Charging cable with manipulator device

Abstract

The invention relates, in particular, to a charging cable (1) equipped with a manipulator device (M1), of a charging station (2) for charging an electric vehicle (4), having at least one manipulator element (6) which is arranged eccentrically with respect to the cable centre of the charging cable (1) and is designed and arranged to be movable or extensible and compressible, and at least one manipulator element (60; 7, 70) which is designed and arranged to be longitudinally stable and flexible or pivotable, each extending in the longitudinal direction (L) of the charging cable (1), and being connected to one another at a predetermined position (P) of the charging cable (1). The manipulator device (M1) of the charging cable (1) is designed, arranged and configured in such a way that the manipulator element (6) interacts with the manipulator element (60; 7, 70) and the charging cable (1) in such a way that, when the charging cable (1) is handled by an operator, in particular in order to charge the electric vehicle (4), the charging cable (1) is relieved of weight and the cable (1) is largely protected from ground contact. The invention additionally relates to a control system (S1) for setting an operating state of an aforementioned charging cable (1) equipped with a manipulator device (M1).

Description

[0001] Description

[0002] The invention relates to a charging cable for charging an electric vehicle, comprising a manipulator device for facilitating the handling of a charging cable. The invention particularly relates to a charging cable equipped with such a manipulator device and a control system for adjusting an operating state of the charging cable.

[0003] When charging electric vehicles, suitable charging cables are required to connect the charging socket of the electric vehicle to a charging station, at the end of which there is a charging plug corresponding to the charging socket of the vehicle.

[0004] Such charging cables, particularly suitable for fast or high-performance charging, feature considerably large cable cross-sections with multi-core cables, considerable cable length, and a correspondingly high weight, as well as high rigidity. This makes it difficult for a charging station user to insert the charging plug into a charging socket on the vehicle.

[0005] To protect the charging cable from wear and tear and ensure a desirable service life, such charging cables should, if possible, have no contact with the ground and should not be dragged intentionally or accidentally. Therefore, when charging an electric vehicle, an operator must either support the charging cable almost entirely with a force acting vertically or apply an even greater force acting horizontally to lift the charging cable. State of the art

[0006] From DE 10 2017 127 002 A1 a charging station for electric vehicles with at least one charging cable and at least one charging plug, and at least one cable suspension device for holding the charging cable is known.

[0007] The cable suspension device has a distance from a ground surface on which an electric vehicle to be charged is arranged that is at least greater than the distance of the plug receptacle of the electric vehicle to be charged from the ground surface. In a connection point area of ​​the charging cable, a first upper angle of between 1° and 90° exists between the charging cable and a horizontal plane passing through the connection point area when the charging plug is plugged in, as viewed from the ground surface.

[0008] The space-consuming mechanism of the known cable suspension device is disadvantageously exposed and not protected from adverse effects due to environmental influences or contamination and is therefore susceptible to failure.

[0009] WO 2020 / 084111 A2 discloses a device for charging a vehicle, and in particular an electric vehicle, with a robot for automatically charging the vehicle. The robot has a robot arm with an end effector arranged on the robot arm and a connector arranged on the end effector. The robot arm has several links that are adjustable relative to one another via one or more positioning joints and associated positioning drives in order to position the end effector in space by applying a maximum positioning force. For this purpose, the robot arm has one or more sliding joints and, in particular, associated sliding drives, wherein the connector can be plugged, at least in part, into a complementary connector of a vehicle by applying a maximum plugging force. The maximum plugging force is greater than the maximum positioning force.

[0010] Such automated charging devices are disadvantageously complex and laborious to manufacture, and therefore expensive. Furthermore, such robot-based devices are only suitable for clearly defined positions on a vehicle with its charging socket.

[0011] The German Patent and Trademark Office has also searched the following prior art for the priority application of the present application: US 5,933,557 A and DE 102017 209 776 B4.

[0012] Task

[0013] The object of the invention is to provide a device for facilitating the handling of a charging cable of a charging station for charging an electric vehicle, which also contributes to the protection of the charging cable. A further object of the invention is, in particular, to provide a charging cable equipped with such a device and a control system suitable for adjusting the operating state of the charging cable.

[0014] The problem is solved by the features of independent claim 1.

[0015] Advantageous embodiments of the invention are specified in the subclaims and / or the following description.

[0016] The invention particularly relates to a charging cable equipped with a manipulator device at a charging station for charging an electric vehicle. The manipulator device comprises at least one manipulator element arranged eccentrically to the center of the charging cable, which is arranged and configured to be movable, expandable, and compressible, in particular in the longitudinal direction of the cable. The manipulator device further comprises at least one manipulator element arranged and configured to be length-stable and flexible or pivotable. The at least two protruding manipulator elements each suitably extend in the longitudinal direction of the charging cable and are connected to one another at a predetermined position on the charging cable.

[0017] The manipulator device, in particular with its differently designed manipulator elements having different properties in the longitudinal direction of the charging cable and their connection at a predetermined suitable position of the charging cable, is advantageously designed, arranged and configured in such a way that the manipulator elements interact with one another and with the charging cable in such a way that when an operator handles the charging cable, in particular for charging the electric vehicle, the charging cable is relieved of its weight and the cable is largely protected from contact with the ground.

[0018] When reference is made here above and in the entire context of the application to weight relief of the charging cable, this refers to the technical effect of the manipulator device on the weight of the charging cable, which occurs in particular when the charging cable is handled by an operator and which is reduced in comparison to its actual physical weight.

[0019] This weight relief or weight reduction makes handling of the charging cable, particularly for charging the electric vehicle, much easier for an operator, so that the charging cable is largely protected from contact with the ground and from being accidentally dragged across the ground or even dropped.It is clear that a desirable, extensive protection against possible ground contact of a charging cable naturally also depends in particular on the cable length and the arrangement of the charging cable at a charging station, according to which the design and arrangement of the manipulator device of the charging cable with its manipulator elements and their connection at a predetermined suitable position is arranged and designed in a suitable manner corresponding in particular to the cable length and the arrangement of the charging cable at the charging station, which is described again in detail below.

[0020] To enable the above advantageous properties, the charging cable with its manipulator device can advantageously be designed, arranged and configured such that the manipulator elements interact with each other and with the charging cable in such a way that when handling the charging cable, in particular for charging the electric vehicle, at least one predetermined bend or curvature of the charging cable is set or adjusted in at least one predetermined direction.

