Device for automatically charging an electric vehicle

Abstract

Device (8) for automatically charging a battery (4) of an electrically powered vehicle (2), comprising - a charging plug (10) for a charging socket (6) of the vehicle (2), and - a plugging device (12) for automatically plugging the charging plug (10) into the charging socket (6), with a gripper (14) for the charging plug (10), - wherein the gripper (14) can be coupled to the charging plug (10), and - wherein the coupling between the gripper (14) and the charging plug (10) is automatically detachable, characterized in that - that the gripper (14) has a centering or guiding element (71) for a defined alignment and / or positioning of the gripper (14) with respect to the charging plug (10) during the gripping process and the charging plug (10) has a corresponding element receptacle (74) for the centering or guiding element (71), and - that the charging plug (10) and the gripper (14) form a releasable snap connection for coupling, wherein the charging plug (10) has a blind hole-like receptacle (42) for a bolt-like joining element (44) of the gripper (14), wherein the receptacle (42) is provided with a circumferentially arranged recess (52) for a spring-elastic snap element (46) of the joining element (44).

Description

[0001] The invention relates to a device for automatically charging an electrically powered vehicle, comprising a charging plug for a charging socket of the vehicle and a plug-in device for automatically inserting the charging plug into the charging socket.

[0002] Electrically powered vehicles, also referred to as electric vehicles, have a (traction) battery that provides electrical energy to an electric motor to drive the vehicle. To charge the battery, the electrical energy is transferred to the motor, for example, inductively. However, in such a charging process, the transferable charging power is comparatively small, and the associated charging time is correspondingly long.

[0003] Alternatively, the electrical energy is supplied to the battery via a cable. In other words, the charging process is conductive. A charging plug is plugged into the vehicle's charging socket, which supplies the appropriate charging current to the battery or a battery system comprising the battery.

[0004] To increase the convenience of the vehicle user, the charging process, and in particular the insertion of the charging plug into the vehicle's charging socket, takes place automatically. For example, DE 10 2016 207 767 A1 discloses a device for inserting an electric charging plug into a charging socket of an electric vehicle. The device has a parallel kinematics system that allows three translational degrees of freedom and one rotational degree of freedom, as well as a charging plug that is attached to the parallel kinematics system in such a way that the charging plug can be moved within the four degrees of freedom.

[0005] CN 108 879 229 A discloses a charging device wherein a charging plug is attached to a robot arm.

[0006] DE 10 2018 104 845 A1 describes an end effector for an electric charging device, wherein the end effector comprises a holder for an electric charging plug. The end effector has its own automatic positioning device for the holder and a preferably flange-like connection for connection to a positioning device of the charging device. The positioning device is designed to automatically couple and, if necessary, uncouple the electric charging plug from a charging socket on the vehicle.

[0007] DE 10 2017 217 601 A1 relates to a method for inserting an electrical plug into a socket in the plugging direction until a contact position is reached, in which contact elements of the plug are in electrical contact with corresponding mating contact elements of the socket. The plug is gripped in the gripper of a robot manipulator and positioned in a desired plugging position relative to the socket.

[0008] CN 106 166 959 A relates to a charging device for an electric motor vehicle in which a charging plug is mounted on a mobile station.

[0009] DE 200 18 124 U1 discloses a tool changing system for coupling connections between a robot and a tool. This system comprises at least two coupling halves that can be releasably connected to one another via a parting plane, one coupling half being connected to the movable robot and the other coupling half being connected to the tool. A magnetic mechanism is provided for releasably connecting the coupling halves to one another.

[0010] US 2008 101 909 A1 discloses an end piece for a robotic pick-up element that lifts and transfers objects, wherein the end piece lifts objects using vacuum suction cups.

[0011] DE 10 2012 014 936 A1 discloses a charging system for a motor vehicle, comprising a robot with a control means, a force sensing means, and a connector attached to the robot. This connector is configured to establish a detachable plug connection with a mating connector on the vehicle for charging an electrical energy storage device of the motor vehicle.

[0012] US 2016 / 0 059 423 A1 discloses a robot quick-coupling assembly. This assembly comprises a first joint element mounted on a robot component and a second joint element mounted on a robot arm. A first coupling element of the first joint element can be coaxially aligned with and pressed into a second coupling element of the second joint element. The two joint elements are releasably connected to one another.

