Device for Positioning a Charger Connector

Abstract

The present invention relates to a device for positioning a charger connector, in particular relative to a vehicle contra connector, comprising a suspension for a charging cable assembly, connected at one end to the charger connector, the suspension comprising a first suspension point, for clamping, at a point remote from the one end, the charging cable assembly in a predetermined orientation and position, which orientation and position together with the rigidity of the cable assembly and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation of the one end; and a second suspension point, for engaging the charging cable assembly at the one end of the charger connector; Wherein the second suspension point comprises a manipulator for manipulating the position and/or the orientation of the charger connector relative to the fixed world, in a range around the preferred position and/or the preferred orientation of the one end of the cable assembly.

Claims

1. Device for positioning a charger connector, in particular relative to a vehicle contra connector, comprising: a charging cable assembly; a suspension for the charging cable assembly, connected at one end to the charger connector, the suspension comprising: a first suspension point, for clamping, at a point remote from the one end, the charging cable assembly in a predetermined orientation and position, which orientation and position together with the rigidity of the cable assembly and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation of the one end; and a second suspension point, for engaging the charging cable assembly at the one end of the charger connector; wherein the second suspension point comprises a manipulator for manipulating the position and/or the orientation of the charger connector relative to the fixed world, in a range around the preferred position and/or the preferred orientation of the one end of the cable assembly.

2. Device according to claim 1, wherein the charging cable of the charging cable assembly does not or not essentially extend in a vertical downward direction in or at the height of the preferred orientation when the manipulator is not engaged.

3. Device according to claim 1 or 2, wherein the preferred position and/or orientation is the position and/or orientation or is within a predefined distance from the position and orientation wherein the absolute force or moment required to move the one end from an equilibrium position are locally the lowest average force or moment required, wherein the absolute force is in particular the norm of the six degree of freedom force moment vector.

4. Device according to any of the preceding claims, wherein the manipulator has a displacement stroke with a working range around a central position and/or orientation that coincides with the preferred position and/or the preferred orientation of the at least one end.

5. Device according to any of the preceding claims, wherein the manipulator is arranged for making a displacement stroke with a working range around a central position and/or orientation, the central position differs from the preferred position and/or the preferred orientation of the at least one end, in particular such that the difference between the force required to manipulate the one end upward and downward is less than the difference between the force required to manipulate the one end upward and downward in the preferred position and/or orientation.

6. The device according to any of the preceding claims, wherein the length of the portion of the cable assembly extending between the first and second suspension point is greater than an absolute distance between the first and second suspension point.

7. Device according to any of the preceding claims, wherein the cable assembly has a winding of at least 45 degrees, more preferably at least 90 degrees, more preferably at least 180 degrees, more preferably at least 270 degrees, and even further preferably at least 360 degrees about a substantially horizontal winding axis extending substantially perpendicular to a direction from the first to the second suspension point.

8. Device according to claim 7, wherein the pitch of the winding is at most ten times the cable thickness, preferably at most five times the cable thickness, and further preferably between one and a half and one time the cable thickness.

9. Device according to any of the preceding claims, wherein the manipulator comprises an assembly containing a kinematically serial chain of actuators and/or an assembly containing a kinematically parallel chain of actuators, and wherein the forces required to move the one end from the preferred position and/or preferred orientation over the entire range of the manipulator are less than a force range of the manipulator.

10. Device according to claim 9, wherein the charger connector is coupled to the manipulator through a compliance device, and wherein the forces required to move the one end from the preferred position and/or preferred orientation over the entire range of the manipulator is less than a compliance device threshold.

11. Device according to any of the preceding claims, comprising a camera for providing a camera image of a location at which a vehicle contra connector is expected, further comprising a control device for manipulating the connector, based on the camera image, to the position of a sensed vehicle contra connector.

12. Device according to any of the preceding claims, wherein the first suspension point comprises a clamping device which engages the charging cable assembly over an axial distance of at least 5 cm, preferably at least 10 cm, and further preferably at least 15 cm, in a form-fitting manner.

