CN107150994A - A kind of end effector for automobile fuel filler machine people - Google Patents
A kind of end effector for automobile fuel filler machine people Download PDFInfo
- Publication number
- CN107150994A CN107150994A CN201710296529.6A CN201710296529A CN107150994A CN 107150994 A CN107150994 A CN 107150994A CN 201710296529 A CN201710296529 A CN 201710296529A CN 107150994 A CN107150994 A CN 107150994A
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- CN
- China
- Prior art keywords
- jaw
- oil gun
- switching mechanism
- machine people
- end effector
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a kind of end effector for automobile fuel filler machine people, purpose is, realize that the automation opening and closing, the crawl of oil gun and the automation of oil gun switch handle of the inside and outside fuel tank cap of automobile are opened and closed integratedly, the control complexity of reduction system, reduce system bulk, the technical scheme used for：Including the mounting bracket being connected with automobile fuel filler machine people end, inner cap switching mechanism and transmission system are fixedly installed on mounting bracket, transmission system is connected with oil gun grasping mechanism and enclosing cover switching mechanism, transmission system includes oscillating cylinder, oscillating cylinder connects oil gun grasping mechanism and enclosing cover switching mechanism, and oscillating cylinder is used to drive oil gun grasping mechanism and enclosing cover switching mechanism axial wobble；Oil gun grasping mechanism, which includes being provided with paw, the second jaw in the first jaw and the second jaw, the first jaw, is provided with reversal means；Enclosing cover switching mechanism includes flexible sucker；Inner cap switching mechanism, which includes being provided with card in cylindrical jaw, cylindrical jaw, to be referred to.
Description
Technical field
The invention belongs to robot building technical field, and in particular to a kind of end for automobile fuel filler machine people is performed
Device.
Background technology
With the progress of science and technology, especially automation, the fast development of informationization technology, taking human as leading tradition
Production model is changed towards by leading intelligent production model of robot.The gas station that develops into of robot technology is provided
New method of service, i.e. automobile fuel filler machine people, and automobile fuel filler machine people research and development turn into focus and difficult point.Automobile fuel filler
It is many that process is related to step, and vehicle fuel tank cap is different, and oil gun shape is special, adaptability to end effector and many
Feature proposes high requirement.It is existing in the case where sensor location technology and six-DOF robot Technical comparing are ripe
Some integrated end effector weight of function is not easy to hang installation exercise greatly, and the inside and outside oil of automobile is realized how integratedly
Automation opening and closing, the crawl of oil gun and the automation of oil gun switch handle of case lid are opened and closed function and turn into problem.
The content of the invention
In order to solve the problems of the prior art, the present invention proposes that a kind of end for automobile fuel filler machine people is performed
Device, can realize that automation opening and closing, the crawl of oil gun and the oil gun of the inside and outside fuel tank cap of automobile switch the automation of handle integratedly
Opening and closing, reduces the control complexity of system, reduces system bulk, can realize full-automatic automobile fuel filler process, contribute to
The further development of automobile fuel filler machine people's technology.
In order to realize the above object the technical solution adopted in the present invention is：Including connecting with automobile fuel filler machine people end
Inner cap switching mechanism and transmission system are fixedly installed on the mounting bracket connect, mounting bracket, transmission system is connected with oil gun gripper
Structure and enclosing cover switching mechanism, the relative position of the oil gun grasping mechanism and enclosing cover switching mechanism are fixed, the transmission system bag
Oscillating cylinder, oscillating cylinder connection oil gun grasping mechanism and enclosing cover switching mechanism are included, oscillating cylinder is used to drive oil gun gripper
Structure and enclosing cover switching mechanism axial wobble；The oil gun grasping mechanism includes setting in the first jaw and the second jaw, the first jaw
It is equipped with the reversal means being provided with the paw for capturing oil gun, the second jaw for controlling oil gun to switch；The enclosing cover opening/closing machine
Structure includes the flexible sucker for being used to draw externally mounted fuel tank lid；The inner cap switching mechanism includes the cylindrical gas for being capable of axial rotation
It is provided with and refers to for capturing the card of interior fuel tank cap in pawl, cylindrical jaw.
