CN108128747B - Refueling robot and gas station - Google Patents

Abstract

A refueling robot and a refueling station belong to the field of robots. The oiling robot mainly comprises a guide assembly, a traveling mechanism and an oiling assembly. The oiling component is combined with the guide component through the travelling mechanism, so that the oiling component can move along the guide component under the driving of the travelling mechanism, and can also move in a spatial multiple degree of freedom to a certain extent in the moving process, so that the oiling component can be adjusted to a proper posture to perform oiling operation.

Description

Refueling robot and gas station

Technical Field

The invention relates to the field of robots, in particular to a refueling robot and a refueling station.

Background

At present, automobiles become an indispensable tool for riding instead of walk for modern people. Most automobiles are fuel-powered. Due to the limited fuel reserves of the vehicle, the vehicle owner needs to fill the fuel regularly. As a conventional refueling method, a vehicle travels to a refueling station to be refueled by a dedicated refueling station operator. In some stations, the vehicle owner can refuel the oil by self.

However, when the number of staffs at the oil station or the number of refueled vehicles is too large, the owner is required to wait in line, so that the waiting time and the refueling time of the owner are prolonged. In addition, a plurality of sets of refueling systems are generally prepared for a refueling station, and each set of system needs a special person to take charge, so that the personnel investment is increased to a certain extent.

Therefore, based on the above-mentioned display condition, a mechanical device with automatic refueling is very necessary. There is then a laboratory phase with many existing refueling machinery that is expected to be automated to some extent. At present, most refuels the robot and all opens the oil cap through visual identification function, inserts the nozzle into the car oil tank again, refuels. However, the existing refueling robot often has the problems of complex structure, heavy weight and inconvenient operation.

Disclosure of Invention

In order to improve, even solve, at least one problem in the prior art, the invention provides a refueling robot and a refueling station.

The invention is realized by the following steps:

in a first aspect, embodiments of the present invention provide a fueling robot.

A fueling robot for fueling a fuel-powered vehicle, comprising:

a guide assembly configured to provide a walking path of the fueling robot;

the traveling mechanism can move along the guide assembly and is connected with the guide assembly in a matching way;

a refueling assembly connected to the traveling mechanism, the refueling assembly including a robot and a lubricator in proximity to each other and capable of operating independently, the robot being configured to selectively open or close a fuel tank cap of a fueled vehicle, the lubricator having a suction hood, a filler tube disposed within the suction hood, and a vacuum generator configured to create a suction effect between the suction hood and the filler tube.

In one or more other examples, the travel mechanism has an elevator platform, and the refueling assembly is coupled to the elevator platform and is capable of being driven by the elevator platform for an elevating movement.

In one or more other examples, the travel mechanism has a base capable of rotational movement, the base is movably coupled to the guide assembly, the base is further coupled to the lift table, and the refueling assembly is capable of independent or combined lifting and rotational movement in cooperation with the base and the lift table.

In one or more other examples, the refueling assembly is coupled to the traveling mechanism by a telescopic arm that can be selectively extended and shortened, and the robot, the lubricator, are both coupled to the telescopic arm.

In one or more other examples, the telescopic arm is connected to the traveling mechanism by a rotating shaft.

In one or more other examples, the refueling robot has a vision assembly configured to capture the tank cap, the vision assembly being coupled to the travel mechanism and/or the refueling assembly.

In one or more other examples, the robot has a contact member configured to controllably grasp or release the fuel cap, the contact member being fabricated from a flexible material.

In one or more other examples, the robot is further provided with a pressure switch configured to control the amount of force with which the contact member grips the fuel cap.

In one or more other examples, the manipulator is further connected with a touch switch, and the touch switch is configured to selectively control the contact piece to be in a moving state and a stopping state;

in the moving state, the contact member continuously moves towards the fuel tank cover before contacting the fuel tank cover; in the stop state, the contact member stops approaching the tank cap when contacting the tank cap.

In a second aspect, embodiments of the present invention provide a gasoline station.

The gasoline station is provided with a gasoline robot as described above.

Has the advantages that:

the oiling robot provided by the embodiment of the invention has the characteristics of simpler and more compact structure, and occupies less space when in use, so that the oiling robot can be more conveniently installed, arranged and used. In addition, the refueling robot is provided with a lubricator and a manipulator which can work independently, and the lubricator and the manipulator can work freely independently without mutual interference, so that the opening and closing action and the refueling action of the fuel tank cap can be performed freely and independently, and the normal refueling is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a first view angle of a fueling robot provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second perspective view of the fueling robot provided by the embodiment of the present invention;

FIG. 3 illustrates a schematic structural view of a guide assembly in the fueling robot provided in FIG. 1;

fig. 4 is a schematic structural view showing a traveling mechanism in the fueling robot provided in fig. 1;

FIG. 5 is a schematic view showing an internal structure of the traveling mechanism provided in FIG. 4;

fig. 6 is a schematic structural view showing a robot arm included in the fueling assembly in the fueling robot provided in fig. 1;

FIG. 7 is a schematic structural view illustrating a first perspective of a lubricator included in the fueling assembly of the fueling robot provided in FIG. 1;

FIG. 8 is a schematic structural view illustrating a second perspective of a lubricator included in the fueling assembly of the fueling robot provided in FIG. 1;

fig. 9 is a schematic structural view showing a base included in a traveling mechanism in the fueling robot provided in fig. 1.