13. Device according to any of the preceding claims, wherein the first suspension point comprises a clamping device which at least partly restricts and preferably completely obstructs the freedom translation and of rotation of the charging cable assembly at the first suspension point.

14. Device according to any of the preceding claims, comprising a fixing element, such as a guide or a spring, for adjusting the stiffness of the charging cable assembly, or fixating the charging cable assembly in a certain shape, between the first suspension point and the second suspension point.

15. Device according to any of the preceding claims, wherein the first and/or second suspension point are arranged for detachably engaging the charging cable assembly.

16. Device according to any of the preceding claims, wherein the first and second suspension point are movable together relative to the fixed world.

17. Electric vehicle charger, comprising a device according to any of the preceding claims, a charging cable assembly, for conveying an electric charging current for the electric vehicle, connected at one end to the charger connector and at another end of the charging cable electrically coupled to at least one source, such as an electric converter, to provide a charging current for an electric vehicle.

Description

[0045] The invention will now be elucidated into more detail with reference to the following figures. Herein:

[0046] FIG. 1 shows a schematic view of a first embodiment of the present invention;

[0047] FIG. 2 shows a schematic view of a second embodiment of the present invention;

[0048] FIG. 3 shows a schematic view of a third embodiment of the present invention;

[0049] FIG. 4 shows a schematic view of a fourth embodiment of the present invention;

[0050] FIG. 5 shows a perspective view of a first detail of various embodiments of the present invention; and

[0051] FIG. 6 shows a perspective view of a second detail of various embodiments of the present invention.

[0052] FIG. 1 shows a device 1 for positioning a charger connector 2 relative to a vehicle contra connector (not shown), comprising a suspension for a charging cable assembly 4, connected at one end 5 to the charger connector 2, the suspension comprising a first suspension point 6, for clamping, at a point remote from the one end 5, the charging cable assembly 4 in a predetermined orientation and position (as will be explained in more detail with reference to FIG. 5), which orientation and position together with the rigidity of the cable assembly 4 and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation (as will be explained in more detail with reference to FIG. 5) of the one end 5, and a second suspension point 7, for engaging the charging cable assembly 4 at the one end 5 of the charger connector wherein the second suspension point 7 comprises a manipulator 8 for manipulating the position and/or the orientation of the charger connector relative to the fixed world 9, in a range around the preferred position and/or the preferred orientation (as will be explained in more detail with reference to FIG. 5) of the one end of the cable assembly 4. The device further comprises a camera 3.

[0053] FIG. 2 shows a device 11 for positioning a charger connector 12 relative to a vehicle contra connector (not shown), comprising a suspension for a charging cable assembly 14, connected at one end 15 to the charger connector 12, the suspension comprising a first suspension point 16, for clamping, at a point remote from the one end 15, the charging cable assembly 14 in a predetermined orientation and position (as will be explained in more detail with reference to FIG. 5), which orientation and position together with the rigidity of the cable assembly 14 and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation (as will be explained in more detail with reference to FIG. 5) of the one end 15, and a second suspension point 17, for engaging the charging cable assembly 14 at the one end 15 of the charger connector wherein the second suspension point 17 comprises a manipulator 18 for manipulating the position and/or the orientation of the charger connector relative to the fixed world 19, in a range around the preferred position and/or the preferred orientation (as will be explained in more detail with reference to FIG. 5) of the one end of the cable assembly 14. The cable assembly 14 has a winding 20 of about 90 degrees about a substantially horizontal winding axis (not shown) extending substantially perpendicular to a direction from the first to the second suspension point 16, 17. As a result, at its preferred position and in its preferred orientation of its one end 15, it carries at least part of its own weight. The device further comprises a camera 13.