The oil gun grasping mechanism includes the right installing arm being connected with oscillating cylinder, and first jaw and the second jaw are set
Put in right installing arm, two paws be symmetrically arranged with first jaw, two polygonal holes are formed during two paw closures,
Small cylinder, the end connection reversal means of small cylinder are provided with by installing plate in second jaw.
The first magnetic valve is provided with the right installing arm, the first jaw and the second jaw are respectively connected with the first magnetic valve.
The inner cap switching mechanism includes decelerating step motor, and decelerating step motor is connected with elastic telescopicing rod, described to subtract
Trot stepper motor is used to drive elastic telescopicing rod axial rotation；Elastic telescopicing rod end connecting cylinder shape jaw, cylindrical jaw
On be symmetrically arranged with two cards and refer to.
Bearing block is provided with the mounting bracket, elastic telescopicing rod is connected with bearing block by bearing.
It is installed with buckle and lower buckle, upper buckle and lower buckle and is provided with for measuring bullet on the elastic telescopicing rod
The linear displacement transducer of property expansion link stroke.
The enclosing cover switching mechanism includes the left installing arm being connected with oscillating cylinder, and flexible sucker is arranged on a left side by sleeve
In installing arm.
The vacuum generator being sequentially connected and the second magnetic valve are provided with the left installing arm, flexible sucker is connected to very
Empty generator.
The alignment sensor for positioning automobile position and fuel tank cap position is provided with the left installing arm.
The oscillating cylinder is connected by bearing with mounting bracket, and the output shaft of oscillating cylinder is fixedly connected with joint shaft, joint
Shaft end is fixedly installed end cap, and end cap is fixedly connected with flange, and flange is fixedly connected with oil gun grasping mechanism and enclosing cover switching mechanism.
Compared with prior art, oil gun grasping mechanism, inner cap switching mechanism, enclosing cover switching mechanism are integrated in one by the present invention
Body, under the pose regulation and the swing of oscillating cylinder effect of robot, makes enclosing cover switching mechanism be directed at fuel tank cap position so that
Flexible sucker paster, which merges, draws externally mounted fuel tank lid, opens externally mounted fuel tank lid, inner cap switching mechanism refers to crawl using cylindrical jaw and card
Interior fuel tank cap simultaneously rotates, and opens interior fuel tank cap, utilizes the first jaw on oil gun grasping mechanism and paw to capture oil gun, robot
Pose is adjusted, and oil gun oil-out is inserted reservoir port, is refueled while the second jaw drives reversal means action to open oil gun, oiling is finished
Reverse operation, completes the opening and closing, the crawl of oil gun, the on-off action of oil gun switch handle of inside and outside fuel tank cap, overcomes current vapour afterwards
The single shortcoming of car oiling end effector of robot function.Duo Tai robots are needed to coordinate the automobile fuel filler that could be completed before
Process, now only needing a six-DOF robot for installing the end effector just can complete, and reduction system control is complicated
Degree, it is cost-effective, energy consumption is reduced, and the floor space of total system is reduced, contribute to automobile fuel filler machine people input practical.
The present invention improves the function integration degree of automobile fuel filler machine people's end effector, contributes to pushing away for oiling robot technology
Extensively with development.
Further, oil gun grasping mechanism, inner cap switching mechanism, enclosing cover switching mechanism use pneumatic element, using pneumatic
The method of driving, the maximized weight for alleviating end effector overcomes some Six-DOF industrial robots because of work
Load is not enough and can not the integrated end effector of installation function problem, while end effector working environment is gas station,
The security performance of end effector is improved using the method for pneumatic actuation.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of oil gun grasping mechanism；
Fig. 3 is the structural representation of inner cap switching mechanism；
Fig. 4 is the structural representation of enclosing cover switching mechanism；
Fig. 5 is the structural representation of transmission system；
Wherein, 1 is oil gun grasping mechanism, and 2 be inner cap switching mechanism, and 3 be mounting bracket, and 4 be enclosing cover switching mechanism, and 5 be biography
Dynamic system, 6 be the first jaw, and 7 be right installing arm, and 8 be the first magnetic valve, and 9 be the second jaw, and 10 be installing plate, and 11 be small-sized
Cylinder, 12 be reversal means, and 13 be paw, and 14 be decelerating step motor, and 15 be bearing block, and 16 be upper buckle, and 17 be that straight-line displacement is passed
Sensor, 18 be lower buckle, and 19 be elastic telescopicing rod, and 20 be cylindrical jaw, and 21 refer to for card, and 22 be alignment sensor, and 23 be true
Empty generator, 24 be flexible sucker, and 25 be sleeve, and 26 be the second magnetic valve, and 27 be left installing arm, and 28 be oscillating cylinder, and 29 are
Bearing, 30 be joint shaft, and 31 be sealing ring, and 32 be end cap, and 33 be head bolts, and 34 be flange, and 35 be flange screw.
