WO2025201631A1 - Procédé de couplage d'un robot de charge à un véhicule industriel pouvant être chargé électriquement, et robot de charge - Google Patents

Procédé de couplage d'un robot de charge à un véhicule industriel pouvant être chargé électriquement, et robot de charge

Info

Publication number
WO2025201631A1
WO2025201631A1 PCT/EP2024/058123 EP2024058123W WO2025201631A1 WO 2025201631 A1 WO2025201631 A1 WO 2025201631A1 EP 2024058123 W EP2024058123 W EP 2024058123W WO 2025201631 A1 WO2025201631 A1 WO 2025201631A1
Authority
WO
WIPO (PCT)
Prior art keywords
charging
robot
force
plug
charging plug
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/058123
Other languages
English (en)
Inventor
Max ASTRAND
Elinne SANCHEZ
Mattias HALLEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
Original Assignee
ABB Schweiz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG
Priority to PCT/EP2024/058123 priority Critical patent/WO2025201631A1/fr
Publication of WO2025201631A1 publication Critical patent/WO2025201631A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • aspects of the invention relate to a method of coupling a charging robot to an electrically chargeable industrial vehicle, particularly for charging the industrial vehicle. Further aspects relate to a charging robot for electrically charging an industrial vehicle.
  • Electric industrial vehicles may be charged for example by a stationary charging device.
  • Manual charging of an industrial vehicle by a driver or other personnel may have disadvantages.
  • the cables become very bulky, heavy, and hard to manually lift and insert into a charging socket.
  • electrifying large industrial vehicles such as large mining vehicles
  • particular issues arise which may not occur with personal cars. For instance, getting out of the industrial vehicle and down from the vehicle can be cumbersome and cost time that could otherwise be used for productive work.
  • the interruptions of the industrial operations can become a significant economic factor.
  • getting out of an industrial vehicle to manually insert a charging plug into a charging socket of the vehicle may even be dangerous in active production areas with active machines or other vehicles. If the industrial vehicle is remote controlled or autonomously controlled, there not even be any human present for a manual insertion of the charging plug into the charging socket.
  • automating the charging of industrial vehicles may be challenging, for instance automating the charging using a robot to connect a charging cable to an industrial vehicle for charging the vehicle.
  • industrial vehicles such as a dump truck may be transporting large masses that may suddenly shift, for instance a boulder sliding in the bed of the truck, thereby effectively changing the truck center of mass.
  • ground conditions in the area, where the industrial vehicle is parked for charging may be unstable, bumpy, muddy, or generally non-stiff These ground conditions may cause the vehicle to settle in place or slide slightly. Such situations can lead to a sudden movement of the vehicle, which may result in damage to the charging device, to the vehicle and/or to nearby equipment.
  • a method of coupling a charging robot to an electrically chargeable industrial vehicle includes moving a charging plug mounted on a robot arm of the charging robot from an initial position of the charging plug to a first position closer to or within a charging socket of the vehicle.
  • the method includes calibrating a force sensor of the charging robot after moving the charging plug to the first position, the force sensor being configured for determining a force acting on the charging plug.
  • the method includes measuring the force acting on the charging plug coupled to the charging socket, wherein the force is measured using the calibrated force sensor.
  • the method includes adjusting, by the charging robot, a second position of the charging plug coupled to the charging socket, wherein the second position is adjusted based on the force measured by the calibrated force sensor. It should be understood that the method and/or the charging robot used in the method may include any of the additional features described herein.
  • a charging robot for electrically charging an industrial vehicle.
  • the charging robot includes a robot arm.
  • the charging robot includes a charging plug mounted on the robot arm, the charging plug configured to be plugged into a charging socket of the vehicle.
  • the charging robot includes a force sensor configured for determining a force acting on the charging plug.
  • the charging robot includes a controller configured to perform a method according to any of the embodiments described herein.
  • an electrically chargeable industrial vehicle is a vehicle suitable for industrial operations, and may be specialized for industrial operations.