[0021] For a desirably reliable adjustment and accuracy of the adjustment of a predetermined direction with also a predetermined amount of bending or curvature of the charging cable in accordance with a predetermined operating state of the charging cable with in particular also a predetermined alignment, orientation and positioning of the charging cable, at least three protruding manipulator elements arranged eccentrically and point-symmetrically to the cable center can advantageously be provided, which are each designed and arranged to be movable or expandable and compressible in the longitudinal direction of the charging cable and in this respect can in particular also have different properties.The above manipulator elements are in fact also connected to one another due to their connection with the further manipulator element as described above, which, as described above, is designed and arranged to be length-stable and flexible or pivotable, in contrast to the manipulator elements designed and arranged to be movable or stretchable and compressible.

[0022] In particular, with this connection of the movable or expandable and compressible manipulator elements with different mechanical properties, an advantageous weight relief as described above can be achieved when handling the charging cable with a largely reliable protection against ground contact of the charging cable with a desirably precise alignment, orientation and positioning of the charging cable in accordance with a predetermined operating state of the charging cable.

[0023] For particularly advantageous weight relief with particularly reliable protection against ground contact of the charging cable and particularly precise alignment, orientation and positioning of the charging cable during its handling, a protruding manipulator device of a charging cable can have three first, second and third manipulator elements each designed and arranged to be movable or expandable and compressible in the longitudinal direction of the charging cable.

[0024] The first manipulator elements extend in a suitable manner from the charging station along a first section of the charging cable in the longitudinal direction of the charging cable, and are connected at a suitable first position at the end of the first section to the above manipulator element, which is designed and arranged to be length-stable and flexible or pivotable, and are thus also connected to one another as described above.

[0025] The second manipulator elements extend from the charging station along the first section of the charging cable and along a second section of the charging cable adjoining the first section, and are connected at a suitable second position at the end of the second section to the manipulator element, which is designed and arranged to be length-stable and flexible or pivotable, and thus also to each other.

[0026] The third manipulator elements extend from the charging station along the first and second sections and along a third section of the charging cable adjoining the second section, and are connected at a suitable third position at the end of the third section to the manipulator element, which is designed and arranged to be length-stable and flexible or pivotable, and / or to a charging plug provided at the end of the charging cable, and thus also to each other.

[0027] It is clear that a desirably simple and safe handling of a charging cable with extensive protection against contact of the charging cable with the ground naturally also depends in particular on the cable length and the arrangement of the charging cable at a charging station, according to which the manipulator device of the charging cable with its manipulator elements and their connection at their suitable first, second and third positions is also arranged and designed in particular corresponding to the cable length and the arrangement of the charging cable at the charging station.

[0028] In a charging cable with a cable-internal manipulator device described below, suitable fastening elements can be provided in the charging cable for connecting the manipulator elements designed and arranged to be movable or stretchable and compressible in the longitudinal direction of the charging cable to the manipulator element designed and arranged to be length-stable and flexible or pivotable, wherein the manipulator elements are fastened to the fastening elements.

[0029] A charging cable as described above can be configured with its internal cable manipulator device such that its manipulator element, which is designed to be length-stable and flexible or pivotable, and its manipulator elements, which are designed and arranged to be movable or expandable and compressible in the longitudinal direction of the charging cable, are each arranged within the charging cable. The internal cable manipulator device provides an advantageously compact design and arrangement of the charging cable and the manipulator device, which is also advantageously reliably protected from impairment due to environmental influences and contamination.

[0030] The manipulator element, which is designed and arranged to be length-stable and flexible or pivotable, can advantageously be designed and arranged as an elongated central core of the charging cable, which can extend from the charging station in the center of the charging cable, in particular to the position of the charging cable at which it is connected to the manipulator elements, which are designed and arranged to be movable or expandable and compressible in the longitudinal direction of the charging cable and which, as described above, are arranged eccentrically to the center of the cable and are correspondingly spaced from the manipulator element designed as a central core.

[0031] The manipulator element, designed as an elongated central core, can then extend to the end of the charging cable and thus over the entire length of the charging cable. The manipulator element, designed as an elongated central core, can have a suitable diameter and, in particular, be provided by a suitable metal wire.

[0032] As an alternative to the aforementioned internal cable manipulator device, a charging cable with a manipulator device can be equipped with an external cable manipulator device, whose manipulator element, designed and arranged to be length-stable and flexible or pivotable, is suitably designed as a multi-element cable and advantageously forms an external cable for the charging cable. For desirable protection against deterioration due to environmental influences and contamination, the external manipulator device designed as the external cable of the charging cable can have a suitable outer protective cover.

[0033] The multi-element outer conduit can advantageously be formed from a plurality of conduit elements configured to correspond to one another in a form-fitting manner and assembled in a row. The manipulator elements, which are configured and arranged to be movable or expandable and compressible, advantageously extend movably along the conduit through the conduit elements. The conduit elements, and thus the outer conduit, can be made of a suitable plastic or metal.

[0034] The manipulator elements, which extend movably through the individual line segments, have an advantageous dual function, particularly since, in addition to their previously described function, they also enable easy sequencing of the individual line segments and hold the line segments of the assembled outer line together, thus contributing to its stability. To accommodate and desirably compact and stable arrangement of the charging cable in the outer line, an inner diameter of its line segments and thus of the outer line suitably corresponds to an outer diameter of the charging cable.

[0035] For the advantageous pivotable formation of the assembled outer line and formation of a bend or curvature of the charging cable as described above, the line members which are assembled in a form-fitting manner and corresponding to one another suitably have a predetermined play with respect to a respective adjacent line member, so that the adjacent line members can be pivoted with respect to one another.

[0036] To create a projecting pivot with a corresponding bend or curvature of the charging cable in a predetermined direction and a corresponding predetermined alignment, orientation, and positioning of the charging cable, the manipulator elements, which are designed and arranged to be movable or expandable and compressible, are each suitably connected to a line member arranged at a predetermined position of the line or to a charging plug provided at the end of the charging cable. The manipulator elements interact with the line members through which they extend and the line member to which they are connected in such a way that, by means of a predetermined expansion or compression or movement of at least one of the manipulator elements, a bend or curvature of the line and the charging cable arranged in the line in a predetermined direction is provided.

[0037] An above external manipulator device, which can also be designed as a passive manipulator device described below, is advantageously also suitable in particular for retrofitting a charging cable at a charging station.

