Robot device for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle

Abstract

Robot device (1) for establishing a charging connection between a charging device (4) and an energy storage unit (2) of a motor vehicle (3), comprising a movement device (11) by means of which the robot device (1) can be moved relative to the charging device (4) and the motor vehicle (3), comprising a receiving device (9) which comprises a magnetic device by means of which a charging element (5) of the charging device (4) can be reversibly and detachably received via a magnetic element (27) of the charging element (5), and by means of which the charging element (5) can be coupled to a coupling element (8) of the energy storage unit (2) and subsequently released, and comprising a detection device (10) by means of which a position of the coupling element (8) on the motor vehicle (3) can be determined, wherein the robot device (1) can be connected to the motor vehicle (3) by means of a support device (28),whereby a force can be transmitted from the robot device (1) to the motor vehicle (3).,

Description

[0001] The invention relates to a robot device for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle and a method for establishing a charging connection.

[0002] DE 10 2015 213 160 A1 discloses a robot for automatically plugging a charging plug into a vehicle interface. This robot is mobile and includes an actuator that grasps the charging plug of a charging station and inserts the charging plug into the interface. The robot includes a detection device for detecting the interface. After the insertion process is complete, the actuator releases the charging plug, and the robot moves to another position.

[0003] Furthermore, DE 10 2015 213 161 A1 also discloses a robot for automatically plugging a charging plug into a vehicle interface. This robot comprises a detection device that determines the position and type of the vehicle interface and selects a charging plug for insertion depending on the type of interface.

[0004] DE 10 2009 006 982 A1 discloses a charging system for charging an energy source of a means of transport. The charging system comprises a charging device and a robot unit, wherein the robot unit is designed to automatically connect the charging device to an interface of the energy source.

[0005] Furthermore, US 9 056 555 B1 discloses a car charging robot comprising a base, a robot arm divided into three arm segments, and three drive motors for positioning the arm segments. At the end of one of the arm segments is a charging connector configured to mate with a charging connector socket on the vehicle. The charging connector has a motorized hook-lock arm, via which the charging connector can be pulled into or ejected from the charging connector socket.

[0006] The object of the present invention is to provide a robot device for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle, which is particularly simple, cost-effective and lightweight.

[0007] This object is achieved according to the invention by a robot device and a method having the features of the independent patent claims. Advantageous embodiments with expedient further developments of the invention are specified in the respective dependent claims.

[0008] A first aspect of the invention relates to a robot device for establishing a charging connection between a charging device and an energy storage unit of a motor vehicle. The robot device comprises a movement device by means of which the robot device can be moved relative to the charging device and the motor vehicle. Furthermore, the robot device has a receiving device by means of which a charging element of the charging device can be received, coupled to a coupling element of the energy storage unit, and subsequently released. The charging element has a receiving element by means of which the charging element can be received by the receiving device. In the present case, the receiving element comprises a magnetic element that can be brought into engagement with a magnet of a magnetic device of the receiving device.This enables a particularly secure, reversible connection between the receiving device and the charging element. The robot device also comprises a detection device by means of which a position of the coupling element on the motor vehicle can be determined. The robot device can be connected to the motor vehicle by means of a support device, whereby a force can be transmitted from the robot device to the motor vehicle. In other words, the robot device according to the invention comprises the support device, wherein the charging connection is established by means of the robot device between the charging device, which can be, for example, a power source, a gaseous fuel source, or a liquid fuel source, and the energy storage unit of the motor vehicle, which can be a battery or a tank for a gaseous fuel or a liquid fuel.By means of the movement device, the robot device can be brought closer to the charging device in order to receive the charging element and can be brought closer to the motor vehicle in order to couple the charging element to the coupling element.

[0009] After the loading element has been picked up by the picking device and approached the motor vehicle, the robot device is connected to the motor vehicle by means of the support device, for example before the loading element is coupled to the coupling element. This means that when the loading element is coupled to the coupling element, the force can be transferred from the robot device to the motor vehicle. This force can be, for example, a resistance force that can occur when the loading element is coupled and uncoupled from the coupling element. Because the force is transferred to the motor vehicle, the robot device does not have to be massive to absorb the force, but can be designed to be particularly lightweight and therefore particularly cost-effective, since transferring the force to a floor is not necessary or only necessary to a limited extent.