  • a personal electric vehicle such as vehicles intended for personal transport, e.g. electric cars, electric motorcycles, recreational vehicles, golf carts, etc. are not considered industrial vehicles.
  • the industrial vehicle may be a battery electric vehicle (BEV), or a hybrid vehicle having (plug-in) charging capabilities.
  • Industrial vehicles may include trucks such as dump trucks, diggers, haulers, drillers, bulldozers, earthmovers, forklifts, agricultural vehicles such as harvesters or tractors, mining vehicles, construction site vehicles, mobile robots or drones.
  • Industrial operations may include operations associated with mining, agriculture, construction, stockyard logistics, or similar industries or industry-related operation.
  • an industrial vehicle may be an off-highway vehicle.
  • the industrial vehicle is a mining vehicle.
  • the industrial vehicle is a heavy-duty vehicle, particularly an industrial vehicle with a gross vehicle weight rating of at least about 12 metric tons.
  • the industrial vehicle may be a batteryelectric mining truck, particularly a heavy-duty battery-electric mining truck.
  • a charging robot is provided.
  • the charging robot is configured for electrically charging an industrial vehicle.
  • the charging robot includes a robot arm.
  • the robot arm may include a plurality of arm segments connected by joints.
  • each of the plurality of arm segments may be rotatable with respect to a neighboring arm segment.
  • the arm segments of the robot arm may form a kinematic chain.
  • the robot arm may be an at least 3-axis robot arm, particularly at least 4-axis robot arm, at least 5 axis robot arm or at least 6-axis robot arm.
  • the robot arm may be a 6-axis robot arm or a 7-axis robot arm.
  • the number of axes particularly denotes the number of rotatable joints or degrees of freedom.
  • the charging robot includes a charging plug mounted on the robot arm.
  • the charging plug is configured to be plugged into a charging socket of the industrial vehicle.
  • the charging plug can be mounted on a plug-mounting segment of the plurality of arm segments of the robot arm.
  • the plug-mounting segment may be the final segment of a kinematic chain of arm segments of the robot arm.
  • the charging plug is rigidly connected to the plug-mounting segment.
  • the charging plug may be rigidly connected to the plug-mounting segment throughout charging cycles, a charging cycle particularly including a plugging-in phase, charging and an unplugging phase.
  • a rigidly connected charging plug may facilitate an operation of the charging robot and/or allow for connection of the charging plug to the charging socket in a larger variety of angles.
  • the charging plug may be a megawatt charging system (MCS) plug.
  • the charging robot may include at least one further charging plug mounted on the robot arm.
  • the at least one further charging plug may be mounted together with the charging plug on the plug-mounting segment of the robot arm.
  • the at least one further charging plug may be rigidly connected to the plug-mounting segment.
  • the charging plug may include a mechanical bracket for mounting the charging plug and the at least one further charging plug to the plug-mounting segment of the robot arm.
  • the at least one charging plug may particularly be one further charging plug or two further charging plugs.
  • the charging robot may include two or three charging plugs in total.
  • the charging plug and the at least one further charging plug may be MCS plugs.
  • the charging robot may be particularly adapted for industrial vehicles, particularly for large or heavy-duty vehicles and/or vehicles with large electrical charging capacity.
  • electrical components of the charging robot may be adapted to provide high output power for charging the industrial vehicle and/or withstand high currents for charging industrial vehicles.
  • mechanical components of the charging robot such as the robot arm, may be adapted to support the electrical components, e.g. to at least partially support a weight of a charging cable used in charging industrial vehicles with a high charging power.
  • the charging robot includes a charger module. It should be understood that the charger module of the charging robot as well as some further components of the robot may be stationary with respect to movable components of the robot arm, particularly not arranged on the robot arm.
  • the charger module is configured for receiving an input power from a primary power source.
  • the primary power source may be an electrical grid, a high, medium or low voltage substation, a generator, such as a diesel electric generator or a fuel cell, a photovoltaic installation, a windfarm, an intermediate energy store such as a battery installation, fly wheels, supercapacitors, or any other source of electrical power.