[0038] An internal or external manipulator device of a charging cable, as described above and described at the beginning, can be designed and configured as a passive manipulator device, whose movable or expandable and compressible manipulator elements are designed as resilient, expandable, and compressible spring elements. The manipulator elements designed as spring elements can be provided, in particular, by suitable metal springs, which can be designed as spiral springs. The manipulator elements designed as spring elements are advantageously each arranged in a suitable outer casing that ensures their function.

[0039] For a desirable simple, reliable and comfortable handling of a charging cable equipped with a passive manipulator device, the manipulator elements of the charging cable, designed as spring elements, can be connected to and interact with a suitable spring / damper system provided in the charging station, which is described again below.

[0040] An internal or external manipulator device described at the outset and described above can alternatively be designed and configured as a particularly advantageous active manipulator device, whose movable or expandable and compressible manipulator elements are advantageously each designed as suitable movable cables or suitable expandable and compressible shape memory alloys. Like the spring elements of the passive manipulator device described above, the manipulator elements designed as cables or shape memory alloys are also advantageously each arranged in a suitable outer casing, which ensures their function. The manipulator elements designed as cables are suitably each made of a suitable selected metal and can be provided by means of suitably designed Bowden cables.

[0041] A particularly advantageous active manipulator device, with its movable or expandable and compressible manipulator elements, can advantageously be connected and interact with a controller provided in the charging station. For this purpose, the controller can have suitable control elements for controlling at least one predetermined operating state of the manipulator device and the charging cable.

[0042] The positioning, orientation, and alignment of the charging cable and a charging plug connected to the charging cable at a position suitable for charging an electric vehicle, or the positioning, orientation, and alignment of the charging cable and a charging plug connected to the charging cable at a position suitable for parking the charging plug and the charging cable at the charging station, can thus be controlled in a suitable manner. The invention therefore also relates in particular to a control system, described below, for setting an operating state of a charging cable.

[0043] As with the passive manipulator device described above, the manipulator elements of the active manipulator device can also be connected to a suitable spring / damper system provided in the charging station.

[0044] As mentioned several times above, the invention initially relates in particular to a charging cable for charging an electric vehicle at a charging station, which is advantageously equipped with a manipulator device described above. The charging cable can in particular have a predetermined suitable number of wires, each with a different diameter, for energy, signal, and data transmission, which extend in the longitudinal direction of the cable parallel to the movable or expandable and compressible manipulator elements and the manipulator element designed as an elongated central core. The charging cable can also have lines for a cooling fluid.Such a cable equipped with a manipulator device can in particular be a charging cable suitable for rapid charging or high-performance charging with a correspondingly large cable cross-section and with multi-core cables, and suitably in particular have a length of approximately four to eight meters and advantageously of approximately five to six meters.

[0045] It is clear that such a charging cable is arranged at one end at the charging station in such a way that its electrical lines and the above-described wires for energy, signal, and data transmission, as well as lines for a cooling liquid, extend into the charging station to suitable connections, in particular those provided in the charging station. A manipulator device of the charging cable as described above can extend at this end of the charging cable, together with the charging cable, into the charging station in a correspondingly advantageously simple manner, and there be connected with its manipulator elements to a spring / damper system provided in the charging station, as described above. This also applies to the elements of an active manipulator device, which can be connected to and interact with a control system provided in the charging station.The controller comprises suitable control elements for controlling at least one predetermined operating state of the manipulator device and the charging cable with a predetermined alignment, positioning, and orientation of the charging cable. As also mentioned above, simple and safe handling of the charging cable, particularly avoiding contact of the charging cable with the ground, is also determined by the cable length and a suitable, user-friendly arrangement of the charging cable at a charging station.In addition to the above-mentioned suitable cable length of approximately four to eight meters and advantageously of approximately five to six meters, this naturally also applies to a suitably large cable cross-section as mentioned above and dimensions correspondingly suitable for the predetermined application of the cable, and of course also to the suitable design and other suitable properties and elements of the charging cable, such as its material, weight, stiffness, its functional elements, wires, cables, etc.

[0046] A manipulator device of the charging cable as described above is accordingly suitably designed and arranged with its manipulator elements to provide the advantageous functions of the manipulator device and the charging cable described above, namely in particular a weight relief of the charging cable and extensive protection of the cable from contact with the ground and / or an adjustment of at least one predetermined bend or curvature of the charging cable in at least one predetermined direction and / or a predetermined alignment, positioning and orientation of the charging cable, in particular corresponding to the design and properties, functional elements and dimensions of the charging cable and with its arrangement at the charging station.

[0047] As mentioned in the above description of the active manipulator device, whose movable or expandable and compressible manipulator elements can advantageously be connected to and interact with a control provided in the charging station, the invention also relates to a control system for setting an operating state of a protruding charging cable at a charging station for charging an electric vehicle, wherein the charging cable is equipped with a protruding active manipulator device.

[0048] The control system comprises in particular a hardware and software-supported control provided at the charging station, which has control elements designed as electric motors or switchable and / or controllable electrical connections for setting a predetermined positioning, alignment and orientation with a predetermined bend or curvature of the charging cable.

[0049] The control elements, designed as electric motors, are suitable for controlling the manipulator elements of the active manipulator device, which are designed as cable pulls, and are connected to these manipulator elements accordingly. The control elements, designed as switchable and / or adjustable electrical connections, are suitable for the manipulator elements of the active manipulator device, which are designed as shape memory alloys, and are connected to these manipulator elements accordingly.

[0050] The control system can also comprise a sensor system, in particular an optical sensor system, which is provided in particular on a charging plug connected to the charging cable and which is connected and interacts with the controller in a hardware- and software-supported manner for the user-friendly control of a positioning, alignment, orientation and bending or curvature of the charging cable suitable for a predetermined operating state of the charging cable, wherein image data acquired by the sensor system are also evaluated by the controller in a suitable manner with the aid of KL.

[0051] For particularly comfortable, user-friendly handling of the charging cable by an operator for the individual control of an operating state of the charging cable and the active manipulator device, the control system can advantageously also have a switching device, provided in particular on the charging plug, for continuously switching on or off the activation of the manipulator elements of the manipulator device.

