downward is less than the difference between the forces required to manipulate one end upward and downward in the preferred position and / or orientation.

[0032] The length of the cable assembly extending between the first and second suspension points is greater than the absolute distance between the first and second suspension points. Specifically, it can be significantly greater, exceeding 25% or 33%. Generally, the greater length reduces the impact on cable stiffness.

[0033] In a preferred embodiment, this difference is caused by the cable assembly having a winding around a substantially horizontal winding axis at least 45 degrees, more preferably at least 90 degrees, more preferably at least 180 degrees, more preferably at least 270 degrees, and even more preferably at least 360 degrees, which extends substantially perpendicularly to the direction from the first suspension point to the second suspension point.

[0034] The coiled cable offers the added benefit of supporting at least a portion of its own weight, i.e., its effective weight at one end, as sensed by the manipulator. Here, the longer the length between the first and second suspension points, the more flexible the cable assembly is as sensed by the manipulator at one end. Larger coils contribute to greater flexibility. However, cable length also increases with the size of the coil. In practical implementations, the optimal choice is selected.

[0035] The winding pitch is preferably up to ten times the cable thickness, more preferably up to five times the cable thickness, and even more preferably between one and a half and one times the cable thickness. Larger pitches may introduce unwanted torque or bias into the cable. Additionally, the winding radius can be between five and fifteen times the cable assembly thickness.

[0036] For example, a manipulator may include an assembly of kinematically connected chains containing actuators and / or an assembly of kinematically parallel chains containing actuators, and the force (which should also be understood in this context to include torque) required to move one end from a preferred position and / or orientation over the entire range of the manipulator is less than the force range of the manipulator.

[0037] In yet another preferred embodiment, the invention includes a compliance device, wherein the force required to move one end from a preferred position and / or preferred orientation across the entire range of the manipulator is less than a compliance device threshold. In the context of the invention, the compliance device should be understood as a component configured to resiliently and passively absorb and release displacement under the influence of a resultant force on the connector after the force exceeds the threshold. When this requirement is met, compliance is effective on a portion or throughout the range, and the force applied by the manipulator is effectively used to move one end of the charger connector and / or cable.

[0038] The apparatus according to the invention may further include a camera for providing a camera image of the desired location of the vehicle docking connector, and a control device for maneuvering the connector to the sensed location of the vehicle docking connector based on the camera image.

[0039] The first suspension point may include a clamping device that engages the charging cable assembly in a form-fitting manner at an axial distance of at least 5 cm, preferably at least 10 cm, and more preferably at least 15 cm.

[0040] This clamping device ensures that the orientation applied to the cable assembly actually results in the desired cable assembly orientation. The invention also explicitly relates to clamping devices of the aforementioned type. Furthermore, the invention relates to an apparatus for positioning a charger connector, particularly relative to a vehicle docking connector, comprising a suspension device for connecting a charging cable assembly to the charger connector at one end, the suspension device comprising: a first suspension point for clamping the charging cable assembly in a predetermined orientation and position at a point remote from one end, wherein the clamping device engages the charging cable assembly in a form-fit manner at an axial distance of at least 5 cm, preferably at least 10 cm, and further preferably at least 15 cm; and a second suspension point for engaging the charging cable assembly at one end of the charger connector, wherein the second suspension point includes a manipulator for manipulating the position and / or orientation of the charger connector relative to a fixed world. Such embodiments may or may not include any other features mentioned throughout this application.

[0041] In all cases, the first suspension point may include a clamping device that at least partially restricts and preferably completely impedes the rotational freedom of the charging cable assembly.

[0042] Additionally, the device according to the invention may include a fixing element for adjusting the stiffness of the charging cable assembly or for securing the charging cable assembly into a specific shape. This can typically be a mechanical element, such as a guide or spring, that influences the stiffness and / or natural orientation of the cable in the shape between the first and second suspension points. The application of the fixing element alters the properties and / or natural shape of the cable, which in turn alters the preferred position and / or preferred orientation and / or the force required to manipulate one end within the desired range, making it more advantageous.

[0043] In order to apply the invention as a retrofit accessory for existing chargers, or to change the charging cable assembly or type, the first suspension point and / or the second suspension point may be arranged for detachably engaging the charging cable assembly.

[0044] To increase the flexibility and working area of ​​the device, the first and second suspension points may be able to move together relative to the fixed world.