Embodiment
The present invention is further explained with reference to specific embodiment and Figure of description.
Referring to Fig. 1, the present invention includes being fixedly installed on the mounting bracket 3 being connected with automobile fuel filler machine people end, mounting bracket 3
There are inner cap switching mechanism 2 and transmission system 5, transmission system 5 is connected with oil gun grasping mechanism 1 and enclosing cover switching mechanism 4, the oil
The relative position of rifle grasping mechanism 1 and enclosing cover switching mechanism 4 is fixed, and the transmission system 5 includes oscillating cylinder 28, oscillating cylinder
28 connection oil gun grasping mechanisms 1 and enclosing cover switching mechanism 4, oscillating cylinder 28 are used to drive oil gun grasping mechanism 1 and enclosing cover to be opened and closed
The axial wobble of mechanism 4；The oil gun grasping mechanism 1 includes being provided with the first jaw 6 and the second jaw 9, the first jaw 6 and is used for
Capture the reversal means 12 being provided with the paw 13 of oil gun, the second jaw 9 for controlling oil gun to switch；The enclosing cover switching mechanism 4
Including the flexible sucker 24 for drawing externally mounted fuel tank lid；The inner cap switching mechanism 2 includes the cylindrical gas for being capable of axial rotation
It is provided with pawl 20, cylindrical jaw 20 and refers to 21 for capturing the card of interior fuel tank cap.
Referring to Fig. 2, oil gun grasping mechanism 1 includes the right installing arm 7 being connected with oscillating cylinder 28, the He of the first jaw 6
Second jaw 9, which is arranged in right installing arm 7, first jaw 6, is symmetrically arranged with two paws 13, when two paws 13 are closed
Formed in two polygonal holes, second jaw 9 and small cylinder 11, the end of small cylinder 11 are provided with by installing plate 10
Connect reversal means 12.The first magnetic valve 8 is provided with right installing arm 7, the first jaw 6 and the second jaw 9 are respectively connected with the first electromagnetism
Valve 8.
Referring to Fig. 3, inner cap switching mechanism 2 includes decelerating step motor 14, and decelerating step motor 14 is connected with elastic telescopic
Bar 19, the decelerating step motor 14 is used to drive the axial rotation of elastic telescopicing rod 19；The end connecting cylinder of elastic telescopicing rod 19
Two cards are symmetrically arranged with shape jaw 20, cylindrical jaw 20 and refer to 21.Bearing block 15, elastic telescopic are provided with mounting bracket 3
Bar 19 is connected with bearing block 15 by bearing.Buckle 16 and lower buckle 18, the upper He of buckle 16 are installed with elastic telescopicing rod 19
The linear displacement transducer 17 for measuring the stroke of elastic telescopicing rod 19 is provided with lower buckle 18.
Referring to Fig. 4, enclosing cover switching mechanism 4 includes the left installing arm 27 being connected with oscillating cylinder 28, and flexible sucker 24 passes through
Sleeve 25 is arranged in left installing arm 27.The magnetic valve of vacuum generator 23 and second being sequentially connected is provided with left installing arm 27
26, flexible sucker 24 is connected to vacuum generator 23.It is provided with left installing arm 27 for positioning automobile position and fuel tank cap position
The alignment sensor 22 put.