[0052] Examples of implementation

[0053] Embodiments of the invention are illustrated in the drawings and explained in more detail below. They show:

[0054] Fig. 1A is a schematic representation of a charging cable with a manipulator device according to an embodiment of the invention when charging an electric vehicle at a charging station;

[0055] Fig. 1B shows a section through the charging cable with the manipulator device of Fig. 1A along the line SS of Fig. 1A;

[0056] Fig. 2A is a schematic representation of a charging cable with a manipulator device according to a further embodiment of the invention when charging an electric vehicle at a charging station;

[0057] Fig. 2B is an enlarged view of the charging cable with the manipulator device of Fig. 2A;

[0058] Fig. 3 sectional views through the charging cable with the manipulator device of Fig. 2B, each along one of the lines SS of Fig. 2B;

[0059] Fig. 4A is a schematic representation of a charging cable with a manipulator device according to a further embodiment of the invention when charging an electric vehicle at a charging station;

[0060] Fig. 4B is a section through the charging cable with the manipulator device of Fig. 4A along the line SS of Fig. 4A;

[0061] Fig. 5A is an enlarged exploded view of a section of the manipulator device of Fig. 4A adjacent to the charging plug;

[0062] Fig. 5B is an enlarged view of selected elements of the manipulator device of Fig. 4A in a different perspective;

[0063] Fig. 6A is a schematic representation of the essential elements of a manipulator device for a charging cable according to an embodiment of the invention; and

[0064] Fig. 6B is a schematic representation of a control system for the operation of a manipulator device for a charging cable according to an embodiment of the invention.

[0065] The figures contain partially simplified, schematic representations. In some cases, identical reference symbols are used for identical, but possibly not identical, elements, which may not be shown in all figures. Different views of identical elements may be scaled differently.

[0066] Fig. 1 A shows a schematic representation of a charging cable 1 with a manipulator device M1 according to an embodiment of the invention when charging an electric vehicle 4 at a charging station 2, and Fig. 1 B shows an enlarged section through the charging cable 1 with the manipulator device M1 of Fig. 1A along the line SS of Fig. 1A. The charging cable 1 extending from the charging station 2 is connected by its free end to a charging plug 3.

[0067] For the sake of clarity, the perspective, scaling, and in particular the relative dimensions and proportions of the electric vehicle 4, including the charging station 2, are schematically compressed in Fig. 1A in such a way that the complete charging station 2, together with the only partially depicted vehicle 4, can be clearly seen on one drawing sheet. It is clear that the charging station 2 is depicted correspondingly small, particularly in its height in the Z direction. This also applies to the drawings described below, Fig. 2A and Fig. 4B.

[0068] In the schematic perspective drawing, the charging column of charging station 2 extends in a first direction X and a second direction Y, and upwards in a third direction Z. For the sake of clarity and for better understanding, the schematic drawing also shows the electric vehicle 4, which is arranged for charging in direction X opposite the charging station 2, in a schematic perspective view, with a view of the charging socket 40 of the vehicle 4. The charging cable 1 extends from the charging station 2 essentially in direction X to the electric vehicle 4.

[0069] The charging cable 1 is equipped with a manipulator device M1 according to one embodiment of the invention, by means of which a predetermined bend or curvature R of the charging cable 1 in a direction R is provided or simplified during handling of the charging cable 1, so that an alignment, orientation and positioning of the charging cable 1 and in particular of the charging plug 3 at a position P1 suitable for charging can be easily set. The position P1 suitable for charging suitably corresponds to a charging socket 40 of the electric vehicle 4, which socket cooperates as intended with the charging plug 3 and into which the charging plug 3 can thus be easily inserted to charge the electric vehicle 4. A position P1 of the charging plug 3 suitable for charging an electric vehicle 4 is referred to here and throughout the context of the description as the working position P1.

[0070] The manipulator device M1 is also configured and designed in such a way that, particularly during handling of the charging cable 1, the weight relief of the charging cable 1 explained above is provided, and the charging cable 1, with its bend or curvature R, is largely protected from unwanted contact with the ground. This intended effect of the manipulator device M1 also simplifies or facilitates handling of the charging cable 1 with its charging plug 3. Furthermore, the charging cable 1 is reliably protected from unwanted damage and wear, for example due to contact with the ground or even unintentional dragging of the cable 1 across the ground. A predetermined service life for which the charging cable 1 is designed is therefore not impaired by the operation and handling of the charging plug 3 and the charging cable 1.

[0071] The manipulator device M1 of the embodiment of Figs. 1A and 1B is designed as an internal cable manipulator device M1 and has a centrally arranged, flexible but length-stable manipulator element 60, which forms an elongated central core 60. The manipulator device M1 also has three movable or expandable and compressible manipulator elements 6 arranged eccentrically to the cable center adjacent to the edge 10 or sheath 10 of the charging cable 1. The manipulator elements 6 and the elongated central core 60 spaced apart from the manipulator elements 6 extend in the longitudinal direction of the cable 1, starting from the charging station 2, to a suitably designed fastening element provided at a predetermined position P in the charging cable 1, to which fastening element the three manipulator elements 6 and the elongated core 60 are suitably fastened and connected to one another.

[0072] In addition to the three manipulator elements 6 and the manipulator element 60 of the cable-internal manipulator device M1, which is designed as an elongated central core 60, the charging cable 1 of the embodiment of Figs. 1A and 1B has, for example, five wires 5 with different diameters for energy, signal, and data transmission, which extend parallel to the manipulator elements 6 and the manipulator element 60, which is designed as an elongated central core 60, also in the longitudinal direction L of the cable 1. It is clear that the charging cable 1 can also have lines for cooling fluid not shown in the drawing.

[0073] The three eccentrically arranged manipulator elements 6, which are designed to be movable or expandable and compressible, are arranged on the edge 10 of the cable 1 in a suitable manner with respect to the cable center and the manipulator element 60, designed as an elongated central core 60, in a threefold point symmetry with three symmetry planes E, each of which is rotated at an angle a of 120° around the central core 60. The manipulator elements 6 are arranged at a corresponding distance from each other and from the central manipulator element 60.

[0074] In order to form a bend or curvature of the cable 1 in a predetermined direction R and an arrangement of the cable 1 and the charging plug 3 at a predetermined position P(X, Y, Z), the manipulator elements 6, unlike the manipulator element 60 designed as an elongated central core 60, are designed to be variable, in particular in their relative extension in the longitudinal direction L of the charging cable 1 to one another and to the core 60.

[0075] The manipulator device M1, with its manipulator elements 6 arranged and configured to be movable or expandable and compressible, and the manipulator element 60 configured as an elongated central core 60, can be configured as a passive manipulator device M1 such that a predetermined bend or curvature R of the cable 1 and a corresponding alignment, orientation, and positioning of the cable 1 and the charging plug 3 at a predetermined position P and P1 are automatically adjusted in a suitable manner when the cable 1 is operated. The manipulator elements 6 of the passive manipulator device M1 can in particular be configured as suitable different spring elements, wherein the passive manipulator device M1, for its user-friendly function, can also be connected to a suitable spring / damper system 22 provided in the charging station 2, which interacts in particular with the manipulator elements 6.