[0045] The present invention also relates to an electric vehicle charger or charging system comprising the means according to any one of the preceding claims, a charging cable assembly for delivering charging current to an electric vehicle, the charging cable assembly being connected at one end to a charger connector and electrically connected at the other end of the charging cable to at least one source, such as an electric converter, to provide charging current to the electric vehicle. Attached Figure Description

[0046] The invention will now be described in more detail with reference to the following figures. Wherein:

[0047] - Figure 1 A schematic diagram of the first embodiment of the present invention is shown;

[0048] - Figure 2 A schematic diagram of a second embodiment of the present invention is shown;

[0049] - Figure 3 A schematic diagram of the third embodiment of the present invention is shown;

[0050] - Figure 4 A schematic diagram of the fourth embodiment of the present invention is shown;

[0051] - Figure 5 A perspective view showing first details of various embodiments of the invention; and

[0052] - Figure 6 A perspective view showing a second detail of various embodiments of the invention is provided. Detailed Implementation

[0053] Figure 1 A device 1 for positioning a charger connector 2 relative to a vehicle docking connector (not shown) is shown. The device includes a hanger for connecting a charging cable assembly 4 to the charger connector 2 at one end 5. The hanger includes a first suspension point 6 for clamping the cable at a predetermined orientation and position (as will be referred to) at a point remote from one end 5. Figure 5 (To be explained in more detail) the charging cable assembly 4, whose orientation and position, together with the rigidity of the cable assembly 4 and the gravity acting on the cable assembly, define a preferred position and / or preferred orientation of an end 5 (as will be referred to) Figure 5 (explained in more detail); and a second suspension point 7 for engaging the charging cable assembly 4 at one end 5 of the charger connector, wherein the second suspension point 7 includes a manipulator 8 for a preferred position and / or preferred orientation around one end of the cable assembly 4 (as will be referred to) Figure 5 (For more detailed explanation) Within the range of manipulating the position and / or orientation of the charger connector relative to the fixed world 9. The device also includes a camera 3.

[0054] Figure 2 A device 11 for positioning a charger connector 12 relative to a vehicle docking connector (not shown) is shown. This device includes a hanger for connecting a charging cable assembly 14 to the charger connector 12 at one end 15. The hanger includes a first suspension point 16 for clamping the cable at a predetermined orientation and position (as will be referred to) at a point remote from one end 15. Figure 5(To be explained in more detail) the charging cable assembly 14, whose orientation and position, together with the rigidity of the cable assembly 14 and the gravity acting on the cable assembly, define a preferred position and / or preferred orientation of an end 15 (as will be referred to) Figure 5 (explained in more detail); and a second suspension point 17 for engaging the charging cable assembly 14 at one end 15 of the charger connector, wherein the second suspension point 17 includes a manipulator 18 for a preferred position and / or preferred orientation around one end of the cable assembly 14 (as will be referred to) Figure 5 (Explained in more detail) Within the range of manipulating the position and / or orientation of the charger connector relative to the fixed world 19. The cable assembly 14 has a winding 20 at approximately 90 degrees around a substantially horizontal winding axis (not shown), which extends substantially perpendicular to the direction from the first suspension point 16 to the second suspension point 17. As a result, at a preferred location and in a preferred orientation at one end 15 of the cable assembly, the cable assembly bears at least a portion of its own weight. The device also includes a camera 13.

[0055] Figure 3 A device 21 for positioning a charger connector 22 relative to a vehicle docking connector (not shown) is shown. This device includes a hanger for connecting a charging cable assembly 24 to the charger connector 22 at one end 25. The hanger includes a first suspension point 26 for clamping the cable at a predetermined orientation and position (as will be referred to) at a point remote from one end 25. Figure 5 (To be explained in more detail) the charging cable assembly 24, whose orientation and position, together with the rigidity of the cable assembly 24 and the gravity acting on the cable assembly, define a preferred position and / or preferred orientation of an end 25 (as will be referred to) Figure 5 (explained in more detail); and a second suspension point 27 for engaging the charging cable assembly 24 at one end 25 of the charger connector, wherein the second suspension point 27 includes an actuator 28 for a preferred position and / or preferred orientation around one end of the cable assembly 24 (as will be referred to) Figure 5 (Explained in more detail) Within the range of manipulating the position and / or orientation of the charger connector relative to the fixed world 29. The cable assembly 24 has a winding 30 about 270 degrees around a substantially horizontal winding axis (not shown), which extends substantially perpendicular to the direction from the first suspension point 26 to the second suspension point 27. As a result, at a preferred location and in a preferred orientation at one end 25 of the cable assembly, the cable assembly bears at least a portion of its own weight. The device also includes a camera 23.