Referring to Fig. 5, oscillating cylinder 28 is connected by bearing 29 with mounting bracket 3, and the output shaft of oscillating cylinder 28 is fixedly connected
Joint shaft 30, the end of joint shaft 30 is fixedly installed end cap 32, and end cap 32 is fixedly connected with flange 34, and end cap 32 passes through head bolts
33 are connected with mounting bracket 3, and sealing ring 31 is set between end cap 32 and mounting bracket 3, and flange 34 is fixedly connected by flange screw 35
The right installing arm 7 of oil gun grasping mechanism 1 and the left installing arm 27 of enclosing cover switching mechanism 4.
Referring to Fig. 1, the present invention includes oil gun grasping mechanism 1, inner cap switching mechanism 2, mounting bracket 3, the and of enclosing cover switching mechanism 4
Transmission system 5；
Referring to Fig. 2, oil gun grasping mechanism 1 includes the first jaw 6, right installing arm 7, the first magnetic valve 8, the second jaw 9, peace
Fill plate 10, small cylinder 11, reversal means 12 and paw 13.Right installing arm 7 uses light metal alloys material, mitigates deadweight.First
Jaw 6, the first magnetic valve 8, the second jaw 9 are mounted in right installing arm 7, are fastened using screw.Paw 13 includes left and right two
It is individual, it is symmetrically arranged in the first jaw 6, crawl oil gun action can be completed under the driving of the first jaw 6.Two paws 13 are closed
When can form two polygonal holes, can clamping oil gun, it is to avoid oil gun slides.The mode connects for screw of 10 and second jaw of installing plate 9, it is small-sized
Cylinder 11 and the mode connects for screw of installing plate 10, and reversal means 12 is installed in the end of small cylinder 11.The driving of small cylinder 11 reversal means 12 is complete
Into expanding-contracting action, the opening and closing process that oil gun switchs handle is thus completed.
Referring to Fig. 3, inner cap switching mechanism 2 includes decelerating step motor 14, bearing block 15, upper buckle 16, straight-line displacement biography
Sensor 17, lower buckle 18, elastic telescopicing rod 19, cylindrical jaw 20 and card refer to 21.Decelerating step motor 14 and elastic telescopicing rod
19 keys are connected, and can drive the axial rotation of elastic telescopicing rod 19, and then cylindrical cylinder 20 is rotated, and thus complete interior oil
The precession of case lid is acted with back-out.Elastic telescopicing rod 19 plays crash protection effect to the end of inner cap switching mechanism 2, with bearing
Seat 15 is interference fitted, and bearing block 15 is installed on mounting bracket 3, fastened using screw.Linear displacement transducer 17 passes through upper buckle 16
It is installed on lower buckle 18 on elastic telescopicing rod 19, the stroke of measurable elastic telescopicing rod 19.Card refers to 21 points or so two, right
Title is installed in cylindrical jaw 20, can fuel tank cap in clamping.
Referring to Fig. 4, enclosing cover switching mechanism 4 include alignment sensor 22, vacuum generator 23, flexible sucker 24, sleeve 25,
Second magnetic valve 26 and left installing arm 27.Alignment sensor 22 can position automobile position and fuel tank cap position, be that robot is completed
The basis of oiling action.Flexible sucker 24 is installed in left installing arm 27 by sleeve 25, can be pulled on externally mounted fuel tank cap surface, right
Play crash protection effect in end.Vacuum generator 23 can make the firm adhesive externally mounted fuel tank cap surface of flexible sucker 24.Second electromagnetism
Valve 26 can coordinate vacuum generator 23 to control the positive circulation and reverse circulation of source gas, complete flexible sucker 24 to externally mounted fuel tank
The adhesive and release of lid.
Referring to Fig. 5, transmission system 5 includes oscillating cylinder 28, bearing 29, joint shaft 30, sealing ring 31, end cap 32, end cap
Screw 33, flange 34 and flange screw 35.Whole system can be fixed on mounting bracket 3 by end cap 32 and head bolts 33, transmission
System 5 is interference fitted by bearing 29 with mounting bracket 3, and end cap 32 is installed by head bolts 33 with mounting bracket 3, can fixed conveyor
System 5.Flange 34 contains threaded stud structure, and joint shaft 30 contains thread pore structure, and both are threadedly coupled.Flange screw 35 is by the right side
Installing arm 7 is fixed on flange 34 with left installing arm 27, thus completes oil gun grasping mechanism 1 and enclosing cover switching mechanism 4 and transmission
The connection of system 5.The output shaft of oscillating cylinder 28 is connected with the key of joint shaft 30, and oscillating cylinder 28 can drive the He of oil gun grasping mechanism 1
The axial wobble of enclosing cover switching mechanism 4, completes the two basic poses for working head and adjusts.