[0013] A two-part device is known from DE 32 14 025 A1. This consists of a taper sleeve mounted on a machine and a taper shank of a working tool that is received in the taper sleeve. Locking and connecting elements are provided between the taper sleeve and the taper shank to determine their relative position.

[0014] US Pat. No. 5,010,228 A discloses a tool changing device for a welding robot. The robot arm and its tool each have associated plugs and sockets for supplying electricity, gas, air, and water. At least one of the connectors also serves as a guide mechanism and has a guide pin and a guide receptacle.

[0015] The invention is based on the object of providing a device for automatically charging a (traction) battery of an electrically powered vehicle. In particular, the insertion and removal of the charging plug into a charging socket of the vehicle should be as reliable as possible. Furthermore, a method for automatically charging a battery of an electrically powered vehicle should be provided.

[0016] With regard to the device, this object is achieved according to the invention by the features of claim 1, and with regard to the method by the features of claim 4. Advantageous further developments and refinements are the subject of the dependent claims. The statements made in connection with the device also apply mutatis mutandis to the method, and vice versa.

[0017] The device is provided and configured for automatically charging a (traction) battery of an electrically powered vehicle, in particular an electrically powered motor vehicle, such as a passenger car. For this purpose, the device has a charging plug for a charging socket of the vehicle. By means of the charging plug, an appropriate charging current can be supplied to the vehicle's battery via the charging socket when plugged in. For this purpose, the charging socket is electrically connected to the battery or to a battery system comprising the battery. The charging plug is designed to correspond to the design of the vehicle's charging socket. For example, the charging plug is designed as a so-called CSS charging plug or as a CHAdeMO charging plug.

[0018] Furthermore, the device comprises a plug-in device, in particular a robot-like device, which serves to automatically insert the charging plug into the charging socket. For this purpose, the plug-in device comprises a gripper for the charging plug. The gripper can be coupled (connected) to the charging plug. When the charging plug is coupled to the gripper, the charging plug is adjusted or guided accordingly by adjusting the gripper, so that the charging plug can be, and expediently is, automatically inserted into the vehicle's charging socket by means of the gripper.

[0019] The connection between the gripper and the charging plug is automatically detachable. In other words, the connection between the gripper and the charging plug is temporary. With an automatically detachable connection, the user is not required to disassemble or uncouple the device, thus increasing the device's user comfort.

[0020] For example, at a charging station, such as a gas station, several charging plugs of different designs, such as CSS or CHAdeMO, are available. Because the gripper can be detachably coupled to the charging plug, the gripper can be coupled to the charging plug corresponding to the respective design of the charging socket for a charging process. In summary, the device thus has several charging plugs.

[0021] The coupling is suitably designed such that it is maintained both during the plugging-in process of inserting the charging plug into the charging socket (referred to as the plugging-in process) and during the removal of the charging plug from the charging socket using the gripper (the removal process). In particular, the coupling is designed such that it is reliably maintained even in the presence of a force occurring during the removal process, in particular a frictional force between the charging socket and the charging plug.

[0022] According to a first variant of the device, which is not further covered by the scope of protection of the claims, the gripper has an electromagnet which, when energized, generates a magnetic holding force on a magnetizable or magnetized coupling element of the charging plug. In other words, the charging plug has a magnetizable or magnetized coupling element, so that energizing the electromagnet creates a magnetic coupling or a corresponding magnetic force between the gripper and the charging plug. For this purpose, the coupling element is designed, for example, as a magnet, in particular as a permanent magnet, or alternatively as a magnetizable (metal) plate. The coupling element is in particular fastened in or on the housing, or alternatively, a corresponding housing section is formed by means of the coupling element.

[0023] To release the coupling between the gripper and the charging plug, the current supply to the gripper's electromagnet is advantageously stopped or interrupted in a comparatively simple manner.