[0076] The charging station 2, which is schematically shown in Fig. 1A as explained above in its scaling and proportions as comparatively small, has a rest port 20 for the charging plug 3 provided at one end of the charging cable 1, which rest port is arranged at a position P2 suitable for handling the charging cable 1 and the charging plug 3, wherein the charging cable 1, starting from the charging station 2, initially extends vertically downwards in a first section adjacent to the charging station 2, for example.

[0077] The length of the charging cable 1 is suitably predetermined in such a way that the charging cable 1 is spaced from the ground when the charging plug 3 is arranged as intended at position P2 in the rest port 20, and that when the charging plug 3 is arranged as intended at position P1, the vehicle 4 is at a distance from the charging station 2 that is suitable for handling and operation of the charging plug 3 by an operator, and a desirable flexibility is provided for the positioning of the vehicle 4 during charging and the position P1, and that in particular the charging cable 1 is also spaced from the ground during charging. As described above, the charging cable 1 and the manipulator device M1 are suitably configured and designed to correspond to one another, in particular also taking into account the length of the charging cable 1 and the arrangement of the charging cable 1 at the charging station 2.

[0078] What has been said above regarding the embodiment of the charging cable 1 with the manipulator device M1 of Fig. 1A and Fig. 1B naturally also applies to the embodiments of the charging cable 1 with their manipulator devices M1 described below with reference in particular to Fig. 2A, Fig. 2B, Fig. 3, Fig. 4A and Fig. 4B, wherein the manipulator devices M1 of all charging cables 1 can each be designed and configured as an active or passive manipulator device M1.

[0079] The manipulator device M1 of Fig. 1A and Fig. 1B, as mentioned above, with its eccentrically arranged and movable or expandable and compressible manipulator elements 6 and the manipulator element 60 designed and arranged as an elongated central core 60, can also be designed as an active manipulator device M1 such that its bending or curvature R of the cable 1 and the alignment, orientation, and positioning of the cable 1 and the charging plug 3 at a predetermined position P and P1 are adjusted in a predetermined manner during operation of the cable 1. At least one movable or expandable and compressible manipulator element 6 of the active manipulator device M1 can be designed such that its extension in the longitudinal direction L of the cable 1 is adjusted in accordance with the handling of the charging plug 3 and the charging cable 1 and / or their alignment, orientation, and positioning.Of course, for a desirable finely adjusted setting of at least one predetermined position P1, in particular of the charging plug 3, tailored to the handling of the charging plug 3 and the charging cable 1, it is advantageous that the extension of all manipulator elements 6 is adjustable in the longitudinal direction L of the charging cable 1. Manipulator elements 6 suitable for this purpose can be provided by means of cable pulls and, in particular, by means of Bowden cables or suitable shape memory alloys.

[0080] Like the passive manipulator device M1, the active manipulator device M1 can also be connected to a suitable spring-damper system 22 provided in the charging station 2 for its user-friendly design, which system interacts in particular with the manipulator elements 6. Unlike the passive manipulator device M1, the active manipulator device M1 is connected to a suitable controller 21 provided in the charging station 2 for adjusting at least one predetermined curvature or bend R of the cable 1, which controller 21 interacts in particular with the manipulator elements 6 of the active manipulator device M1. The controller 21 can be suitably connected to and interact with a suitable, in particular optical, sensor system 31, which can be provided on the charging plug 3.In addition, a suitable switching device 32 can be provided, in particular on the charging plug 3, for continuously switching on or off the activation of the manipulator elements 6 of the active manipulator device M1.

[0081] With the active manipulator device M1 and the controller 21 connected to it, at least one predetermined position P1 of the charging plug 3 can be set in a particularly user-friendly manner, the position P1 (X, Y, Z) of which can vary in accordance with a position P1 (X, Y, Z) of a charging socket 40 of an electric vehicle. Furthermore, with the active manipulator device M1 and the controller 21 connected to it, the charging cable 1 and the charging plug 3 can be set to a predetermined parking position or rest position P2, different from the position P1, of a parking port or rest port 20 provided at the charging station 2 for the charging plug 3 and the charging cable 1. A corresponding control system S1 according to an embodiment of the invention for controlling the active manipulator device M1 in a manner suitable for this purpose is described below with reference to Fig. 6B.

[0082] Fig. 2A shows a schematic representation of a charging cable 1 with a manipulator device M1 according to a further embodiment of the invention during charging of an electric vehicle 4 at a charging station 2 in the schematic perspective of Fig. 1A, and Fig. 2B shows an enlarged representation of the charging cable 1 of Fig. 2A. The charging cable 1 with the manipulator device M1 of the embodiment of Figs. 2A and 2B is, like the charging cable 1 with the manipulator device M1 of the embodiment of Figs. 1A and 1B, equipped with an internal manipulator device M1, the manipulator elements 6 of which are arranged and designed to be movable or stretchable and compressible and the manipulator element 60 of which is provided as an elongated central core 60 and is designed and arranged to be length-stable and flexible or pivotable are integrated into the charging cable 1.With regard to the design and arrangement of the manipulator elements 6 eccentrically spaced from one another and adjacent to an edge or sheath 10 of the cable 1 or in the center of the cable 1 and their interaction and function, reference is therefore made here to the above description with reference to Fig. 1 A and 1 B.

[0083] Unlike the manipulator device M1 of Fig. 1A and 1B, the manipulator device M1 of the embodiment of Fig. 2A and 2B is designed and configured such that when handling the charging cable 1, a predetermined first R11, second R12 and third R13 bend or curvature of a first 11, second 12 and third 13 section of the charging cable 1 in a direction R is provided or simplified, so that an alignment, orientation and positioning of the charging cable 1 and the charging plug 3 at a position P1 suitable for charging can be set in a simple manner.

[0084] For this purpose, the manipulator element 60 of the manipulator device M1, which is designed as a length-stable and flexible central core and has three first 61, second 62 and third 63 manipulator elements each arranged and designed to be movable or expandable and compressible, extends from the charging station 2 in the first section 11 of the charging cable 1 to a first position P11 of the charging cable 1, at which the manipulator element 60 is fastened together with the three first manipulator elements 61 to a suitable fastening element provided in the charging cable 1.