Icon: 100-a refueling robot; 102-a guide assembly; 103-a running mechanism; 104-a refueling assembly; 105-a visual component; 201-a rail motor; 202-ground rail; 301-a base; 302-a housing; 401-a slider; 402-a lubricator; 403-a manipulator; 303-fixed sliding block; 304-a lead screw; 305-a rotation axis; 306-an inner shell; 307-a lifting platform; 308-motor fixing base; 309-bevel gear; 310-a middle housing; 404-a telescopic motor; 405-motor fixing base; 406-binocular stereo camera; 601-lifting screw rod; 501-an air suction cover; 502-filler tube.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

All embodiments, implementations and features of the invention can be combined with each other in the invention without contradiction or conflict. In the present invention, conventional devices, apparatuses, components, etc. are either commercially available or self-made according to the present disclosure. In the present invention, some conventional operations and apparatuses, devices, components are omitted or only briefly described in order to highlight the importance of the present invention.

The present embodiments provide an apparatus that can be used to achieve automated fueling. More specifically, such a refueled device may be referred to as a refuelling robot 100. The fueling robot 100 according to the present embodiment is mainly used to perform fueling operations on an automobile. It should be noted that although the fueling robot 100 is illustrated as fueling an automobile in the present embodiment, it may be used to perform fueling operations on other devices. The structure of the heating robot can be modified based on the heating robot provided by the invention, for example, the size is changed, the relative size of each part is adjusted, and the like, and the conventional adjustments are all included in the protection scope of the invention.

Hereinafter, the fueling robot 100 of the present embodiment will be described with reference to the drawings, as shown in fig. 1 to 9.

The fueling robot 100 is provided to refuel a fuel vehicle. In a specific operation, the vehicle may travel to an area where the fueling robot 100 is located, and the fueling robot 100 may start the fueling operation when an appropriate condition is satisfied (e.g., a payment operation is performed).

Referring to fig. 1 and 2, the fueling robot 100 mainly includes a guide assembly 102, a traveling mechanism 103, and a fueling assembly 104. Wherein the guide assembly 102 is the primary stationary (generally not moved during use) component of the fueling robot 100. Generally, when the guide assembly 102 is fixedly disposed, it is not generally moved again, only to a limited extent, if reinstallation of the fueling robot 100 is required, or if commissioning, maintenance, or disassembly is required.

The guide assembly 102 is primarily used to normalize or determine the path or trajectory of movement of some or even all of the moveable components of the fueling robot 100 as a whole. For example, the fueling robot 100 is enabled to move from one vehicle to another. In some examples, the guide assembly 102 may form a gantry style, or a joint style. Or a non-orthogonal attitude configuration, or a ground rail 202 configuration (implementation used in this embodiment) as shown in fig. 3.

It is appreciated that as an implementation of the guide assembly 102, the ground rail 202 can be arranged in a small or large range, and may be selected based on the application of the fueling robot 100. For example, when a heated robot is used to refuel a small number of vehicles, the ground rails 202 may be set shorter. Ground rail 202 may be longer when it is desired to refuel multiple vehicles. Additionally, the ground rail 202 may be a straight rail, as shown in FIG. 3. The ground rail 202 may also be a curved rail, such as an arcuate rail, an annular rail, or the like.

The ground guide rail 202 (or fixed guide rail) is integrally fixed to the ground, and the motor (guide rail motor 201) drives the fixed slide block 303 to move along the guide rail direction through the lead screw 304. The fixed slider 303 is engaged with the guide rail through a groove to prevent sliding.

As previously described, the guide assembly 102 is configured to provide a walking path for the fueling robot 100. Accordingly, the motion of the fueling robot 100 may be regulated by the guide assembly 102 or further driven by components disposed on the guide assembly 102. In this embodiment, the ground rail 202 is provided with the rail motor 201 as described above. The rail motor 201 is connected to the lead screw 304 through a coupling. The lead screw 304 is connected with a fixed sliding block 303, and the fixed sliding block 303 is meshed with the groove of the ground guide rail 202 to avoid sliding. The motor starts the lead screw 304 to move, thereby driving the fixed slider 303 to move. In accordance with this, the other portion of the fueling robot 100 that moves as a whole is connected to the fixed slider 303 described above, and the movement driven by the fixed slider 303 is realized.