[0024] In this first variant of the device, the electromagnet preferably projects upwards to an end face which is arranged frontally with respect to a gripping direction for receiving the charging plug by the gripper. The charging plug preferably has a receiving recess for the electromagnet, wherein the coupling element is arranged on a recess base of the receiving recess. The recess walls are inclined, for example, by an angle greater than 90° relative to the recess base, so that the receiving recess has a trapezoidal shape in cross-section, wherein the shorter of the two parallel sides of the trapezoid is formed by the recess base. In this way, a guide for the gripper or at least for its electromagnet during the gripping process is realized by means of the recess walls inclined relative to the recess base.

[0025] According to a second variant of the device, which is not further covered by the scope of protection of the claims, the gripper has a suction element for airtight engagement with the charging plug. The charging plug expediently has a flat and / or comparatively smooth surface in the area intended for engagement with the suction element. By means of the suction element, a negative pressure can be generated in a space enclosed by the suction element and the charging plug, thereby coupling the gripper to the charging plug.

[0026] For example, the suction element is designed as a suction cup. Alternatively, the suction element forms the flexible lip of a suction gripper. The gripper also has a (vacuum) pump, which allows the air to be pumped out of the space enclosed by the suction element, i.e., the (suction gripper) lip, and the charging plug.

[0027] The gripper suitably further comprises a valve that fluidically connects the space enclosed by the suction element, e.g., a suction cup or suction gripper lip, and the charging plug to the environment in an open position, or fluidically separates this space from the environment in a closed position. The coupling between the gripper and the charging plug can be released by opening the valve.

[0028] For example, in addition, the charging plug according to this second variant of the device has, in a manner analogous to the first variant, a receiving recess for the suction element, wherein the recess walls preferably form a guide for the gripper.

[0029] According to the invention, the charging plug and the gripper form a detachable snap connection for coupling with each other. This variant is also referred to as the third variant of the device. The coupling is formed by means of a positive and / or non-positive connection. The snap connection is preferably automatically detachable.

[0030] In this third variant of the device, the charging plug has a blind hole-like receptacle for a bolt-like joining element of the gripper. The receptacle has a recess or undercut on its circumference for a spring-elastic snap element of the joining element. When coupled, the spring-elastic snap element of the bolt-like joining element sits in the receptacle or undercut of the gripper.

[0031] The spring-elastic snap element is advantageously adjustable perpendicular to the axis of the bolt-like joining element. Due to its spring-elastic design, the snap element is adjustable during the connection process, both in and out of the recess or undercut of the receptacle. The force required to release the connection, i.e., to release the snap connection, is advantageously greater than the opposing force when the charging plug is pulled out of the charging socket.

[0032] Furthermore, the bolt and the receptacle expediently extend in the gripping direction for receiving the charging plug by the gripper.

[0033] According to a fourth variant of the device, which is not further encompassed by the scope of the claims, the charging plug has a receptacle provided with a receiving contour on its circumference. The gripper has a bolt or a shaft with a circumferential (shaft) contour. The bolt or shaft expediently protrudes from a frontally arranged end face of the gripper with respect to a gripping direction for receiving the charging plug by the gripper.

[0034] The receiving contour and the shaft contour are designed in such a way that a positive and / or non-positive connection with the receiving contour can be established by rotating the shaft or bolt around its axis and by adjusting the shaft or bolt along its axis into the receiving element. For example, only the shaft or bolt is rotated; alternatively, the entire gripper is rotated.

[0035] For example, the receiving contour includes a thread, and the shaft contour includes a corresponding thread. The connection is thus made in the manner of a screw connection. Alternatively, the connection is made in the manner of a bayonet or keyhole connection.

[0036] According to a suitable embodiment of the first, second, third, and fourth variants of the device, the gripper has an optical measuring unit. This serves the purpose of detecting a relative position of the charging plug to the gripper. The relative position here refers to the relative position and orientation of the charging plug to the gripper. For this purpose, a marker, for example a QR code, a dot pattern, a line pattern, or a stochastic pattern, is arranged on the charging plug. Alternatively, the optical measuring unit detects the relative position of the charging plug to the gripper based on the shape of the charging plug or at least a section or part of the charging plug.

[0037] For example, the optical measuring unit is designed as a laser measuring system or as a camera.

