DE102024109903A1 - Manipulator device for charging cables - Google Patents

Abstract

The invention relates to a manipulator device (M1) for a charging cable (1) of a charging station (2) for charging an electric vehicle (4) with
- at least one manipulator element (6) arranged eccentrically to the center of the charging cable (1) and 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,
- which each extend in the longitudinal direction (L) of the charging cable (1) and are connected to one another at a predetermined position (P) of the charging cable (1), wherein
- the manipulator device (M1) is designed, arranged and set up 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 handling the charging cable (1), in particular for charging the electric vehicle (4), weight relief of the charging cable (1) and extensive protection of the cable (1) against contact with the ground are provided.
The invention also relates in particular to a charging cable (1) for charging an electric vehicle (4) at a charging station (2), which is equipped with a protruding manipulator device (M1), and to a control system (S1) for setting an operating state of a charging cable (1) equipped with a manipulator device (M1).

Description

The invention relates to a manipulator device for a charging cable for charging an electric vehicle, 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.

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.

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.

To protect the charging cable from wear and tear and for
To achieve a desirable service life, such charging cables should, if possible, have no contact with the ground and should not be dragged intentionally or accidentally across the ground. 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

From the 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.

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 running through the connection point area when the charging plug is plugged in, as viewed from the ground surface.

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.

From the WO 2020/084111 A2 A device for charging a vehicle, and in particular an electric vehicle, with a robot for automatically charging the vehicle is known. 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 while 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 while applying a maximum plugging force. The maximum plugging force is greater than the maximum positioning force.

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.

Task

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.

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

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

The invention particularly relates to a manipulator device for a charging cable 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 also comprises at least one manipulator element configured and arranged 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.

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 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 handling 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.

To enable the above advantageous properties, the 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.

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.

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.

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 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.

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 first position at the end of the first section to the protruding 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.

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 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.

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 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 manipulator element arranged at the end of the charging cable. provided charging plug and thus also connected to each other.

In an 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.

A manipulator device described above can be designed as an internal cable manipulator device, the manipulator element of which is designed to be length-stable and flexible or pivotable, and the manipulator elements of which are designed and arranged to be movable or expandable and compressible in the longitudinal direction of the charging cable, are each arranged in 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.

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 in the center of the charging cable, in particular up 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.

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 means of a suitable metal wire.

As an alternative to the aforementioned internal cable manipulator device, a manipulator device as described above can be designed as 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.

The multi-element outer conduit can advantageously be formed from a plurality of conduit elements that are configured to correspond to one another in a form-fitting manner and are 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.

The manipulator elements extending movably through the individual line elements have an advantageous dual function, in particular since, in addition to their function described above, they also enable the individual line elements to be easily arranged in series and hold the line elements of the assembled outer line together, thus contributing to its stability.

For accommodation and a desirable compact and stable arrangement of the charging cable in the outer cable, an inner diameter of its cable elements and thus of the outer cable corresponds appropriately to an outer diameter of the charging cable.

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.

To form 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 movable or expandable and compressible manipulator elements are suitably connected to a line member arranged at a predetermined position of the line or to the charging plug. The manipulator elements interact with the line members by which they extend, and the line member to which they are connected, in such a way that by means of a predetermined stretching or compression or movement of at least one of the manipulator elements, a bend or curvature of the line and of the charging cable arranged in the line in a predetermined direction is provided.

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.

An internal or external manipulator device described at the outset and above 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. For a desirably simple, reliable, and comfortable handling of a charging cable equipped with a passive manipulator device, the manipulator elements designed as spring elements can be connected to and interact with a suitable spring/damper system provided in the charging station. The manipulator elements designed as spring elements can be provided in particular by means of 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.

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.

A particularly advantageous active manipulator device, with its movable or expandable and compressible manipulator elements, can advantageously be connected to 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.

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.

As mentioned several times above, the invention initially also 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 parallel to the movable or expandable and compressible manipulator elements and the manipulator element designed as an elongated central core in the longitudinal direction of the cable, wherein 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-power charging, with a correspondingly large cable cross-section and with multi-core wires, and suitably in particular have a length of approximately four to eight meters and advantageously of approximately five to six meters.

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.

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.