Oil gun grasping mechanism 1, inner cap switching mechanism 2 and enclosing cover switching mechanism 4 are included in the present invention, oil gun is respectively completed and grabs
Take with oil gun switch be opened and closed, the crawl of interior fuel tank cap and opening and closing and the on-off action of externally mounted fuel tank lid, function integration degree is high；
Transmission system 5 can drive oil gun grasping mechanism 1 and the axial rotation of enclosing cover switching mechanism 4, complete the two basic poses for working head and adjust
Section；Main driving part is pneumatic element, alleviates the weight of end effector.
In the end effector course of work of the present invention, the positioning automobile position of alignment sensor 22 and fuel tank cap position, in machine
Under the pose regulation and the swing of oscillating cylinder 28 effect of device people, enclosing cover switching mechanism 4 is set to be directed at fuel tank cap position, robot will
End effector is close to fuel tank cap so that the flexible laminating of sucker 24 externally mounted fuel tank lid, vacuum generator 23 is matched somebody with somebody with the second magnetic valve 26
Close work, air-flow reverse flow so that flexible sucker 24 reaches the state of adhesive externally mounted fuel tank lid, now robot drives end to hold
Row device does the action of principle fuel tank cap so that externally mounted fuel tank lid is opened, and interior fuel tank cap is exposed.Second magnetic valve 26 works, and air-flow is positive
Flowing, stretch the release externally mounted fuel tank lid of sucker 24.Under the adjustment effect of robot end's pose, it is directed at inner cap switching mechanism 2
Reservoir port position, robot by end effector close to reservoir port, when linear displacement transducer 17 measures elastic telescopicing rod 19
Stroke when, it was demonstrated that the end of inner cap switching mechanism 2 is contacted with interior fuel tank cap, and cylindrical jaw 20 and card refer to 21 work, clamping
Interior fuel tank cap.Accelerate the driving inner cap of stepper motor 14 switching mechanism 2 to rotate, screw out interior fuel tank cap, robot drives end to hold
Row device principle reservoir port, interior fuel tank cap refers under 21 snap action in cylindrical jaw 20 with card, and temporal persistence is opened and closed in inner cap
The end of mechanism 2.First jaw 6 and the second jaw 9 are opened, and small cylinder 11 drives reversal means 12 to extend, while robot regulation end
Pose is held, oil gun is in the middle of two paws 13.First jaw 6 is closed so that two paws 13 capture oil gun lower cylindrical
Simultaneously block oil gun limiting plate lower end in shape part.Second jaw 9 is closed so that small cylinder 11 and reversal means 12 catch on oil gun switch
, thus complete oil gun grasping movement.Robot pose regulation, nozzle oil-out insertion reservoir port, the band of small cylinder 11
Dynamic reversal means 12 is retracted, and oil gun switch starts to refuel opening.After the completion of oiling, small cylinder 11 drives reversal means 12 to extend, oil gun
Switch is closing, and refueling process terminates.Robot drives end effector that oil gun is put back into original position, the first jaw 6 and the second gas
Pawl 9 opens, and departs from end effector.Robot adjusts pose, the inner cap switching mechanism 2 of fuel tank cap in gripping is directed at fuel tank
Mouthful.Under robot drive, interior fuel tank cap is set to put back to reservoir port, linear displacement transducer 17 detects the pressure of elastic telescopicing rod 19
During contracting amount, the driving inner cap switching mechanism anticlockwise of decelerating step motor 14 is acted, after interior fuel tank cap precession reservoir port, cylindrical gas
Pawl 20 refers to fuel tank cap in 21 releases with card, and interior fuel tank cap departs from end effector.Robot end's pose is adjusted, and is swung simultaneously
Cylinder 28 is swung, make enclosing cover switching mechanism be aligned externally mounted fuel tank cap surface, the cooperating of 23 and second magnetic valve of vacuum generator 26,
Air-flow reverse flow, stretch the adhesive externally mounted fuel tank lid of sucker 24, and robot continues to drive end effector motion, completes externally mounted fuel tank lid
Closed action.Second magnetic valve 26 works, air-flow forward flow, and stretch the release externally mounted fuel tank lid of sucker 24.So far automobile is completed to add
Whole actions of oil.