[0038] Furthermore, the gripper has a centering or guiding element, and the charging plug has corresponding (element) receptacles for the centering or guiding element. The centering or guiding element serves to ensure a defined alignment and / or positioning of the gripper with respect to the charging plug during the gripping process. In particular, the centering or guiding element is designed as a truncated pyramid-shaped or prism-shaped extension. Alternatively, the centering or guiding element is designed as a dowel pin or a bolt for the element receptacle, or further alternatively as a magnetic centering element.

[0039] According to a practical embodiment of the device, the charging plug has a handle provided for manual pickup by a user, wherein the gripper can be coupled to the charging plug in the area of ​​the handle. The handle also allows the user to manually use the charging plug, for example, in the event of a gripper failure or defect, while maintaining a comfortable holding position.

[0040] According to a method for automatically charging the (traction) battery of an electrically powered vehicle using a device configured according to one of the variants described above, which has a charging plug for a charging socket of the vehicle and a gripper for the charging plug, the relative position of the charging plug to the gripper is detected in a first step. In particular, an optical measuring unit of the gripper and a marker arranged on the charging plug are used for this purpose.

[0041] In a subsequent second step, the charging plug is automatically coupled to the gripper. Establishing the coupling is also referred to as the gripper picking up the charging plug. For this purpose, i.e., for the gripper to pick up the charging plug, the gripper is guided toward the charging plug depending on the detected relative position. Picking up the charging plug by the gripper is achieved by adjusting the gripper along one, preferably a single, gripping direction.

[0042] In a third step of the process, the charging plug is automatically inserted into the vehicle's charging socket, particularly using the gripper. Then, in a fourth step, after the battery charging process is complete, the charging plug is removed from the charging socket. In a fifth step, after the charging plug is removed from the vehicle's charging socket, the connection between the gripper and the charging plug is automatically released.

[0043] For example, it is possible for the gripper to be permanently connected or coupled to the charging plug throughout the entire charging process. Alternatively, however, it is also possible for the gripper not to be permanently coupled to the charging plug during the charging process. In particular, it is possible for the gripper to be at least temporarily detached from the charging plug while charging the battery of one vehicle and coupled to another charging plug to charge the battery of another vehicle. This means that the method can essentially be carried out in parallel for multiple vehicles using a single device.

[0044] In the following, exemplary embodiments of the invention are explained in more detail with reference to a drawing. In the drawings: Fig. 1 schematically shows an electrically driven motor vehicle with a charging socket which is electrically connected to a battery, as well as a device according to a first variant, wherein a gripper of the device can be detachably coupled to a charging plug of the device provided for the charging socket, wherein the gripper has an electromagnet for coupling to the charging plug, Fig. 2 schematically shows in a side view the gripper and the charging plug of the device according to a second variant, according to which the gripper has a suction element for airtight contact with the charging plug, by means of which a negative pressure can be generated for coupling the gripper with the charging plug, Fig. 3 schematically shows in a side view the gripper and the charging plug of the device according to a third variant, according to which the charging plug and the gripper can be coupled together in the manner of a snap connection, Fig. 4a schematically shows a side view of the charging plug of the device according to a first embodiment of a fourth variant, wherein the charging plug and the gripper can be coupled together in the manner of a bayonet connection, Fig. 4b schematically shows in a side view the gripper with a shaft, on which the bayonet connection with the charging plug according to the Fig. 4a a pin-like extension is arranged, Fig. 5 schematically shows in a side view the gripper and the charging plug of the device according to a second embodiment of the fourth variant, according to which the charging plug and the gripper can be coupled to one another in the manner of a screw connection, and Fig. 6 shows a flowchart of a method for automatically charging the battery of the electrically powered vehicle by means of a device.

[0045] Corresponding parts and sizes are always provided with the same reference symbols in all figures.

[0046] In Fig. 1 shows a vehicle 2 designed as a passenger car. This vehicle is electrically powered. For this purpose, the vehicle 2 has a (traction) battery 4, by means of which an electric motor (not shown in detail) can be supplied with electrical energy. For charging the battery 4, the vehicle 2 has a charging socket 6, which is electrically connected to the battery 4.

[0047] Furthermore, the Fig. 1 shows a device 8 which is provided and configured for automatically charging the battery 4 of the vehicle 2. The device 8 has a charging plug 10 which can be plugged into the charging socket 6 of the vehicle 2, thereby establishing an electrical connection between the charging socket 6 and the charging plug 10.