  • the input power may be provided by a direct current (DC) or an alternating current (AC).
  • the charger module is configured for converting the input power into an output power for charging the industrial vehicle.
  • the output power may be a DC output power.
  • the output power may be an AC output power.
  • the charging robot, particularly the charger module is configured to provide an output power of at least 600 kW, particularly of at least 1 MW, at least 3 MW or at least 4 MW.
  • the charger module may be configured to provide an output power for charging the industrial vehicle of about 4.5 MW.
  • the output power of the charger module may also be referred to as charging power.
  • the charger module may include at least one transformer for converting the input power to the output power.
  • the charger module may include at least one rectifier for rectifying the input power, particularly if the input power is an AC input power.
  • the charger module may include at least one inverter, particularly if the output power is an AC output power.
  • the transformer, the rectifier and/or the inverter may include solid-state devices, and/or be implemented as a converter, such as a solid-state converter.
  • the charging robot may include a controller communicatively coupled to the charger module.
  • the controller may be configured for controlling the charger module to electrically charge an industrial vehicle.
  • the controller may be configured for regulating the output power provided by the charger module according to charging requirements of the industrial vehicle.
  • the charging robot includes a charging cable.
  • the charging cable may provide an electrical connection between a charger module of the charging robot and the charging plug.
  • An end of the charging cable may be electrically connected to and particularly directly physically attached to the charging plug.
  • a further end of the charging cable may be electrically connected to and particularly directly physically attached to a charger module of the charging robot.
  • each charging plug may be electrically connected via a respective charging cable to the charger module.
  • more than one charging plug may be connected via one charging cable to the charger module.
  • the robot arm is configured to support at least a portion of a weight of the charging cable, particularly during charging of the industrial vehicle.
  • the robot arm may support the end of the charging cable connected to the charging plug.
  • the charging cable has a weight per length of at least 2 kg/m, particularly of at least 3.5 kg/m or at least 4 kg/m, and/or maximum 10 kg/m, particularly maximum 8 kg/m or maximum 7 kg/m.
  • the charging cable may have a weight per length between 3 kg/m and 7 kg/m, particularly between 3.5 kg/m and 6 kg/m or between 4 kg/m and 5 kg/m.
  • the charging cable may have a length of at least 1 m, particularly of at least 2 m, and/or of maximum 10 m, particularly maximum 7 m or maximum 5 m.
  • charging cables according to embodiments may be adapted for charging with a high power for efficiently charging industrial vehicles described herein.
  • the charging cable may include a positive wire and a negative wire for conducting current for charging the industrial vehicle, particularly a positive copper wire and a negative copper wire.
  • the charging cable includes a cooling hose for cooling the charging cable using a cooling fluid.
  • the charging cable may further include a return hose for returning the warmed-up cooling fluid. Cooling the charging cable may be used particularly to avoid an overheating of the charging cable, e.g. when charging an industrial vehicle with a high power.
  • a charging cable may include a positive wire and a negative wire for charging the vehicle, a cooling hose for cold cooling fluid for cooling the positive and negative wires, and a return hose for warmed-up cooling fluid.
  • the cooling hose and the return hose may be part of a cooling cycle for cooling the charging cable.
  • the cooling cycle may include a cooling source for cooling the warmed-up cooling fluid from the return hose before re-circulating the cooling fluid through the cooling hose and the return hose.
  • the charging robot may include the cooling cycle for cooling the charging cable.
  • the charging robot includes a vision system.
  • the vision system may be positioned next to the robot arm and/or on the robot arm.
  • the vision system may be configured to determine a socket position of a charging socket of an industrial vehicle.
  • the vision system may be configured to determine a position of the charging plug.
  • the vision system can include or consist of one or more cameras, a LiDAR system and/or a time-of-flight sensor.
  • the vision system may include multiple cameras, e.g. for stereo vision.