[0085] Fig. 3 shows an enlarged section through the first section 11 of the charging cable 1 along its line SS together with two further sections through the second 12 and third section 13 of the charging cable 1, each along the corresponding lines SS.

[0086] The design and arrangement of the manipulator device M1 of the charging cable 1, with the central manipulator element 60 and the three eccentric manipulator elements 61 in the first section 11, therefore corresponds to the manipulator structure M1 of the charging cable 1 described above in Fig. 1 A and 1 B, which is why reference is made here to the corresponding description above.

[0087] In the second section 12 of the charging cable 1 adjoining the first section 11, the length-stable and flexible central manipulator element 60 of the manipulator device M1 extends with the three second 62 and third 63 manipulator elements up to a second position P12 of the charging cable 1, at which the central manipulator element 60 together with the three second manipulator elements 62 is fastened to a suitable fastening element provided in the charging cable 1.

[0088] Finally, in the third section 13 of the charging cable 1 adjoining the second section 12, the length-stable and flexible central manipulator element 60 of the manipulator device M1 extends with the three third manipulator elements 63 up to a third position P13 at the end of the charging cable 1, at which position the central manipulator element 60 together with the three third manipulator elements 63 are fastened to a suitable fastening element provided in the charging cable 1. Alternatively, the central manipulator element 60 and the three third manipulator elements 63 can also be fastened to the charging plug 3. The manipulator device M1 of the embodiment of Figs. 2A and 2B, like the above manipulator device M1 of the embodiment of Figs. 1A and 1B, can each be designed entirely as a passive or active manipulator device M1, in which case reference is also made to the above description with reference to Fig.1 A and 1 B. In a particularly fully active embodiment of the manipulator device M1, at least one predetermined working position P1 (X, Y, Z) of the charging plug 3 with a corresponding first alignment, orientation, positioning and bending R11, R12, and R13 of the cable 1 and, in addition, a rest position or parking position P2 of the charging plug 3 with a corresponding second alignment, orientation, positioning and bending R11, R12, and R13 of the cable 1 can be adjusted particularly precisely, in particular also taking into account individual handling by an operator. This enables particularly convenient operation of the charging plug 3 and the charging cable 1.

[0089] It is clear that at least one of the total of nine manipulator elements 61, 62 and 63 of a manipulator device M1 can be designed and configured to be active or passive, while the other manipulator elements 61, 62 and 63 are instead designed and configured to be passive or active.

[0090] Fig. 4A shows a schematic representation of a charging cable 1 with a manipulator device M1 according to a further embodiment of the invention during charging of an electric vehicle 4 at a charging station 2 in the schematic perspective of Figs. 1A and 2A, and Fig. 4B shows an enlarged section through the charging cable 1 with the manipulator device M1 of Fig. 4A along the line SS of Fig. 4A. The manipulator device M1 of the embodiment of Fig. 4A, unlike the previously described manipulator device M1 of the embodiment of Fig. 1A, is designed as a cable-external manipulator device M1 and has a plurality of modular line members 7 which are designed to correspond to one another in a form-fitting manner and which are arranged one after the other in a row in a form-fitting manner and which, when combined, form an outer line 70 of the charging cable 1.With the line members 7 assembled to form the outer line 70, a manipulator element 70 is provided which is designed and arranged to be length-stable and flexible or pivotable.

[0091] An inner diameter of the line elements 7 and the line 70 corresponds in a suitable manner to an outer diameter of the charging cable 1 arranged in the line 70 with internal electrical wires 5 and the cable edge or cable sheath 10. To protect the manipulator device M1 from being impaired due to environmental influences and contamination, the line 70 can have an outer sheath not shown in the drawing.

[0092] The manipulator device M1, like the manipulator device M1 of the embodiment of Fig. 1A, has at least one and advantageously three manipulator elements 6, which extend in channels provided for them in the assembled line members 7 of the manipulator element 70, which is designed and arranged as the outer line 70 of the charging cable 1 to be length-stable and flexible or pivotable, from the charging station 2 to a predetermined position P of the charging cable 1. The manipulator elements 6 of the cable-external manipulator device M1 are thus arranged eccentrically adjacent to the cable edge or cable sheath 10, corresponding to the manipulator elements 6 of the cable-internal manipulator device M1. At the position P of the charging cable 1, the manipulator elements 6 are fastened in a suitable manner to a line module 7 located there of the manipulator element 70, which is designed and arranged to be length-stable and flexible or pivotable.The arrangement, design and function of the manipulator elements 6 of the manipulator device M1 of Fig. 4A and 4B with, for example, their threefold point-symmetrical arrangement, their design as passive and / or active manipulator elements 6 otherwise corresponds to the manipulator device M1 of Fig. 1A, which is why reference is made here to its above description.

[0093] For a better understanding of the manipulator device M1 of Fig. 4A, Fig. 5A shows an enlarged exploded view of a section of the manipulator device M1 of the charging cable 1 of Fig. 4A adjacent to the charging plug 3, and Fig. 5B shows an enlarged view of selected elements of the manipulator device M1 of Fig. 4A in a different perspective, each without the charging cable 1.

[0094] The line members 7, which are successively assembled in a row to form the manipulator element 70 designed as an outer line 70 for the charging cable 1, are designed to interact with one another in a form-fitting manner such that two assembled line members 7 have a predetermined amount of play, and the line members 7 can be pivoted relative to one another in a predetermined direction R. A plurality of line members 7 arranged successively and each extending in a direction R relative to an adjacent line member 7 results in a bend or curvature of the line 70 composed of the line members 7 in a predetermined direction R and thus a corresponding bend or curvature of the charging cable 1 accommodated in the line 70.The bending or curvature can be actively brought about by changing the extension in the longitudinal direction L of at least one of the manipulator elements 6, which are arranged and designed to be movable or expandable and compressible, by a predetermined amount, depending on their design, or can be effected passively. The manipulator device M1 of the embodiment of Fig. 4A, like the manipulator device M1 of the embodiment of Figs. 2A and 2B, can also have three sections 11, 12, and 13 of the manipulator device M1 and of the cable 1, each with three manipulator elements 61, 62, and 63 suitably fastened to a line module 7 of the line 70 at the end of the section 11, 12, and 13, which is why reference is made here to the above description with reference to Figs. 2A and 2B. The manipulator device M1 can be like the manipulator device M1 of Fig. 1A and the manipulator device M1 of Fig.2A and 2B can be designed as a partially and in particular also completely passive or active manipulator device M1, wherein reference is also made to the following description with reference to Figs. 6A and 6B. In particular, a cable-external passive manipulator device M1 is also suitable for retrofitting a charging cable 4 already in operation at a charging station 2.