[0048] Furthermore, the device 8 has a plug-in device 12, by means of which the charging plug 10 can be automatically plugged into the charging socket 6 of the vehicle 2. For this purpose, the plug-in device 12 has a gripper 14, which can be coupled to the charging plug 10. The coupling between the gripper 14 and the charging plug 10 can be automatically released. In other words, the gripper 14 and the charging plug 10 can be automatically separated from one another after the coupling (connection) has been established. In addition, the plug-in device 12 comprises an adjustment unit 16 for the translational and rotational adjustment of the gripper 14, which is designed here, for example, as a (robot) arm.

[0049] For the purpose of improved visibility, the vehicle 2 and the device 8 are not shown to scale with respect to each other.

[0050] In the Fig. In the first variant of the device 8 shown in Figure 1, which does not further fall within the scope of protection of the claims, the gripper 14 has an electromagnet 18 for coupling to the charging plug 10, and the charging plug 10 has a metallic, i.e. magnetizable, and plate-shaped coupling element 20, so that when the electromagnet 18 is energized, a magnetic force acts between it and the coupling element 20. The electromagnet 18 protrudes from an end face 22 which, with respect to a gripping direction G, is arranged frontally for receiving the charging plug 10 from the gripper 14, i.e. for establishing the coupling, and extends in a plane oriented perpendicular to the gripping direction G.

[0051] The charging plug 10 has a receiving recess 24 for the electromagnet 18. The coupling element 20 is arranged on a recess bottom 25 of the receiving recess 24.

[0052] The charging plug 10 has a first plug section 26, on which a plug head 28 is arranged that can be inserted into the charging socket 6, and a second plug section 30, to which a power cable 32 is fed and on which a handle 34 for manual pickup by a user is arranged. The first section 26 and the second section 30 extend in directions inclined to one another. The handle 34 is approximately O-shaped and arranged in a plane spanned by the two plug sections 26 and 30. Furthermore, the gripping direction G is arranged in this plane. In summary, the gripper 14 can be coupled to the charging plug 10 in the region of the handle 34.

[0053] In the Fig. 2 shows a second variant of the device 8, which does not fall within the scope of the claims. Here, the gripper 14 has a suction element 36, which is designed for airtight engagement with a recessed base 25' of a trapezoidal receiving recess 24' of the handle 34 of the charging plug 10. The recess walls 35', which are inclined toward the recessed base 25', provide guidance for the gripper 14 during the gripping process.

[0054] The gripper according to the second variant of the device 8 further comprises a (vacuum) pump 38 for pumping air out of a space enclosed by the suction element 36 and the charging plug 10 when the suction element 36 is in contact with the charging plug 10. Furthermore, the gripper 14 comprises a valve 40 by means of which the space enclosed by the suction element 36 and the charging plug 10 can be fluidly connected to the surroundings of the charging plug 10, so that pressure equalization of this space with the surroundings can take place and the coupling of the gripper 14 to the charging plug 10 can be released.

[0055] In the Fig. Figure 3 shows a third variant of the device 8. Here, the gripper 14 and the charging plug 10 are designed such that they form a detachable snap connection for coupling with each other. For this purpose, the charging plug 10 has a blind hole-like receptacle 42 for a bolt-like joining element 44 of the gripper 14. The receptacle 42 is provided on its circumference with a recess 52, which is intended to receive a spring-elastic snap element 46 of the joining element 44.

[0056] The snap element 46 is formed by means of a spring 48 which is compressible in a direction perpendicular to the axis of the bolt-like joining element 44, wherein so-called pressure pieces 50 are fastened to the two ends of the spring 48, which are seated in the recess 52 when the gripper 14 is coupled to the charging plug 10.

[0057] The blind hole-like receptacle 42 is introduced into a third plug section 54, which is arranged on the second plug section 30.

[0058] According to a fourth variant of the device 8, the charging plug 10 has a receptacle 56, which is provided on its circumference with a receiving contour 58. The gripper has a shaft 60 with a circumferential shaft contour 62. The shaft protrudes upwards towards the end face 22 of the gripper 14. By means of the receiving contour 58 and the shaft contour 62, a positive and / or non-positive connection with the receiving contour 58 can be established by rotating the shaft 60 about its axis and by adjusting the shaft 60 along its axis into the receptacle.