[0054] FIG. 3 shows a device 21 for positioning a charger connector 22 relative to a vehicle contra connector (not shown), comprising a suspension for a charging cable assembly 24, connected at one end 25 to the charger connector 22, the suspension comprising a first suspension point 26, for clamping, at a point remote from the one end 25, the charging cable assembly 24 in a predetermined orientation and position (as will be explained in more detail with reference to FIG. 5), which orientation and position together with the rigidity of the cable assembly 24 and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation (as will be explained in more detail with reference to FIG. 5) of the one end 25, and a second suspension point 27, for engaging the charging cable assembly 24 at the one end 25 of the charger connector wherein the second suspension point 27 comprises a manipulator 28 for manipulating the position and/or the orientation of the charger connector relative to the fixed world 29, in a range around the preferred position and/or the preferred orientation (as will be explained in more detail with reference to FIG. 5) of the one end of the cable assembly 24. The cable assembly 24 has a winding 30 of about 270 degrees about a substantially horizontal winding axis (not shown) extending substantially perpendicular to a direction from the first to the second suspension point 26, 27. As a result, at its preferred position and in its preferred orientation of its one end 25, it carries at least part of its own weight. The device further comprises a camera 23.

[0055] FIG. 4 shows an embodiment 31 of a device according to the present invention, similar to the embodiment 21 of FIG. 3, but additionally comprising a fixing element 32 formed by a spring, for adjusting the stiffness of the charging cable assembly, or fixating the charging cable assembly 34 in a certain shape, such as the U-shape shown between the first suspension point 36 and the second suspension point 37.

[0056] FIG. 5 shows part of an embodiment 41 according to the present invention, wherein for explanatory reasons, amongst other details, the second suspension point is left out. A first suspension point 46 is depicted, that clamps and therewith fixates the cable assembly 44 according to positions x, y, z and angles φ, θ, ψ, defining a preferred position and angular orientation of the one end 45 and the charging connector 42 at preferred position x1, y1, z1 and preferred orientation (φ1, θ1, ψ1. This may be the position wherein a manipulator at the second suspension point engaged the connector 42 or the one end 45 of the cable assembly.

[0057] FIG. 6 shows a device 51 for positioning a charger connector 52 relative to a vehicle contra connector (not shown), comprising a suspension for a charging cable assembly 54, connected at one end 55 to the charger connector 52, the suspension comprising a first suspension point 56, for clamping, at a point remote from the one end 55, the charging cable assembly 54 in a predetermined orientation and position, which orientation and position together with the rigidity of the cable assembly 54 and the gravity acting on the cable assembly define a preferred position and/or a preferred orientation of the one end 55, and a second suspension point 57, for engaging the charging cable assembly 54 at the one end 55 of the charger connector wherein the second suspension point 57 comprises a manipulator 58 for manipulating the position and/or the orientation of the charger connector relative to the fixed world, in a range around the preferred position and/or the preferred orientation of the one end of the cable assembly 54. The device further comprises a camera 53. In FIG. 6 it is visible that between the first suspension point 56, that clamps and therewith fixates the cable assembly 54 according to positions x, y, z and angles φ, θ, ψ, and the second suspension point 57, at which the cable assembly is held in position x1, y1, z1 and preferred orientation φ1, θ1, ψ1, the cable assembly makes a winding that makes a three dimensional loop or curl. The above described embodiments are examples only and do in no sense limit the scope of protection as defined by the following claims.

[0058] The preferred position may be determined by means of a force and/or moment sensor attached between the one end and the fixed world to measure forces and/or moments acting on the one end required to keep the one end near an equilibrium position and defining the preferred position and/or orientation as the position and/or orientation wherein the average force or moment required to move the one end from an equilibrium position is or is within a predefined distance from the position where the lowest average force or moment required. Preferably the preferred position and orientation are determined such that this average force is 0. The device according to the invention may then be positioned such that the preferred position and orientation are in the vicinity of an expected engagement point of the vehicle.

[0059] In other words, the preferred position may be determined by means of a force/moment sensor attached between the one end and points on the fixed world, to determine (the vicinity to) a stable or unstable point of equilibrium where the forces and moments acting on the one end are near or at a local minimum.