[0010] The detection device preferably comprises a camera by means of which the position of the coupling element can be detected. In other words, the position is detected and recognized using a camera. In particular, the position of the coupling element is determined using an image recognition function. The image recognition function can, in particular, comprise an assignment rule in which a shape of the coupling element and / or a contour of the motor vehicle is assigned to a respective position of the coupling element on the respective motor vehicle. The respective position of the coupling element is stored in the assignment rule, for example, relative to a reference point of the respective motor vehicle.In particular, the detection device determines the position of the coupling element relative to the reference point of the respective motor vehicle, and the position of the coupling element is controlled by the robot device transporting the charging element in order to establish a coupling between the charging element and the coupling element. This results in the advantage that the position of the coupling element can be detected particularly cost-effectively and easily using the detection device.

[0011] In an alternative embodiment of the invention, the detection device comprises a marking detection device, by means of which the position of the coupling element marked by a transponder can be detected. In other words, the marking detection device detects a position of the transponder, which can be an RFID chip, for example, in particular by receiving a signal from the transponder, and determines therefrom the position of the coupling element marked by the transponder. This has the advantage that the robot device can approach the charging element to the coupling element with particularly precise positioning, since the position of the coupling element can be detected by the robot device using the detection device.

[0012] In an advantageous embodiment of the invention, the movement device comprises a chassis, by means of which the robot device is freely movable in a plane, and a plurality of adjustment elements. The receiving device is adjustable in height and angle of attack relative to the chassis by means of the adjustment elements. This means that the robot device is freely movable in the plane, in particular in a horizontal plane, relative to the motor vehicle and relative to the loading device by means of the chassis of the movement device. The chassis can, for example, comprise a plurality of wheels, the spatial orientation of which can be freely pivoted, for example, so that the robot device is freely movable in the plane.Furthermore, the movement device comprises a plurality of adjustment elements, by means of which the receiving device can be adjusted in its height and in its angle of inclination relative to the chassis and relative to the plane. This advantageously enables the loading element to be brought particularly close to the coupling element by means of the robot device. Furthermore, the loading element can be adjusted in its angle of inclination relative to the chassis and relative to the plane corresponding to an orientation of the coupling element.

[0013] Preferably, the receiving device is mounted on the movement device so as to be rotatable about a rotational axis. The rotational axis extends, in particular, perpendicular to an adjustment axis of the adjustment element, by means of which the receiving device can be adjusted in its angle of inclination about the adjustment axis. The loading element can thus be positioned particularly precisely in correspondence with the coupling element by means of the robot device, in order to subsequently couple the loading element to the coupling element particularly quickly and reliably.

[0014] In a further advantageous embodiment of the invention, an opening device is provided by means of which a closure device of the coupling element can be opened. This means that the opening device is designed to correspond to the closure device of the coupling element in order to open the latter. The opening device can, for example, comprise a gripping element, a pressure element, or a magnetic element in order to open the closure device. This results in the advantage that the closure device, which serves, for example, to protect the coupling element when the motor vehicle is in operation, can be opened automatically by means of the robot device. This advantageously eliminates the need for the driver of the motor vehicle to open the closure device of the coupling element.

[0015] A second aspect of the invention relates to a method for establishing a charging connection by means of a robot device between an energy storage unit of a motor vehicle and a charging device for carrying out a charging process. The robot device approaches the charging device by means of a movement device and reversibly releasably receives a charging element of the charging device by means of a receiving device by engaging a magnetic device of the receiving device with a magnetic element of the charging element. The robot device then approaches the motor vehicle with the charging element by means of the movement device, detects a position of a coupling element of the energy storage unit of the motor vehicle by means of a detection device, and opens a closure device of the coupling element by means of an opening device.The robot device then couples the charging element of the charging device to the coupling element and then releases the charging element.

[0016] The robot device is connected to the motor vehicle by means of a support device, whereby a force can be transmitted or is transmitted from the robot device to the motor vehicle. This means that the robot device is supported, in particular laterally, on the motor vehicle by means of the support device, particularly shortly before and during the coupling of the charging element to the coupling element. This lateral support serves to transmit the force from the robot device to the motor vehicle, which occurs in particular during a coupling process and during a decoupling process of the charging element from the coupling element. This advantageously enables a particularly light and simple design of the robot device, thereby enabling additional cost savings.