  • the vision system can be communicatively coupled to a controller of the charging robot. In particular, the controller may be configured to control a motion of the robot arm based on information from the vision system.
  • the charging robot includes a force sensor.
  • the force sensor is configured to determine a force acting on the charging plug.
  • Forces acting on the charging plug may include for example supporting forces exerted by the robot arm on the charging plug, or forces from the industrial vehicle, such as forces exerted on charging plug by the charging socket of the industrial vehicle.
  • Forces acting on the charging plug may include forces exerted on the charging plug by the charging cable, particularly due to the weight of the charging cable. Forces exerted by the charging cable on the charging plug may further be caused by a stiffness and/or inertia of the charging cable when the charging cable is moved or repositioned by the robot arm.
  • Forces acting on the charging plug may include gravity acting on the charging plug itself.
  • the force sensor may be a hardware force sensor.
  • the force sensor may be arranged on the plug-mounting segment of the robot arm, particularly the final segment of the robot arm, and/or on the charging plug.
  • the force sensor may be included into the plug-mounting segment, or the force sensor may be arranged at an interface connecting the charging plug and the plug-mounting segment.
  • the force sensor may be an at least one-axis force sensor, particularly an at least two-axis or at least three-axis force sensor.
  • the force sensor may be a three-axis force sensor.
  • the force sensor may for example include one or more strain gauges, and/or one or more piezoelectric force sensors.
  • Hardware force sensors may provide a direct and accurate measurement of forces acting on the charging plug.
  • the force sensor may be a soft force sensor.
  • the soft force sensor may be provided as software in a controller of the charging robot.
  • the soft force sensor may be configured to calculate the force acting on the charging plug based on operational data of the charging robot, e.g. based on torque values of motors associated with the different axes of the robot arm.
  • a soft force sensor may dispense with the use of one or more hardware force sensors.
  • industrial vehicles may be operated and electrically charged in industrial environments, in which the vehicles may be susceptible to sudden movements, for example as described above. Such sudden movements may result in damage to the charging robot, to a pedestal on which the robot arm is mounted, to the industrial vehicle itself or to other equipment near the vehicle or the charging robot. In particular, the charging plug and/or the charging socket may be damaged, which may be more brittle than other components of the charging robot or the industrial vehicle.
  • personal vehicles are generally assumed to stay stationary during electric charging. Further, charging devices for personal vehicles may be smaller and more flexible than a charging robot configured for charging industrial vehicles described herein.
  • Embodiments of the present disclosure may use a forcebased control scheme to compensate sudden movements of the vehicle by a corresponding movement of the robot arm.
  • the control scheme may include monitoring forces acting on the charging plug.
  • methods according to the present disclosure include a force sensor calibration such that specifically the forces exerted on the charging plug by the industrial vehicle can be identified. Based on the identified forces, e.g. forces caused by a sudden movement of the vehicle, the charging robot can reposition the charging plug to avoid damage, particularly by following a movement of the industrial vehicle.
  • a method of coupling a charging robot to an electrically chargeable industrial vehicle is provided, particularly a method of electrically charging the industrial vehicle. Operations according to methods described herein may be performed automatically by the charging robot, particularly without human intervention. In particular, methods described herein may be performed fully automatically.
  • the charging robot may be configured according to any of the embodiments described herein.
  • the method includes determining a socket position of a charging socket of the industrial vehicle.
  • the socket position may be determined by the charging robot, particularly by a controller of the charging robot.
  • the socket position may be determined based on visual and/or position information provided by a vision system of the charging robot.
  • the method includes moving, particularly by the charging robot, a charging plug mounted on a robot arm of the charging robot from an initial position of the charging plug to a first position, the first position being closer to or within the charging socket of the industrial vehicle.
  • the charging robot may move the charging plug from an initial position, e.g. a resting position of the charging plug between charging cycles, to the first position, wherein the first position is closer to the socket position or wherein the first position is at the socket position.