[0056] Figure 4 An embodiment 31 of the device according to the invention is shown, which is similar to Figure 3Embodiment 21, but additionally includes a retaining element 32 formed of a spring for adjusting the rigidity of the charging cable assembly, or for securing the charging cable assembly 34 into a specific shape, such as the U-shape shown between the first suspension point 36 and the second suspension point 37.

[0057] Figure 5 A portion of an embodiment 41 according to the invention is shown, wherein, for illustrative purposes, the second suspension point is omitted, among other details. A first suspension point 46 is depicted, which, according to position x, y, z and angle... θ and ψ clamp and thereby secure the cable assembly 44, defining an end 45 and in preferred positions x1, y1, z1 and preferred orientation. The preferred position and angular orientation of the charging connector 42 at θ1 and ψ1. This may be the position where the manipulator engages the connector 42 or one end 45 of the cable assembly at the second suspension point.

[0058] Figure 6 A device 51 for positioning a charger connector 52 relative to a vehicle docking connector (not shown) is illustrated. The device includes a hanger for connecting a charging cable assembly 54 to the charger connector 52 at one end 55. The hanger includes: a first hanger point 56 for clamping the charging cable assembly 54 at a point remote from one end 55, in a predetermined orientation and position, which, together with the rigidity of the cable assembly 54 and the gravity acting on the cable assembly, defines a preferred position and / or preferred orientation of one end 55; and a second hanger point 57 for engaging the charging cable assembly 54 at one end 55 of the charger connector. The second hanger point 57 includes a manipulator 58 for manipulating the position and / or orientation of the charger connector relative to a fixed location within a range surrounding the preferred position and / or preferred orientation of one end of the cable assembly 54. The device also includes a camera 53. Figure 6 As can be seen from this, based on the position x, y, z and angle θ and ψ are clamped and fixed between the first suspension point 56 and the second suspension point 57 of the cable assembly 54, forming a coil that forms a three-dimensional loop or coil. At the second suspension point 57, the cable assembly is held at positions x1, y1, z1 and in a preferred orientation. In θ1 and ψ1.

[0059] The above embodiments are merely examples and in no way limit the scope of protection defined by the appended claims.

[0060] The preferred position can be determined by means of a force and / or torque sensor attached between one end and a fixed point to measure the force and / or torque required to maintain one end near an equilibrium position and defining the preferred position and / or orientation, wherein the average force or torque required to move one end from the equilibrium position is, or is within, a predetermined distance from the position where the minimum average force or torque is required. Preferably, the preferred position and orientation are determined such that the average force is 0. The device according to the invention can then be positioned such that the preferred position and orientation are near the intended engagement point of the vehicle.

[0061] In other words, the preferred location can be determined by means of a force / torque sensor attached between one end and a point on the fixed world, to determine (approaching) a stable or unstable equilibrium point where the force and torque acting on one end are close to or at a local minimum.

Claims

1. An apparatus for positioning a charger connector relative to a vehicle docking connector, comprising: - A charging cable assembly that is connected to the charger connector at one end and has a point away from said one end; - A suspension device for the charging cable assembly, the suspension device comprising: - A first suspension point, which is used to clamp the charging cable assembly in a predetermined position and orientation at a point remote from said one end. - A second suspension point for engaging the charging cable assembly at one end of the charger connector; in The predetermined orientation and position, together with the first suspension point, the rigidity of the charging cable assembly, and the gravity acting on the cable assembly, define the preferred position and / or preferred orientation of the one end; and in The second suspension point includes a manipulator for manipulating the position and / or orientation of the charger connector relative to a fixed world within the range of the preferred position and / or preferred orientation around one end of the cable assembly; Wherein, the preferred position and / or the preferred orientation is a position and / or orientation such that it is within a predefined distance from a position and / or orientation such that the absolute force or torque required to move one end from the equilibrium position is the local minimum average force or torque required to move one end from the equilibrium position, wherein the absolute force is the norm of the six-degree-of-freedom torque vector; Its features are, The device for positioning the charger connector is configured such that: in the preferred position and / or the preferred orientation, the charging cable of the charging cable assembly is not within the height of the second suspension point or extends in a vertically downward direction at the height of the second suspension point; and when the second suspension point is removed, or when the second suspension point applies a portion of the force and / or torque required to hold the cable assembly in a non-preferred position, the one end remains stable and above ground level.

2. The apparatus according to claim 1, wherein, When the manipulator is not engaged, the charging cable of the charging cable assembly does not extend in the vertically downward direction at the height of the preferred orientation or at the height of the preferred orientation.