[0017] In a further embodiment of the method, the detection device determines the position of the coupling element using an assignment rule in which respective positions of coupling elements are assigned to respective motor vehicle types, in order to bring the charging element precisely closer to the coupling element and couple it to it. In particular, the detection device comprises a camera by means of which the motor vehicle can be recorded or detected, wherein a vehicle type of the recorded motor vehicle can be determined in a computing unit using the camera recording. By means of the computing unit, the respective position of the coupling element of the recorded motor vehicle can be determined depending on the vehicle type using the assignment rule. For this purpose, the respective positions of coupling elements are assigned to respective motor vehicle types in the assignment rule stored in the computing unit.The computing unit can, for example, be part of the robot device or, alternatively, be located outside the robot device and communicate with a computing device of the robot device, for example, via the Internet or radio. Advantageously, the robot device can thus precisely position the charging element close to the coupling element and couple it to it.

[0018] Preferably, after the charging process of the energy storage unit by the charging device has been completed, the robot device supports itself against the motor vehicle by means of the support device, picks up the charging element and removes it from the coupling element, closes the locking device of the coupling element, and moves away from the motor vehicle with the charging element. By supporting the robot device against the motor vehicle by means of the support device, the force can be transferred from the robot device to the motor vehicle, wherein the force can occur in particular when the charging element is removed from the coupling element. By supporting the robot device on the motor vehicle by means of the support device, tipping over of the robot device can be prevented, in particular.The removal of the charging element from the coupling element, the closing of the locking device and the removal of the charging element from the motor vehicle of the robot device serve to create a state in which the motor vehicle is ready to drive off.

[0019] The invention also includes further developments of the method according to the invention that have features already described in connection with the further developments of the robot device according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0020] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 is a perspective view of a robot device establishing a charging connection between a charging device and an energy storage unit of a motor vehicle; Fig. 2 a schematic side view of the robot device with a movement device, a receiving device on which a loading element of the loading device is received, and a detection device; Fig. 3 a schematic side view of the receiving device with the charging element, the charging device, and a coupling element of the motor vehicle, with which the charging element can be coupled to establish the charging connection; and Fig. 4 a schematic perspective view of the charging element.

[0021] The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0022] In the figures, functionally identical elements are provided with the same reference numerals.

[0023] In Fig. 1 shows a robot device 1 establishing a charging connection between a charging device 4 having an energy storage device 7 and an energy storage unit 2 of a motor vehicle 3. The charging device 4 comprises the energy storage device 7 and a charging element 5, as well as, in this case, a cable element 6. An energy carrier or energy can be transferred from the energy storage device 7 of the charging device 4 to the charging element 5 via the cable element 6. The charging element 5 can be brought closer to the motor vehicle 3 by means of the robot device 1 and coupled to a coupling element 8 of the energy storage unit 2 of the motor vehicle 3. The energy transferred from the energy storage device 7 of the charging device 4 to the energy storage unit 2 of the motor vehicle 3 by means of the charging element 5 can be electrical energy or electric current.The energy source is, for example, a gaseous fuel or a liquid fuel. The energy storage unit 2 of the motor vehicle can be a tank for a gaseous fuel or a liquid fuel, or a battery. In the exemplary embodiment described here, the energy storage unit 2 is a battery, and the energy source is electricity.

[0024] In Fig. 2, the robot device 1 is shown in more detail in a schematic side view. As in Fig. 2, the robot device 1 comprises a receiving device 9, a detection device 10 and a movement device 11. The movement device 11 has a chassis 12, which in this case comprises a plurality of wheels 13 and a base plate 14. By means of the chassis 12, the robot device 1 can be moved freely in a horizontal plane. This allows the robot device 1 to approach both the motor vehicle 3 and the loading device 4. The movement device 11 also comprises two adjustment devices, wherein the receiving device 9 can be adjusted along the direction 16 by means of a height adjustment device 15. The second adjustment element is an angle adjustment element 17 by means of which the receiving device 9 can be adjusted in its angle of incidence about the adjustment axis 18 along the direction 19.