  • the charging plug in the first position, the charging plug is arranged outside the charging socket.
  • the first position is at a distance of at least 1 mm, particularly at least 2 mm or at least 3mm, and/or maximum 40 cm from the charging socket, particularly maximum 30 cm, maximum 20 cm, maximum 10 cm or maximum 5 cm.
  • the distance may be between 3 mm and 30 cm, e.g. about 5 cm.
  • the charging plug may be moved to a first position within the charging socket of the industrial vehicle such that the charging plug is at least partially inserted into the charging socket.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé (300) de couplage d'un robot de charge (100) à un véhicule industriel pouvant être chargé électriquement (400), consistant à : déplacer une fiche de charge (120) montée sur un bras de robot (110) du robot de charge (100) d'une position initiale de la fiche de charge à une première position plus proche ou à l'intérieur d'une prise de charge du véhicule ; calibrer un capteur de force (130) du robot de charge après le déplacement de la fiche de charge vers la première position, le capteur de force étant configuré pour déterminer une force agissant sur la fiche de charge ; mesurer la force agissant sur la fiche de charge couplée à la prise de charge, la force étant mesurée à l'aide du capteur de force calibré ; et ajuster, au moyen du robot de charge, une seconde position de la fiche de charge couplée à la prise de charge, la seconde position étant ajustée sur la base de la force mesurée par le capteur de force étalonné.
PCT/EP2024/058123 2024-03-26 2024-03-26 Procédé de couplage d'un robot de charge à un véhicule industriel pouvant être chargé électriquement, et robot de charge Pending WO2025201631A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2024/058123 WO2025201631A1 (fr) 2024-03-26 2024-03-26 Procédé de couplage d'un robot de charge à un véhicule industriel pouvant être chargé électriquement, et robot de charge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2024/058123 WO2025201631A1 (fr) 2024-03-26 2024-03-26 Procédé de couplage d'un robot de charge à un véhicule industriel pouvant être chargé électriquement, et robot de charge

Publications (1)

Publication Number Publication Date
WO2025201631A1 true WO2025201631A1 (fr) 2025-10-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2024/058123 Pending WO2025201631A1 (fr) 2024-03-26 2024-03-26 Procédé de couplage d'un robot de charge à un véhicule industriel pouvant être chargé électriquement, et robot de charge

Country Status (1)

Country Link
WO (1) WO2025201631A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150210174A1 (en) * 2012-07-27 2015-07-30 Kuka Roboter Gmbh Charging System And Method For Electronically Charging A Motor Vehicle
CN108973724A (zh) * 2018-07-20 2018-12-11 四川长虹电器股份有限公司 适用于多种电动汽车的全自动充电系统及其实现方法
US20230108220A1 (en) * 2020-02-20 2023-04-06 Rocsys B.V Method for Controlling a Charging Infrastructure
EP4183619A1 (fr) * 2021-11-17 2023-05-24 Scaleup OÜ Dispositif de gestion de l'alimentation en ressources d'un navire et procédé de gestion de l'alimentation en ressources
CN116278880A (zh) * 2021-12-20 2023-06-23 华为技术有限公司 一种充电设备以及控制机械臂充电的方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150210174A1 (en) * 2012-07-27 2015-07-30 Kuka Roboter Gmbh Charging System And Method For Electronically Charging A Motor Vehicle
CN108973724A (zh) * 2018-07-20 2018-12-11 四川长虹电器股份有限公司 适用于多种电动汽车的全自动充电系统及其实现方法
US20230108220A1 (en) * 2020-02-20 2023-04-06 Rocsys B.V Method for Controlling a Charging Infrastructure
EP4183619A1 (fr) * 2021-11-17 2023-05-24 Scaleup OÜ Dispositif de gestion de l'alimentation en ressources d'un navire et procédé de gestion de l'alimentation en ressources
CN116278880A (zh) * 2021-12-20 2023-06-23 华为技术有限公司 一种充电设备以及控制机械臂充电的方法

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