3. The apparatus according to claim 1 or 2, wherein, The manipulator has a displacement stroke, the working range of which is around a central position and / or orientation that coincides with the preferred position and / or preferred orientation of at least one end.

4. The apparatus according to claim 1, wherein, The manipulator is arranged to have a displacement travel around a working range of a central position and / or orientation, the central position being different from the preferred position and / or preferred orientation of at least one end, such that the difference between the forces required to manipulate the one end upward and downward is less than the difference between the forces required to manipulate the one end upward and downward in the preferred position and / or preferred orientation.

5. The apparatus according to claim 1 or 2, wherein, The length of the portion of the cable assembly extending between the first suspension point and the second suspension point is greater than the absolute distance between the first suspension point and the second suspension point.

6. The apparatus according to claim 1 or 2, wherein, The cable assembly has a winding at least 45 degrees around a substantially horizontal winding axis that extends substantially perpendicular to the direction from the first suspension point to the second suspension point.

7. The apparatus according to claim 6, wherein, The cable assembly has a winding at least 90 degrees around a substantially horizontal winding axis that extends substantially perpendicular to the direction from the first suspension point to the second suspension point.

8. The apparatus according to claim 6, wherein, The cable assembly has a winding of at least 180 degrees around a substantially horizontal winding axis that extends substantially perpendicular to the direction from the first suspension point to the second suspension point.

9. The apparatus according to claim 6, wherein, The cable assembly has a winding of at least 270 degrees around a substantially horizontal winding axis that extends substantially perpendicular to the direction from the first suspension point to the second suspension point.

10. The apparatus according to claim 6, wherein, The cable assembly has a winding of at least 360 degrees around a substantially horizontal winding axis that extends substantially perpendicular to the direction from the first suspension point to the second suspension point.

11. The apparatus according to claim 6, wherein, The winding pitch is up to ten times the cable thickness.

12. The apparatus according to claim 11, wherein, The winding pitch is up to five times the cable thickness.

13. The apparatus according to claim 11, wherein, The winding pitch is between one and a half and one times the cable thickness.

14. The apparatus according to claim 1 or 2, wherein, The manipulator includes: a component comprising a kinematically cascaded chain of actuators, and / or An assembly comprising a kinematically parallel chain of actuators, wherein the force required to move one end from the preferred position and / or the preferred orientation over the entire range of the manipulator is less than the force range of the manipulator.

15. The apparatus according to claim 14, wherein, The charger connector is coupled to the manipulator via a compliant device, wherein the force required to move one end from the preferred position and / or the preferred orientation across the entire range of the manipulator is less than a compliant device threshold.

16. The apparatus of claim 1 or 2, comprising a camera for providing a camera image of the intended location of the vehicle docking connector, and further comprising control means for manipulating the connector to the sensed location of the vehicle docking connector based on the camera image.

17. The apparatus according to claim 1 or 2, wherein, The first suspension point includes a clamping device that engages the charging cable assembly at an axial distance of at least 5 cm in a form-fit manner.

18. The apparatus according to claim 17, wherein, The first suspension point includes a clamping device that engages the charging cable assembly at an axial distance of at least 10 cm in a form-fit manner.

19. The apparatus according to claim 17, wherein, The first suspension point includes a clamping device that engages the charging cable assembly at an axial distance of at least 15 cm in a form-fit manner.

20. The apparatus according to claim 1 or 2, wherein, The first suspension point includes a clamping device that at least partially restricts the free translation and rotation of the charging cable assembly at the first suspension point.

21. The apparatus according to claim 20, wherein, The clamping device completely prevents the charging cable assembly from freely translating and rotating at the first suspension point.

22. The apparatus of claim 1 or 2, further comprising a fixing element for adjusting the stiffness of the charging cable assembly or fixing the charging cable assembly into a specific shape between the first suspension point and the second suspension point.

23. The device according to claim 22, wherein the fixing element is a guide or a spring.

24. The apparatus according to claim 1 or 2, wherein, The first suspension point and / or the second suspension point are arranged to detachably engage the charging cable assembly.

25. The apparatus according to claim 1 or 2, wherein, The first suspension point and the second suspension point can move together relative to the fixed world.

26. An electric vehicle charger, comprising the means according to any one of the preceding claims, a charging cable assembly for delivering charging current to the electric vehicle, the charging cable assembly being connected at one end to the charger connector and electrically connected at the other end of the charging cable to at least one source to provide charging current to the electric vehicle.

27. The electric vehicle charger according to claim 26, wherein, The at least one source is an electrical converter.

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