[0025] The detection device 10 is embodied here as a marking detection device, by means of which a position of the coupling element 8 marked by a transponder 20 can be detected. The detection device 10 comprises a transmitting element (not shown) and a receiving element (not shown), by means of which the detection device 10 can communicate with the transponder 20 in order to determine the position of the coupling element 8. In this case, the robot device 1 comprises a computing device 21, which, depending on the position of the coupling element 8 determined by the detection device 10, controls or regulates a movement of the robot device 1 by means of the movement device 11. The receiving device 9 is rotatable on the movement device 11 about a rotation axis 22 along the direction 23. The rotation axis 22 extends, in particular, perpendicular to the adjustment axis 18.If the loading element 5 is received on the receiving device 9, the loading element 5 can also be rotated about the rotation axis 22 along the direction 23 by means of the receiving device 9.

[0026] The robot device 1 further comprises a support device 28, by means of which the robot device 1 can be connected to the motor vehicle 3 and a force can be transmitted from the robot device 1 to the motor vehicle 3. High forces, which can arise when coupling and uncoupling the charging element 5 with the coupling element 8 or when plugging and unplugging the plug element 24 into the receiving openings 25, can be supported by the robot device 1 on a vehicle part of the motor vehicle 3. In the present case, the robot device 1 supports the force on a non-damage-sensitive vehicle part of the motor vehicle 3. The support on the motor vehicle 3 can be on a wheel 29, on a tire, on wheel bolts, on a rim, on a receptacle for a car jack, or alternatively on a door handle. In the present case, the robot device 1 is connected to the wheel 29 of the motor vehicle 3 by means of the support device 28.Wheel 29 is particularly suitable for this purpose because it is clamped from two sides, is pressed against one side, or can serve as support through a positive fit with the tire tread without any risk of damage.

[0027] Thanks to the support device 28, the robot device 1 can be constructed particularly lightly and particularly cost-effectively. Furthermore, the robot device 1 is a particularly simple robot, also known as a low-tech robot. The robot device 1 is supplied with power via a power cable (not shown). A large energy storage unit is therefore not necessary for the robot device 1, which allows the weight of the robot device 1 to be kept particularly low. Overall, the robot device 1 is thus a simple, lightweight, cost-effective low-tech robot.

[0028] In Fig. 3 shows a schematic side view of the receiving device 9 with the charging element 5 and the coupling element 8. As in Fig. As can be seen in Figure 3, the charging element 5 has a plug-in element 24, which, when the charging element 5 is coupled to the coupling element 8, is inserted into corresponding receiving openings 25 of the coupling element 8. This creates a connection via which current can be transmitted from the energy storage device 7 through the energy storage unit 2.

[0029] Fig. 4 shows the charging element 5 in a schematic perspective view. In Fig.4 shows that the charging element 5 has a receiving element 26, by means of which the charging element 5 can be received by the receiving device 9. In this case, the receiving element 26 comprises a magnetic element 27, which can be brought into engagement with a magnet of a magnetic device (not shown) of the receiving device 9. This enables a particularly secure, reversible connection between the receiving device 9 and the charging element 5.

[0030] Currently, charging elements 5 for conductively charging an electrically powered motor vehicle 3 must be coupled to the coupling element 8 by a driver or a service employee. Plugging and unplugging the charging element 5 severely limits the convenience of using the electrically powered motor vehicle 3. Furthermore, without activity, only one motor vehicle 3 can be charged per charging device 4, in particular a charging station or wall box. Using the robot device 1, the charging element 5 of the charging device 4, in particular the charging station or wall box, can be plugged and unplugged from all commercially available electrically powered motor vehicles 3. This means that the driver of the motor vehicle 3 does not have to connect the charging element 5 to the motor vehicle 3 themselves. The connection of the charging device 4 to the motor vehicle 3 via the charging element 5 and the coupling element 8 is carried out by means of the robot device 1.This makes it possible to charge multiple motor vehicles 3 sequentially using the same charging device 4 by coupling the robot device 1, after completion of a charging process for a first motor vehicle 3, to the charging element 5 and thus the charging device 4 to a second motor vehicle 3. After a charging process for the second motor vehicle 3, the robot device 1 can couple the charging device 4 to a third motor vehicle 3. Thus, multiple motor vehicles 3 can be charged with energy, for example overnight, using the charging device 4, which can in particular be a rapid charging point, without human intervention.