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 controllable 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.

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.

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.

Examples of implementation

• 1A eine schematische Darstellung eines Ladekabels mit einer Manipulatoreinrichtung nach einer Ausführung der Erfindung beim Laden eines Elektrofahrzeugs an einer Ladestation;
• 1B einen Schnitt durch das Ladekabel mit der Manipulatoreinrichtung von 1A entlang der Linie S-S von 1A;
• 2A eine schematische Darstellung eines Ladekabels mit einer Manipulatoreinrichtung nach einer weiteren Ausführung der Erfindung beim Laden eines Elektrofahrzeugs an einer Ladestation;
• 2B eine vergrößerte Darstellung des Ladekabels mit der Manipulatoreinrichtung von 2A;
• 3 Schnittdarstellungen durch das Ladekabel mit der Manipulatoreinrichtung von 2B jeweils entlang einer der Linien S-S von 2B;
• 4A eine schematische Darstellung eines Ladekabels mit einer Manipulatoreinrichtung nach einer weiteren Ausführung der Erfindung beim Laden eines Elektrofahrzeugs an einer Ladestation;
• 4B einen Schnitt durch das Ladekabel mit der Manipulatoreinrichtung von 4A entlang der Linie S-S von 4A;
• 5A eine vergrößerte Explosionsdarstellung eines zu dem Ladestecker benachbarten Ausschnitts der Manipulatoreinrichtung von 4A;
• 5B eine vergrößerte Darstellung ausgewählter Elemente der Manipulatoreinrichtung von 4A in einer anderen Perspektive;
• 6A eine schematische Darstellung der wesentlichen Elemente einer Manipulatoreinrichtung für ein Ladekabel nach einer Ausführung der Erfindung; und
• 6B eine schematische Darstellung eines Steuerungssystems für den Betrieb einer Manipulatoreinrichtung für ein Ladekabel nach einer Ausführung der Erfindung.

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

• 1A 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;
• 1B a section through the charging cable with the manipulator device of 1A along the SS line from 1A ;
• 2A 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;
• 2B an enlarged view of the charging cable with the manipulator device of 2A ;
• 3 Sectional views through the charging cable with the manipulator device of 2B each along one of the lines SS from 2B ;
• 4A 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;
• 4B a section through the charging cable with the manipulator device of 4A along the SS line from 4A ;
• 5A an enlarged exploded view of a section of the manipulator device adjacent to the charging plug of 4A ;
• 5B an enlarged view of selected elements of the manipulator device of 4A in a different perspective;
• 6A a schematic representation of the essential elements of a manipulator device for a charging cable according to an embodiment of the invention; and
• 6B 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.

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.

1A 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 1B shows an enlarged section through the charging cable 1 with the manipulator device M1 of 1A along the SS line from 1A . The charging cable 1 extending from the charging station 2 is connected at its free end to a charging plug 3.

In the schematic perspective drawing, the charging column of the 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.

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, 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.

The manipulator device M1 is also configured and designed in such a way that, particularly during handling of the charging cable 1, the weight of the charging cable 1 is relieved, 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.

The manipulator device M1 of the execution of 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.

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 has the design of 1A and 1B For example, five wires 5 with different diameters for energy, signal, and data transmission, which also extend in the longitudinal direction L of the cable 1 parallel to the manipulator elements 6 and the manipulator element 60 formed as an elongated central core 60. It is clear that the charging cable 1 may also have lines for cooling fluid not shown in the drawing.

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 α 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.

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.

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 are automatically adjusted in a suitable manner during operation of the cable 1. The manipulator elements 6 of the passive manipulator device M1 can in particular be designed as suitable different spring elements, wherein the passive manipulator device M1 can also be connected to a suitable spring/damper system 22 provided in the charging station 2 for its user-friendly function, which interacts in particular with the manipulator elements 6.

The manipulator device M1, 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 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.

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. The 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.

With the active manipulator device M1 and the controller 21 connected thereto, 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 thereto, 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 suitable for this purpose is described below with reference to 6B described.

2A shows a schematic representation of a charging cable 1 with a manipulator device M1 according to a further embodiment of the invention when charging an electric vehicle 4 at a charging station 2 in the schematic perspective of 1A , and 2B shows an enlarged view of the charging cable 1 of 2A .