The present invention is by oil gun grasping mechanism, enclosing cover switching mechanism, inner cap switching mechanism, transmission system, the part of mounting bracket five
Composition.In technical process, oscillating cylinder can drive enclosing cover switching mechanism to be swung with oil gun grasping mechanism, reach the basic of work head
Pose is adjusted.The paw of oil gun grasping mechanism is driven by jaw, captures oil gun, and reversal means is driven by small cylinder, and control oil gun is opened
Close the opening and closing of handle.The flexible sucker of enclosing cover switching mechanism can adhesive and release externally mounted fuel tank lid.Inner cap captures hand by deceleration stepping electricity
Machine driving axial is rotated, and can be completed interior fuel tank cap precession and be acted with back-out.
The present invention solves problems with：One automates opening and closing, the crawl of oil gun and oil for the inside and outside fuel tank cap of automobile
The problem of automation of rifle switch handle is opened and closed, and function is integrated；Secondly big for the integrated end effector weight of function, it is difficult to
The problem of limited applied to load six-DOF robot.The present invention, can using the method and sensor technology of pneumatic actuation
The position identification of automobile and vehicle fuel tank cap is realized, and above problem can be solved.The method that the device uses pneumatic actuation, largely
Using pneumatic element, the weight of single unit system is alleviated, is easy to six-DOF robot end installation exercise.In addition, refueling
Stand under this particular job environment, pneumatic actuation is a kind of safe and reliable type of drive.The device it is integrated realize automobile
Automation opening and closing, the crawl of oil gun and the automation of oil gun switch handle of inside and outside fuel tank cap are opened and closed process, full-automatic to realize
Automobile fuel filler process provides a kind of effective method, contributes to the further development of automobile fuel filler machine people's technology.
Claims (10)
1. a kind of end effector for automobile fuel filler machine people, it is characterised in that including with automobile fuel filler machine people end
Inner cap switching mechanism (2) and transmission system (5), transmission system (5) are fixedly installed on the mounting bracket (3) of connection, mounting bracket (3)
It is connected with oil gun grasping mechanism (1) and enclosing cover switching mechanism (4), the oil gun grasping mechanism (1) and enclosing cover switching mechanism (4)
Relative position is fixed, and the transmission system (5) includes oscillating cylinder (28), oscillating cylinder (28) connection oil gun grasping mechanism (1)
With enclosing cover switching mechanism (4), oscillating cylinder (28) is used to drive oil gun grasping mechanism (1) and enclosing cover switching mechanism (4) axially to put
It is dynamic；The oil gun grasping mechanism (1) includes being provided with the first jaw (6) and the second jaw (9), the first jaw (6) for grabbing
Take the reversal means (12) being provided with the paw (13) of oil gun, the second jaw (9) for controlling oil gun to switch；The enclosing cover opening/closing machine
Structure (4) includes the flexible sucker (24) for being used to draw externally mounted fuel tank lid；The inner cap switching mechanism (2) includes being capable of axial rotation
It is provided with and refers to (21) for capturing the card of interior fuel tank cap on cylindrical jaw (20), cylindrical jaw (20).
2. a kind of end effector for automobile fuel filler machine people according to claim 1, it is characterised in that the oil
Rifle grasping mechanism (1) includes the right installing arm (7) being connected with oscillating cylinder (28), first jaw (6) and the second jaw (9)
It is arranged on right installing arm (7), first jaw (6) and is symmetrically arranged with two paws (13), during two paw (13) closure
Formed on two polygonal holes, second jaw (9) and small cylinder (11), small cylinder are provided with by installing plate (10)
(11) end connection reversal means (12).
3. a kind of end effector for automobile fuel filler machine people according to claim 2, it is characterised in that the right side
The first magnetic valve (8) is provided with installing arm (7), the first jaw (6) and the second jaw (9) are respectively connected with the first magnetic valve (8).