[0031] To establish the charging connection, the robot device 1 picks up the charging element 5 of the charging device 4 with the receiving device 9. The robot device 1 then approaches the motor vehicle 3. By means of the detection device 10, the robot device 1 detects the position of the coupling element 8 via the position of the transponder 20, in particular an RFID chip. The robot device 1 then opens a locking device 30 of the coupling element 8 by means of an opening device (not shown). By means of the receiving device 9, the robot device 1 effects a coupling between the charging element 5 and the coupling element 8 and subsequently releases the charging element.After completion of the charging process of the energy storage unit 2, the receiving device 9 of the robot device 1 picks up the charging element 5, decouples it from the coupling element 8, the locking device of the coupling element 8 closes and removes the charging element 5 from the motor vehicle 3.

Claims

[1] Robot device (1) for establishing a charging connection between a charging device (4) and an energy storage unit (2) of a motor vehicle (3), comprising a movement device (11) by means of which the robot device (1) is movable relative to the charging device (4) and the motor vehicle (3), comprising a receiving device (9) which comprises a magnetic device by means of which a charging element (5) of the charging device (4) can be reversibly and detachably received via a magnetic element (27) of the charging element (5), and by means of which the charging element (5) can be coupled to a coupling element (8) of the energy storage unit (2) and subsequently released, and comprising a detection device (10) by means of which a position of the coupling element (8) on the motor vehicle (3) can be determined, wherein the robot device (1) is connectable to the motor vehicle (3) by means of a support device (28),whereby a force can be transmitted from the robot device (1) to the motor vehicle (3). [2] Robot device (1) according to claim 1, characterized by that the detection device (10) comprises a camera by means of which the position of the coupling element (8) can be detected. [3] Robot device (1) according to claim 1, characterized by that the detection device (10) comprises a marking detection device by means of which the position of the coupling element (8) marked by means of a transponder (20) can be detected. [4] Robot device (1) according to one of the preceding claims, characterized by that the movement device (11) comprises a chassis (12), by means of which the robot device (1) is freely movable in a plane, and a plurality of adjusting elements (15, 17), and that the receiving device (9) is adjustable in its height and in its angle of attack relative to the chassis (12) by means of the adjusting elements (15, 17). [5] Robot device (1) according to one of the preceding claims, characterized by that the receiving device (9) is rotatably mounted on the movement device (11) about a rotation axis (22). [6] Robot device (1) according to one of the preceding claims, characterized by that an opening device is provided by means of which a closure device (30) of the coupling element (8) can be opened. [7] Method for establishing a charging connection by means of a robot device (1) between an energy storage unit (2) of a motor vehicle (3) and a charging device (4) for carrying out a charging process, in which the robot device (1) - approaches the loading device (4) by means of a movement device (11), - by means of a receiving device (9) a charging element (5) of the charging device (4) is reversibly and detachably received by engaging a magnetic device of the receiving device (9) with a magnetic element (27) of the charging element (5), - approaches the motor vehicle (3) with the loading element (5) by means of the movement device (11), - a position of a coupling element (8) of the energy storage unit (2) of the motor vehicle (3) is detected by means of a detection device (10), - by means of an opening device, a closure device (30) of the coupling element (8) opens, - the charging element (5) of the charging device (4) is coupled to the coupling element (8) and then released, and - is connected to the motor vehicle (3) by means of a support device (28), whereby a force can be transmitted from the robot device (1) to the motor vehicle (3). [8] Method according to claim 7, characterized bythat the detection device (10) determines the position of the coupling element (8) via an assignment rule in which respective positions of coupling elements (8) are assigned to respective motor vehicle types, in order to approach the charging element (5) with precise position to the coupling element (8) and to couple it to the latter. [9] Method according to one of claims 7 or 8, characterized by that the robot device (1), after completion of the charging process of the energy storage unit (2) by the charging device (4), supports itself against the motor vehicle (3) by means of the support device (28), receives the charging element (5) and removes it from the coupling element (8), closes the closure device (30) of the coupling element (8) and moves away from the motor vehicle (3) with the charging element (5).

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