The charging cable 1 with the manipulator device M1 of the design of 2A and 2B is like the charging cable 1 with the manipulator device M1 of the execution of 1A and 1B equipped with an internal manipulator device M1, whose movable or expandable and compressible arranged and designed manipulator elements 6 and whose manipulator element 60 provided as an elongated central core 60, which is designed and arranged in a length-stable and flexible or pivotable manner, are integrated into the charging cable 1. Regarding 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 1A and 1B referred to.

Unlike the manipulator device M1 of 1A and 1B The manipulator device M1 is designed to carry out 2A and 2B designed and arranged 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 easily set.

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.

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.

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, corresponds to the manipulator structure M1 of the charging cable 1 described above. 1A and 1B , which is why reference is made to the corresponding description above.

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.

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 to a third position P13 at the end of the charging cable 1, at which the central manipulator element 60, together with the three third manipulator elements 63, is 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 execution of 2A and 2B can, like the above manipulator device M1, be used for the execution of 1A and 1B 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 1A and 1B 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 the individual handling of an operator. This enables particularly convenient operation of the charging plug 3 and the charging cable 1.

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.

4A shows a schematic representation of a charging cable 1 with a manipulator device M1 according to a further embodiment of the invention when charging an electric vehicle 4 at a charging station 2 in the schematic perspective of 1A and 2A , and 4B shows an enlarged section through the charging cable 1 with the manipulator device M1 of 4A along the SS line from 4A .

The manipulator device M1 of the execution of 4A Unlike the manipulator device M1 described above in the embodiment of Figure 1A, it is designed as a cable-external manipulator device M1 and has a plurality of modular line members 7 that are configured to correspond to one another in a form-fitting manner, which are arranged successively in a row in a form-fitting manner, and which, when assembled, 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 that is designed and arranged to be length-stable and flexible or pivotable.

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.

The manipulator device M1, like the manipulator device M1, has the function of executing 1A 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 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 4A and 4B with, for example, their threefold point-symmetric arrangement, their design as passive and/or active manipulator elements 6 otherwise corresponds to the manipulator device M1 of 1A , which is why reference is made to their description above.

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

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 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 one after the other and each pivoted 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 bend or curvature can be brought about actively by changing the extension in the longitudinal direction L of at least one of the manipulator elements 6 arranged and designed to be movable or expandable and compressible by a predetermined amount depending on their design, or can take place passively.

The manipulator device M1 of the execution of 4A can, like the manipulator device M1 of the embodiment of Figures 2A and 2B, also comprise 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 2A and 2B The manipulator device M1 can be used like the manipulator device M1 of 1A and the manipulator device M1 of 2A and 2B be designed as a partially and in particular also completely passive or active manipulator device M1, in which case also the following description with reference to 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.

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 6B shows a schematic representation of the essential components of a control system S1 for controlling a fully active manipulator device M1 for a charging cable 1 according to an embodiment of the invention.

For the sake of simplicity, clarity and overview, 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 an embodiment of a manipulator device M1 with manipulator elements 61, 62 and 63 described above.

A schematic in 6A The fully passive manipulator device M1 shown is designed with its manipulator elements 6 such that a bend or curvature R of the cable 1 and the 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 the cable 1 is handled, but each strives for 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.

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.

A schematic in 6B The control system S1 shown according to an embodiment of the invention 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 is actively set 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 when operating the cable 1, in particular also taking into account an orientation, alignment and positioning of the charging plug 3 when handling it.

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.

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 captured image data of which is evaluated by the controller 21 with hardware and software support and, in particular, also with CI support to simplify the adjustment of at least one position P1 of the charging plug 3. For the optimized adjustment 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.

Furthermore, a suitable switching device 32 of the control system S1 can be provided, in particular on the charging plug 3, for continuously switching on or off the activation 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.

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.

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 at its handling can be provided, and the charging cable 1 can be largely protected from unwanted contact with the ground.