4. a kind of end effector for automobile fuel filler machine people according to claim 1, it is characterised in that in described
Lid switching mechanism (2) includes decelerating step motor (14), and decelerating step motor (14) is connected with elastic telescopicing rod (19), described to subtract
Trot stepper motor (14) is used to drive elastic telescopicing rod (19) axial rotation；Elastic telescopicing rod (19) end connecting cylinder shape jaw
(20) two cards, are symmetrically arranged with cylindrical jaw (20) to refer to (21).
5. a kind of end effector for automobile fuel filler machine people according to claim 4, it is characterised in that the peace
Shelve and bearing block (15) is provided with (3), elastic telescopicing rod (19) is connected with bearing block (15) by bearing.
6. a kind of end effector for automobile fuel filler machine people according to claim 5, it is characterised in that the bullet
Being installed with to be provided with buckle (16) and lower buckle (18), upper buckle (16) and lower buckle (18) on property expansion link (19) is used for
Measure the linear displacement transducer (17) of elastic telescopicing rod (19) stroke.
7. a kind of end effector for automobile fuel filler machine people according to claim 1, it is characterised in that described outer
Lid switching mechanism (4) includes the left installing arm (27) being connected with oscillating cylinder (28), and flexible sucker (24) is set by sleeve (25)
Put in left installing arm (27).
8. a kind of end effector for automobile fuel filler machine people according to claim 7, it is characterised in that the left side
The vacuum generator (23) and the second magnetic valve (26) being sequentially connected are provided with installing arm (27), flexible sucker (24) is connected to
Vacuum generator (23).
9. a kind of end effector for automobile fuel filler machine people according to claim 8, it is characterised in that the left side
The alignment sensor (22) for positioning automobile position and fuel tank cap position is provided with installing arm (27).
10. a kind of end effector for automobile fuel filler machine people according to claim 1, it is characterised in that described
Oscillating cylinder (28) is connected by bearing (29) with mounting bracket (3), and the output shaft of oscillating cylinder (28) is fixedly connected with joint shaft
(30), joint shaft (30) end is fixedly installed end cap (32), and end cap (32) is fixedly connected with flange (34), and flange (34) is fixed to be connected
Connect oil gun grasping mechanism (1) and enclosing cover switching mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710296529.6A CN107150994A (en) | 2017-04-28 | 2017-04-28 | A kind of end effector for automobile fuel filler machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710296529.6A CN107150994A (en) | 2017-04-28 | 2017-04-28 | A kind of end effector for automobile fuel filler machine people |
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| CN107150994A true CN107150994A (en) | 2017-09-12 |
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| CN201710296529.6A Pending CN107150994A (en) | 2017-04-28 | 2017-04-28 | A kind of end effector for automobile fuel filler machine people |
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| CN108128747A (en) * | 2017-12-22 | 2018-06-08 | 河南理工大学 | Oiling robot and gas station |
| CN108190825A (en) * | 2017-12-29 | 2018-06-22 | 北京星和众工设备技术股份有限公司 | Oil gun grabbing device |
| CN108515325A (en) * | 2018-03-15 | 2018-09-11 | 华中科技大学 | It is a kind of that device and method that installing miniature LED light emitter positioning pipe automatically are realized by aspiration |
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| CN109366475A (en) * | 2018-11-14 | 2019-02-22 | 北京隆庆智能激光装备有限公司 | A kind of oil gun grasping manipulation system based on robot automation |