[0095] Fig. 6A shows a schematic representation of a completely passive manipulator device M1 for a charging cable 1 according to an embodiment of the invention, and Fig. 6B shows a schematic representation of the essential components of a control system S1 for controlling a completely active manipulator device M1 for a charging cable 1 according to an embodiment of the invention.

[0096] For the sake of simplicity, clarity, and comprehensiveness, a passive and active manipulator device M1 according to one embodiment is described below by way of example with reference to a manipulator device M1 with manipulator elements 6, wherein what has been said about the manipulator device M1 also applies to a previously described embodiment of a manipulator device M1 with manipulator elements 61, 62, and 63. A completely passive manipulator device M1, illustrated schematically in Fig. 6A, is designed with its manipulator elements 6 such that a bend or curvature R of the cable 1 and alignment, orientation, and positioning of the cable 1 at the position P and of the charging plug 3 at a predetermined position P1 are passively adjusted when the cable 1 is operated.The manipulator elements 6 can be designed as suitable, in particular different, spring elements whose extension in the longitudinal direction L is variable when handling the cable 1, but each aims at an ideal, stress-free extension in the longitudinal direction L corresponding to the spring properties of the manipulator elements 6, in which the manipulator elements 6 are in a correspondingly relaxed, ideal state.

[0097] For its user-friendly design and function, such a passive manipulator device M1 can also be connected to a suitable, likewise passive, spring / damper system 22 provided in the charging station 2, which is connected to the passive manipulator elements 6 and interacts with the manipulator elements 6 in such a way that the striving of the manipulator elements 6 in their ideal relaxed or tensioned state simplifies and facilitates the handling of the charging cable 1 equipped with the manipulator device M1 with the charging plug 3 at the end of the cable 1, and in particular a weight relief of the cable 1 is provided, and the cable 1 is largely protected from contact with the ground.

[0098] A control system S1 according to an embodiment of the invention, shown schematically in Fig. 6B, for controlling the operation of a fully active manipulator device M1 according to an embodiment described above is suitably configured to control the manipulator elements 6 of the manipulator device M1 in such a way that a bend or curvature R of the cable 1 with a corresponding orientation, alignment and positioning of the cable 1 at a position P and of the charging plug 3 at a predetermined position P1 during operation of the cable 1, in particular also taking into account an orientation, alignment and positioning of the charging plug 3 during its handling.

[0099] The control system S1 for controlling the active manipulator device M1 has, in particular, a suitable hardware- and software-supported control 21 provided in the charging station 2 for setting at least one predetermined curvature or bend R of the cable 1, which interacts in particular with the manipulator elements 6 such that their extension in the longitudinal direction L is adjusted in accordance with an operating state of the cable 1 during its handling.

[0100] For this purpose, the control system S1 has, in particular, a sensor system 31 connected to the controller 21 and interacting with the controller 21. The sensor system 31 can, in particular, be an optical sensor system 31, the image data captured by the controller 21 being evaluated with hardware and software support, and in particular also with K1 support, to simplify the setting of at least one position P1 of the charging plug 3. For the optimized setting of the alignment, orientation, and positioning of the charging cable 1 and the charging plug 3, image data captured in particular by the sensor system 31 can be compared with available known image data of a vehicle 4 and, in particular, of a charging socket 40 of the vehicle 4 and with image data of the charging station 2 with its idle port 20.

[0101] Furthermore, a suitable switching device 32 of the control system S1 can be provided, in particular on the charging plug 3, for the stepless activation or deactivation of the manipulator elements 6 by the controller 21. For example, the switching device 32 can interact with the controller 21 in such a way that an operator can switch on the intended charging of an electric vehicle 4 or the intended parking of the charging plug 3. Of course, the controller 21 of the manipulator device M1 can also take into account a corresponding operating state of the charging cable 1 and the charging plug 3, for example when charging the electric vehicle 4 or parking the charging plug 3, when controlling, in particular, the extension of the manipulator elements 6 in the longitudinal direction L.

[0102] As described above, the manipulator elements 6 of an active manipulator device M1 can particularly advantageously be cable pulls, such as Bowden cables or shape memory alloys, wherein the control system S1 comprises suitable electric motors or switchable and controllable electrical connections for adjusting their extension in the longitudinal direction L. It is clear that, if necessary, at least one manipulator element 6 of an active manipulator device M1 can also be designed as a passive manipulator element 6.

[0103] Finally, it should be pointed out again that even without a comparatively compact control system S1 presented above, by means of a passive or active manipulator device M1 described above, according to an embodiment of the invention, at least one weight relief of the charging cable 1 as explained above can be provided during its handling, in particular for an operator, and the charging cable 1 can thereby be largely protected from unwanted contact with the ground during its handling.

[0104] Charging cable, cable

[0105] mantle, circumference, edge, 12, 13 section

[0106] charging station

[0107] Rest port, park port

[0108] steering

[0109] Spring / damper system

[0110] Charging plug

[0111] Sensor technology

[0112] Switching device

[0113] electric vehicle

[0114] Charging socket

[0115] wire, electrical cable

[0116] Manipulator element

[0117] Manipulator element, length-stable core, wire, 62, 63 Manipulator element

[0118] Manipulator element, line module,

[0119] Management member

[0120] Manipulator element, line a angle

[0121] E plane, plane of symmetry

[0122] H Height

[0123] L Length, longitudinal direction

[0124] M1 manipulator device

[0125] P, P1 , P2, Position

[0126] P11, P12, P13

[0127] R, R11 , R12, R13 direction, bend, curvature

[0128] S Line

[0129] S1 control system

[0130] X, Y, Z direction

Claims

Claims 1 . A charging cable (1 ) of a charging station (2) for charging an electric vehicle (4), said charging cable being equipped with a manipulator device (M1), said charging cable having at least one manipulator element (6) which is arranged eccentrically to the center of the charging cable (1) and is designed and arranged to be movable or expandable and compressible, and at least one manipulator element (60; 7, 70) which is designed and arranged to be length-stable and flexible or pivotable, each of which extends in the longitudinal direction (L) of the charging cable (1) and is connected to one another at a predetermined position (P) of the charging cable (1), wherein the manipulator device (M1) is designed, arranged and configured in such a way that the manipulator element (6) is connected to the manipulator element (60;7, 70) and the charging cable (1) cooperates in such a way that when an operator handles the charging cable (1), in particular for charging the electric vehicle (4), the charging cable (1) is relieved of its weight and the cable (1) is largely protected from contact with the ground.