[0059] In the Fig. 4a is the charging plug 10 and in the Fig. 4b shows the gripper 14 of a first embodiment of the fourth variant of the device 8, which does not further fall within the scope of the claims. Here, the shaft contour 62 comprises pin-like extensions projecting upwards from the shaft 60. To form a coupling in the manner of a bayonet lock, the receiving contour 58 comprises two longitudinal slots 64 extending perpendicular to the plane defined by the handle 34, which have transverse slots 66 extending at their ends in the plane defined by the handle 34. The transverse slots 66 of the receiving contour 58, which extend in the plane defined by the handle 34 and are covered by the surface of the handle 34 in this view, are shown by dashed lines.

[0060] The axis of the shaft 60 is oriented perpendicular to the plane spanned by the handle 34. The adjustment movement and the rotation are represented by corresponding arrows, which are provided with the reference symbols V and R, respectively.

[0061] In the Fig. Figure 5 shows a second embodiment of the fourth variant of the device 8, which does not fall within the scope of the claims. Here, the receiving contour 58 and the shaft contour 62 each comprise a thread. The coupling thus takes place in the manner of a screw connection.

[0062] In the Fig. In the variants and embodiments of the device 8 shown in Figures 1 to 5, the gripper 14 each has an optical measuring unit 68, which detects the relative position of the charging plug 10 to the gripper 14. For this purpose, a marker 70, shown in hatched form, is arranged on the charging plug 10. This marker is designed, for example, as a line pattern. Alternatively or additionally, the optical measuring unit 68 detects the relative position of the charging plug 10 to the gripper 14 based on the shape of the charging plug 10. The measuring unit 68 is formed here by a camera and an evaluation unit for determining the relative position.

[0063] In the first variant of the device 8 according to the Fig. 1, the gripper 14 has a centering or guiding element 71, which is designed as two pins arranged on the front side 22. These are received in element receptacles 74 during the gripping process. In variants of the devices 8 according to the Fig. 2, Fig. 3, Fig. 4a, Fig. 4b and Fig. 5, the gripper 14 has a centering or guiding element 71 and the charging plug 10 has corresponding element receptacles 74 for the centering or guiding element 71 analogous to the first variant of the device 8 according to the Fig. 1 on.

[0064] In variants of the devices 8 not shown in detail according to the Fig. 1, Fig. 2, Fig. 4a and Fig. 5, the charging plug 10 has the same features as the variant according to Fig. 3 has a third plug section 54 instead of the handle 34. This third plug section 54 is the receiving recess 24 for the electromagnet 18, the receiving recess 24' for the suction element 36, and the receptacle 56 for the shaft 60, respectively. The coupling of the gripper 14 then takes place in the region of the third plug section 54.

[0065] In the Fig. 6, a method for automatically charging the battery 4 of the electrically driven vehicle 2 by means of a device 8 is represented by a flowchart. In particular, the device is designed according to one of the variants or embodiments of Fig. 1 to 5. The device has at most a charging plug 10 for the charging socket 6 of the vehicle 2 and a gripper 14 for the charging plug 10.

[0066] In a first step A, the relative position of the charging plug 10 to the gripper 14 is detected. In a subsequent second step B, the charging plug 10 is automatically coupled to the gripper 14. For this purpose, the gripper 14, according to the variants of the device 8 shown above, has an electromagnet 18, a suction element 12, a shaft 60, or a bolt-like joining element 44. The charging plug 10 accordingly has a magnetizable coupling element 20, a contact surface for the suction element 36, a receptacle 56 for the shaft 60, or a receptacle 42 for the joining element 44.

[0067] In order to pick up the charging plug 10 by the gripper 14, the latter is guided towards the charging plug 10 depending on the detected relative position, whereby the gripper 14 is adjusted along the gripping direction G.

[0068] In a third step C of the method, the charging plug 10 is automatically inserted into the charging socket 6 of the vehicle 2 by means of the gripper 14. Subsequently, in a fourth step D, after the charging process of the battery 4 has been completed, the charging plug 10 is pulled out of the charging socket 6. In a fifth step E, after the charging plug 10 has been pulled out of the charging socket 6 of the vehicle 2, the charging plug is inserted into a holder provided for it, and the coupling between the gripper 14 and the charging plug 10 is automatically released.