List of reference symbols

1

Charging cable, cable

10

mantle, circumference, edge

11, 12, 13

Section

2

charging station

20

Rest port, park port

21

steering

22

Spring/damper system

3

Charging plug

31

Sensor technology

32

Switching device

4

electric vehicle

40

Charging socket

5

wire, electrical cable

6

Manipulator element

60

Manipulator element, length-stable core, wire

61, 62, 63

Manipulator element

7

Manipulator element, line module, line link

70

Manipulator element, line

α

angle

E

plane, plane of symmetry

H

Height

L

Length, longitudinal direction

M1

Manipulator device

P, P1, P2,

position

P11, P12, P13 R, R11, R12, R13

direction, bend, curvature

S

line

S1

Control system

X, Y, Z

Direction

QUOTES CONTAINED IN THE DESCRIPTION

This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10 2017 127 002 A1 [0005]
• WO 2020/084111 A2 [0008]

Claims (15)

Manipulator device (M1) for a charging cable (1) of a charging station (2) for charging an electric vehicle (4), comprising - at least one manipulator element (6) arranged eccentrically to the center of the charging cable (1) and designed and arranged to be movable or expandable and compressible, and - at least one manipulator element (60; 7, 70) designed and arranged to be length-stable and flexible or pivotable, - which each extend in the longitudinal direction (L) of the charging cable (1) and are connected to one another at a predetermined position (P) of the charging cable (1), wherein - the manipulator device (M1) is designed, arranged, and configured such that the manipulator element (6) interacts 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), the weight of the Charging cable (1) and extensive protection of the cable (1) against contact with the ground is provided. Manipulator device (M1) according to Claim 1 , wherein the manipulator device (M1) is designed, arranged and configured in such a way, and 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, 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). Manipulator device (M1) according to Claim 1 or 2 , with at least three manipulator elements (6) arranged point-symmetrically to the cable center. Manipulator device (M1) according to Claim 2 or 3 , each with 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), and - the third manipulator elements (63) extend from the charging station (2) extend 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). Manipulator device (M1) according to one of the Claims 1 until 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 in the center of the charging cable (1) up to the position (P), and which can then extend up to the end of the charging cable (1) over the entire length (L) of the charging cable (1). Manipulator device (M1) according to one of the Claims 1 until 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) which are designed to correspond to one another in a form-fitting manner and are successively assembled in a row, and the manipulator elements (6; 61, 62, 63) of which extend movably along the line (70) through the line members (7). Manipulator device (M1) according to Claim 6 , wherein for receiving and arranging the charging cable (1) in the line (70), an inner diameter of the line members (7) and the line (70) corresponds to an outer diameter of the charging cable (1). Manipulator device (M1) according to Claim 6 or 7 , wherein the line members (7) which are assembled in a form-fitting manner and correspond to one another each have a predetermined play with respect to an adjacent line member (7), so that the adjacent line members (7) can be pivoted relative to one another. Manipulator device (M1) according to one of the Claims 6 until 8 , wherein the manipulator elements (6; 61, 62) 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 the charging plug (3). Manipulator device (M1) according to one of the Claims 1 until 9 , 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. Manipulator device (M1) according to Claim 10 , 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 loading station (2). Manipulator device (M1) according to one of the Claims 1 until 9 , 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. Manipulator device (M1) according to Claim 12 , 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). Charging cable (1) for charging an electric vehicle (4) at a charging station (2), which is provided with a manipulator device (M1) according to one of the Claims 1 until 13 is equipped, 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) in the longitudinal direction (L) of the cable (1), and wherein the charging cable (1) can also have lines for a cooling liquid. Control system (S1) for setting an operating state of a charging cable (1) according to Claim 14 , with a hardware and software-supported control (21) provided in the charging station (2), which has control elements designed as electric motors or switchable connections for setting a predetermined bend or curvature (R; R11, R12, R13) of the charging cable (1), which control elements are suitable for setting a predetermined bend or curvature (R; R11, R12, R13), which control elements are designed as electric motors or switchable connections, and which are connected to manipulator elements (6; 61, 62, 63) of the manipulator device (M1) which are each suitable for the control elements Claim 12 or 13 are connected and interact, and wherein the control system (S1) can also comprise a particularly optical sensor system (31), which is provided in particular on a charging plug (3) connected to the charging cable (1) and interacts with the controller (21), and wherein the control system (S1) can also have a switching device (32), which is provided 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).