2. Charging cable (1) according to claim 1, wherein the manipulator device (M1) is designed, arranged and set up in such a way, and the manipulator element (6) cooperates with the manipulator element (60; 7, 70) and the charging cable (1) in such a way that when handling the charging cable (1) in particular for charging the electric vehicle (4), at least one predetermined bend or curvature of the charging cable (1) is set or is set in at least one predetermined direction (R).

3. Charging cable (1) according to claim 1 or 2, wherein the manipulator device (M1) has at least three manipulator elements (6) arranged point-symmetrically to the cable center.

4. Charging cable (1) according to claim 2 or 3, wherein the manipulator device (M1) has three first (61), second (62) and third (63) manipulator elements (6), wherein the first manipulator elements (6; 61) extend from the charging station (2) along a first section (11) of the charging cable (1) in the longitudinal direction of the charging cable (1) and are connected to the manipulator element (60; 7, 70) at a first position (P11) at the end of the first section (11), and the second manipulator elements (62) extend from the charging station (2) along the first section (11) and along a second section (12) of the charging cable (1) adjoining the first section (11), and are connected to the manipulator element (60; 7, 70) at a second position (P12) at the end of the second section (12).7, 70), and the third manipulator elements (63) extend from the charging station (2) along the first (11) and second (12) sections and along a third section (13) of the charging cable (1) adjoining the second section (12), and are connected at a third position (P13) at the end of the third section (13) to the manipulator element (60; 7, 70) and / or to a charging plug (3) provided at the end of the charging cable (1); 5. Charging cable (1) according to one of claims 1 to 4, wherein the manipulator device (M1) is designed as a cable-internal manipulator device (M1), the manipulator element (60) and the manipulator elements (6; 61, 62, 63) of which are arranged in the charging cable (1), wherein the manipulator element (60) is designed and arranged as an elongated central core (60) of the charging cable (1), which extends from the charging station (2) in the center of the charging cable (1) at least to the position (P), and which can then extend to the end of the charging cable (1) over the entire length (L) of the charging cable (1).

6. Charging cable (1) according to one of claims 1 to 4, wherein the manipulator device (M1) is designed as a cable-external manipulator device (M1), the manipulator element (7, 70) of which is designed as a multi-member line (70) and forms an outer line (70) for the charging cable (1), which is formed from a plurality of line members (7) formed in a form-fitting manner corresponding to one another and assembled in a row one after the other, and the manipulator elements (6; 61, 62, 63) of which extend movably along the line (70) through the line members (7), wherein for receiving and arranging the charging cable (1) in the line (70) of the manipulator device (M1), an inner diameter of the line members (7) and of the line (70) corresponds to an outer diameter of the charging cable (1).

7. Charging cable (1) according to claim 6, wherein the positively connected line members (7) of the manipulator device (M1) are connected to an adjacent line member (7) each have a predetermined play, so that the adjacent line members (7) can be pivoted relative to one another.

8. Charging cable (1) according to one of claims 6 or 7, wherein the manipulator elements (6; 61, 62) of the manipulator device (M1) are each connected to a line member (7) arranged at the position (P; P11, P12), and the manipulator elements (6; 63) are connected to a line element (7) arranged at position (P13) or to the charging plug (3).

9. Charging cable (1) according to one of claims 1 to 8, wherein the manipulator device (M1) is designed and configured as a passive manipulator device (M1), the manipulator elements (6; 61, 62, 63) of which are designed as spring-elastic, extensible and compressible spring elements.

10. Charging cable (1) according to one of claims 1 to 8, wherein the manipulator device (M1) is designed and configured as an active manipulator device (M1), the manipulator elements (6; 61, 62, 63) of which are designed as movable cables or stretchable and compressible shape memory alloys.

11. Charging cable (1) according to claim 10, wherein the manipulator device (M1) with its manipulator elements (6; 61, 62, 63) is connected to and interacts with a controller (21) provided in the charging station (2), wherein the controller (21) has suitable control elements for controlling at least one predetermined operating state of the manipulator device (M1) and the charging cable (1) with a predetermined alignment, positioning and orientation of the charging cable (1).

12. Charging cable (1) according to one of claims 9 to 11, wherein the manipulator device (M1) with its manipulator elements (6; 61, 62, 63) is connected to and interacts with a spring / damper system provided in the charging station (2).

13. Charging cable (1) according to one of claims 1 to 12, wherein the charging cable (1) has a predetermined suitable number of wires (5) each having a different diameter for energy, signal and data transmission, which extend parallel to the manipulator elements (6; 61, 62, 63) and the manipulator element (60) of the manipulator device (M1) in the longitudinal direction (L) of the cable (1), and wherein the charging cable (1) can also have lines for a cooling liquid.

14. Charging cable (1) according to one of claims 1 to 13, wherein the manipulator device (M1) with its manipulator element (60; 7, 70) and / or manipulator elements (6; 61, 62, 63) and / or their positions (P, P11, P12, P13) is designed and arranged to provide, in particular, weight relief of the charging cable (1) and extensive protection of the cable (1) from contact with the ground and / or an adjustment of at least one predetermined bend or curvature of the charging cable (1) in at least one predetermined direction (R) and / or a predetermined alignment, positioning and orientation of the charging cable (1) corresponding to the design and the properties and dimensions of the charging cable (1) with its functional elements and with its arrangement at the charging station.

15. Control system (S1) for setting an operating state of a charging cable (1) according to claim 14, with a A hardware and software-supported control (21) provided in the charging station (2) has control elements designed as electric motors or switchable connections, suitable for setting a predetermined bend or curvature (R; R11, R12, R13) of the charging cable (1), which control elements are connected to and interact with manipulator elements (6; 61, 62, 63) of the manipulator device (M1) according to one of claims 10 to 12, each of which is suitable for the control elements, and wherein the control system (S1) can also comprise a sensor system (31), in particular an optical sensor system, which is provided in particular on a charging plug (3) connected to the charging cable (1), and which interacts with the control system (21), and / or the control system (S1) can also comprise a switching device (32), in particular on the charging plug (3), for continuously switching on or off the activation of the manipulator elements (6) in accordance with a predetermined operating state of the charging cable (1 ) may have.

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