[0069] Preferably, the method is carried out essentially in parallel for several vehicles 2 using a single device 8. For this purpose, the gripper 14 is temporarily detached from the charging plug 10, for example between method steps C and D, and coupled to another charging plug 10 for charging a battery 4 of another vehicle 2. Thus, during the charging process of a vehicle 2, method steps A, B, and C are carried out for another vehicle 2 or charging plug 10. Method steps A, B, and C are therefore carried out successively for several charging plugs 10 and several assigned vehicles 2. At the end of the respective charging process, method steps D and E are carried out accordingly for each vehicle 2 or for each charging plug 10.

[0070] The invention is not limited to the exemplary embodiments described above. Rather, other variants of the invention can also be derived therefrom by those skilled in the art without departing from the subject matter of the invention. In particular, all individual features described in connection with the exemplary embodiments can also be combined with one another in other ways without departing from the subject matter of the invention. List of reference symbols 2 vehicles 4 Battery 6 Charging socket 8 Device 10 charging plugs 12 Plug-in device 14 grippers 16 Adjustment unit 18 Electromagnet 20 coupling element 22 front side 24.24' receiving trough 25.25' trough bottom 26 first connector section 28 connector head 30 second connector section 32 power cables 34 handle 35' trough wall 36 suction element 38 Pump 40 valve 42 recording 44 Joining element 46 Snap element 48 spring 50 pressure pieces 52 recess 54 third connector section 56 recording 58 Recording contour 60 shaft 62 Shaft contour 64 Longitudinal slot 66 cross slot 68 measuring units 70 markers 71 Centering or guiding element 74 Element holder / holder for the centering or guiding element A Detecting the relative position between gripper and charging plug B Establish a connection between gripper and charging plug C Insert the charging plug into the charging socket D Pulling the charging plug out of the charging socket E Disconnecting the gripper and charging plug G Gripping direction R Rotation V adjustment movement

Claims

[1] Device (8) for automatically charging a battery (4) of an electrically driven vehicle (2), comprising - a charging plug (10) for a charging socket (6) of the vehicle (2), and - a plug-in device (12) for automatically plugging the charging plug (10) into the charging socket (6), with a gripper (14) for the charging plug (10), - wherein the gripper (14) can be coupled to the charging plug (10), and - wherein the coupling between the gripper (14) and the charging plug (10) is automatically releasable, characterized by , - that the gripper (14) has a centering or guiding element (71) for a defined alignment and / or positioning of the gripper (14) with respect to the charging plug (10) during the gripping process and the charging plug (10) has a corresponding element receptacle (74) for the centering or guiding element (71), and - that the charging plug (10) and the gripper (14) form a detachable snap connection for coupling, wherein the charging plug (10) has a blind hole-like receptacle (42) for a bolt-like joining element (44) of the gripper (14), wherein the receptacle (42) is provided with a circumferentially arranged recess (52) for a spring-elastic snap element (46) of the joining element (44). [2] Device (8) claim 1, characterized by that the gripper (14) has an optical measuring unit (68) which detects the relative position of the charging plug (10) to the gripper (14) on the basis of a marker (70) arranged on the charging plug (10) or on the basis of the shape of at least a portion of the charging plug (10). [3] Device (8) according to claim 1 or 2, characterized by that the charging plug (10) has a handle (34) provided for manual picking up by a user, wherein the gripper (14) can be coupled to the charging plug (10) in the region of the handle (34). [4] Method for automatically charging a battery (4) of an electrically driven vehicle (2) by means of a device (8) designed according to one of claims 1 to 3, with a charging plug (10) for a charging socket of the vehicle (2) and with a gripper (14) for the charging plug (10), - wherein the relative position of the charging plug (10) to the gripper (14) is detected, - whereby the charging plug (10) is automatically coupled to the gripper (14), - whereby the charging plug (10) is automatically inserted into the charging socket (6) of the vehicle (2), - after the battery charging process has been completed, the charging plug (10) is pulled out of the charging socket (6), and - whereby the coupling between the gripper (14) and the charging plug (10) is automatically released.

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