Abstract: The invention relates to a method for automatically connecting a charging connector (12) to a charging connector socket (21) of a vehicle (2), preferably a land vehicle (2), comprising at least the following steps: first optical capturing (100) of the charging connector socket (21) and/or the vehicle (2) as a first image by means of at least one first image capturing unit (13) which is arranged to be movable with the charging connector (12), determining (200) the position of the charging connector socket (21) and/or of the vehicle (2) based on the first image, reducing (300) the distance between the charging connector (12) and the charging connector socket (21) and/or the vehicle (2) by means of a positioning unit (10), and second optical capturing (400) of the charging connector socket (21) and/or of the vehicle (2) as a second image by means of the first image capturing unit (13).

Abstract: The invention relates to an arrangement for connecting a charging plug to a charging interface of a vehicle, with a moving apparatus with a plurality of controllable movement axes; a tool which can be positioned by means of the moving apparatus relative to the vehicle and is configured to hold the charging plug, the tool having a centering device for centering the charging plug within the tool and a controllable tool movement axis for moving the charging plug independently of the movement axes of the moving apparatus; wherein the tool with the charging plug centered therein can be positioned in a predetermined relative position with regard to the charging interface by means of the moving apparatus and the charging plug can subsequently be connected with the charging interface by using the tool movement axis.

Abstract: A mobile charging station for the electric charging of electric transportation vehicles having at least one battery unit, at least one charging interface for charging the battery unit, at least one second interface for charging an electric transportation vehicle from the battery unit, a method or mechanism for automated navigation of the mobile charging station and a method or mechanism for receiving a charging request. A method for charging an electric transportation vehicle.

Abstract: The invention relates to an arrangement for connecting a charging plug to a charging interface of a vehicle, with a moving apparatus with a plurality of controllable movement axes; a tool which can be positioned by means of the moving apparatus relative to the vehicle and is configured to hold the charging plug, the tool having a centering device for centering the charging plug within the tool and a controllable tool movement axis for moving the charging plug independently of the movement axes of the moving apparatus; wherein the tool with the charging plug centered therein can be positioned in a predetermined relative position with regard to the charging interface by means of the moving apparatus and the charging plug can subsequently be connected with the charging interface by using the tool movement axis.

Abstract: The invention relates to a method for automatically connecting a charging connector (12) to a charging connector socket (21) of a vehicle (2), preferably a land vehicle (2), comprising at least the following steps: first optical capturing (100) of the charging connector socket (21) and/or the vehicle (2) as a first image by means of at least one first image capturing unit (13) which is arranged to be movable with the charging connector (12), determining (200) the position of the charging connector socket (21) and/or of the vehicle (2) based on the first image, reducing (300) the distance between the charging connector (12) and the charging connector socket (21) and/or the vehicle (2) by means of a positioning unit (10), and second optical capturing (400) of the charging connector socket (21) and/or of the vehicle (2) as a second image by means of the first image capturing unit (13).

Abstract: A mobile charging station for the electric charging of electric transportation vehicles having at least one battery unit, at least one charging interface for charging the battery unit, at least one second interface for charging an electric transportation vehicle from the battery unit, a method or mechanism for automated navigation of the mobile charging station and a method or mechanism for receiving a charging request. A method for charging an electric transportation vehicle.

Abstract: A method for supplying power from at least one power supply unit to transportation vehicles requiring a power supply, in which a position of a transportation vehicle-side power supply interface of a transportation vehicle requiring power is determined for each transportation vehicle and the transportation vehicle-side power supply interface is automatically coupled to a power supply interface of the power supply unit by the power supply interface of the power supply unit being moved by a robot to the transportation vehicle-side power supply interface and coupled thereto. A robot is responsible for coupling transportation vehicles to a suitable power supply interface of the power supply unit.

Abstract: A method for supplying power from at least one power supply unit to transportation vehicles requiring a power supply, in which a position of a transportation vehicle-side power supply interface of a transportation vehicle requiring power is determined for each transportation vehicle and the transportation vehicle-side power supply interface is automatically coupled to a power supply interface of the power supply unit by the power supply interface of the power supply unit being moved by a robot to the transportation vehicle-side power supply interface and coupled thereto. A robot is responsible for coupling transportation vehicles to a suitable power supply interface of the power supply unit.

Abstract: A method for supplying power from at least one power supply unit to transportation vehicles requiring a power supply, in which a position of a transportation vehicle-side power supply interface of a transportation vehicle requiring power is determined for each vehicle and the transportation vehicle-side power supply interface is automatically coupled to a power supply interface of the power supply unit by the power supply interface of the power supply unit being moved by a robot to the transportation vehicle-side power supply interface and coupled thereto. A robot is responsible for coupling transportation vehicles to a suitable power supply interface of the power supply unit.

Abstract: The invention relates to a charging system for a motor vehicle, in particular a passenger car (2), provided with a robot (1) having a control means (1.1), a force detecting means (5), and a plug (4.1) fastened to the robot, configured to establish a detachable plug connection with the mating plug (4.2) on the vehicle side for charging an electric energy store of the motor vehicle, wherein the control means is configured to communicate with the force detecting means, and to connect the robot-guided plug to the mating plug based on a force detected by the force detecting means.

Abstract: In order to improve the monitoring of a machine with movable parts, such as in particular an industrial robot, and for increasing safety, the invention provides a method for monitoring movable parts of a machine, such as an industrial robot, in which at least two different measured quantities are detected and at least one of these measured quantities is processed to a first measure result in such a way that it is comparable with another measured quantity or a second measure result obtained on the basis thereof, that the first measure result is compared with another measured quantity or a measure result obtained on the basis thereof and that a signal characterizing the comparison result is provided.

Abstract: In order to improve the monitoring of a machine with movable parts, such as in particular an industrial robot, and for increasing safety, the invention provides a method for monitoring movable parts of a machine, such as an industrial robot, in which at least two different measured quantities are detected and at least one of these measured quantities is processed to a first measure result in such a way that it is comparable with another measured quantity or a second measure result obtained on the basis thereof, that the first measure result is compared with another measured quantity or a measure result obtained on the basis thereof and that a signal characterizing the comparison result is provided.

Abstract: A driven robot arm (1) has a torque compensation unit for a motional degree of freedom (4). A separate magnetic compensation unit (9) is proposed which is independent of the robot arm drive.

Abstract: After an emergency braking operation is released in the case of a numerically controlled machine, the path calculated by the interpolator continues to be traveled, so that braking takes place on this path in the interpolation clock cycle. To determine the braking-interpolation points (P.sub.iB), a factor k is defined for each axle, which factor fulfills the condition of at least one axle being decelerated by a maximum amount and the remaining axles being decelerated more slowly.

Abstract: A one-dimensional, actual-value-specific path parameter F.sub.I (t) is derived from a motional function F.sub.B (t) to trigger switching functions related to position during the movement along a trajectory path of a numerically controlled system, for example a robot or a machine tool. This allows triggering of a switching operation such as switching on a welding or bonding tool with high precision at the actual position of the tool.