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| CN110125957A (en) * | 2018-02-09 | 2019-08-16 | 华北水利水电大学 | A kind of mechanical industrial robot end effector |
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| CN111573608A (en) * | 2020-04-28 | 2020-08-25 | 哈工大机器人(中山)有限公司 | Automatic refueling equipment and automatic refueling system for automobile |
| CN111633408A (en) * | 2020-05-26 | 2020-09-08 | 杭州魔象智能科技有限公司 | Automobile fuel tank cap uncovering structure |
| CN112299359A (en) * | 2020-10-27 | 2021-02-02 | 江阴市富仁高科股份有限公司 | Full-automatic oiling robot with double-arm structure |
| CN113428826A (en) * | 2021-07-27 | 2021-09-24 | 深圳市康道智能股份有限公司 | Refueling robot, control method, system and storage medium |
| CN113880034A (en) * | 2020-07-01 | 2022-01-04 | 江阴市富仁高科股份有限公司 | Operating mechanism for robot refueling or gas filling system |
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| CN108128747A (en) * | 2017-12-22 | 2018-06-08 | 河南理工大学 | Oiling robot and gas station |
| CN108190825A (en) * | 2017-12-29 | 2018-06-22 | 北京星和众工设备技术股份有限公司 | Oil gun grabbing device |
| CN108190825B (en) * | 2017-12-29 | 2023-12-26 | 北京星和众工设备技术股份有限公司 | Oil gun grabbing device |
| CN110125957B (en) * | 2018-02-09 | 2024-04-16 | 华北水利水电大学 | Mechanical type industrial robot end effector |
| CN110125957A (en) * | 2018-02-09 | 2019-08-16 | 华北水利水电大学 | A kind of mechanical industrial robot end effector |
| CN108515325B (en) * | 2018-03-15 | 2019-08-30 | 华中科技大学 | It is a kind of that device and method that installing miniature LED light emitter positioning pipe automatically are realized by aspiration |
| CN108515325A (en) * | 2018-03-15 | 2018-09-11 | 华中科技大学 | It is a kind of that device and method that installing miniature LED light emitter positioning pipe automatically are realized by aspiration |
| CN108751107A (en) * | 2018-07-24 | 2018-11-06 | 广东天机工业智能系统有限公司 | Oiling robot and intelligent refueling system |
| CN109290789A (en) * | 2018-10-26 | 2019-02-01 | 珠海智新自动化科技有限公司 | A kind of toner cartridge gear kludge |
| CN109366475B (en) * | 2018-11-14 | 2021-11-12 | 北京隆庆智能激光装备有限公司 | Oil gun grabbing operation system based on robot automation |
| CN109366475A (en) * | 2018-11-14 | 2019-02-22 | 北京隆庆智能激光装备有限公司 | A kind of oil gun grasping manipulation system based on robot automation |
| CN109895645A (en) * | 2019-03-29 | 2019-06-18 | 南京理工大学 | A kind of new-energy automobile automatic charging system |
| CN110182746B (en) * | 2019-07-08 | 2024-01-30 | 广东贝林能源设备有限公司 | Intelligent full-automatic oiling robot and intelligent full-automatic oiling system |
| CN110182746A (en) * | 2019-07-08 | 2019-08-30 | 广东贝林能源设备有限公司 | Intelligent full-automatic oiling robot and intelligent full-automatic oiling system |
| CN110329979A (en) * | 2019-08-02 | 2019-10-15 | 广州市双枪智能科技有限公司 | Snakelike arm oiling robot apparatus and system |
| CN111573608A (en) * | 2020-04-28 | 2020-08-25 | 哈工大机器人(中山)有限公司 | Automatic refueling equipment and automatic refueling system for automobile |
| CN111633408A (en) * | 2020-05-26 | 2020-09-08 | 杭州魔象智能科技有限公司 | Automobile fuel tank cap uncovering structure |
| CN113880034A (en) * | 2020-07-01 | 2022-01-04 | 江阴市富仁高科股份有限公司 | Operating mechanism for robot refueling or gas filling system |
| CN112299359A (en) * | 2020-10-27 | 2021-02-02 | 江阴市富仁高科股份有限公司 | Full-automatic oiling robot with double-arm structure |
| CN113428826A (en) * | 2021-07-27 | 2021-09-24 | 深圳市康道智能股份有限公司 | Refueling robot, control method, system and storage medium |
| CN113955706A (en) * | 2021-11-18 | 2022-01-21 | 宁波介量机器人技术有限公司 | Automatic butt joint device for liquid filling |
| CN114195083A (en) * | 2021-11-27 | 2022-03-18 | 正星科技股份有限公司 | Automatic robot refueling device and refueling method |
| CN114195083B (en) * | 2021-11-27 | 2024-04-12 | 正星科技股份有限公司 | Automatic robot oiling device and oiling method |
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