The running gear 103 is capable of moving along the guide assembly 102. Accordingly, the running gear 103 is connected to the guide assembly 102 in a matching manner. The traveling mechanism 103 is a mechanical structure provided to move a part of the moving parts of the fueling robot 100. The running gear 103 may comprise a motor, a coupling, a lead screw 304, a fixed slide 303, etc. as previously described.

The travel mechanism 103 is coupled to the fueling assembly 104 so that the fueling assembly 104 is capable of moving with the travel mechanism 103 in a non-moving or moving state of its own along a direction or path dictated by the guidance assembly 102. As described above, the traveling mechanism 103 includes the above components of the motor, the coupling, the lead screw 304, and the fixed slider 303. Thus, in a more detailed illustration, the refueling assembly 104 is attached to a stationary slide 303 as shown in FIG. 3. It may be attached directly to the fixed slider 303 or to the fixed slider 303 through an intermediate adapter or an intermediate connector.

Therefore, in such an example, the traveling mechanism 103 provides the motive force for the linear or curved motion of the fueling robot 100 in the horizontal direction, for example, in the case where the ground rail 202 is a circular rail, (which may be referred to as the fueling robot 100 having the first degree of freedom).

The intermediate connection may be, for example, a lifting platform 307 as shown in fig. 5, which is included in the running gear 103. The oiling assembly 104 is connected to the lifting table 307 and can be driven by the lifting table 307 to perform lifting movement. The lifting platform 307 may be formed of platforms (panels or blocks) connected by pneumatic or hydraulic cylinders. Alternatively, the elevating platform 307 is formed by a motor-driven member. In this embodiment, the lifting table 307 has an inner shell 306 and an outer shell 302 that are slidable with respect to each other. Wherein one end of the outer shell 302 is connected with the fixed slider 303 and the rest of the outer shell 302 can be slidably engaged with the inner shell 306. A linear motor is disposed inside (at the bottom of) the outer casing 302, and the upper portion of the linear motor is connected to the bottom of the inner casing 306, so that the inner casing 306 is driven by the linear motor to slide relative to the outer casing 302. Thus, in such an example, the traveling mechanism 103 provides linear motion of the fueling robot 100 in the vertical direction (which may be referred to as the fueling robot 100 having the second degree of freedom). Preferably, the outer shell and the inner shell are connected through the groove in a meshed mode, and therefore the outer shell is stable when rising.

Further, the traveling mechanism 103 has a base 301 capable of performing a rotational motion as shown in fig. 9, and the base 301 is movably connected to the guide member 102. In this embodiment, the base 301 (alternatively referred to as a rotating base 301) is connected to the fixed slider 303 described above. A motor is provided inside the base 301, which is rotatable about a central axis. The base 301 is also connected to the elevating table 307, so that the elevating table 307 can also rotate. Namely, the outer casing 302 and the connecting base 301 included in the traveling mechanism 103, the outer casing 302 and the inner casing 306 and the internal components thereof can rotate with the base 301. In such an example, the traveling mechanism 103 provides a rotational motion or a swivel motion of the fueling robot 100 in the horizontal direction (which may be referred to as the fueling robot 100 having the third degree of freedom).

In combination with the above design, the refueling assembly 104 can perform independent or combined lifting and rotating movements under the cooperation of the base 301 and the lifting platform 307. That is, the refueling assembly 104 is capable of only an elevating motion, only a rotational motion, or both a rotational motion and an elevating motion. Further, in conjunction with the above stationary slide 303 as shown in fig. 3, the refueling assembly 104 is also capable of only elevating movement, or only rotational movement, or only movement along the ground rail 202, or the refueling assembly 104 is capable of both rotational and elevating movement and movement along the ground rail 202.

In a further modification, a motor mount 308, as shown in fig. 5, is provided in the inner housing 306. The motor is connected above the motor fixing base 308, and the motor fixing base 308 is fixed with the inner shell 306 through bolts. The inner shape of the motor fixing base 308 matches with the motor shape to prevent the motor from sliding, and a bevel gear 309 as shown in fig. 5 is fixedly connected above the motor spindle. The bevel gear 309 engages another bevel gear 309 provided to the rotating shaft 305, and the rotating shaft 305 is connected to the oiling assembly 104. As such, the refueling assembly 104 may also oscillate, or even rotate, by a certain amount in the direction of the axial extension of the inner and/or outer shells 306, 302 (vertical in this embodiment). In such an example, the aforementioned motor may be a machine capable of outputting forward rotation and reverse rotation.

The refueling assembly 104 is connected to the traveling mechanism 103 and can move under the driving of the traveling mechanism 103. Referring to fig. 1 and 2, the refueling assembly 104 includes a robot 403 and a lubricator 402 adjacent to each other and capable of operating independently of each other. The robot 403 and the lubricator 402 can operate independently of each other, so that interference with each other can be avoided. Based on such requirements, the robot 403 and the lubricator 402 can be designed and manufactured, and installed independently of each other.

Wherein the robot 403 is configured to selectively open or close a fuel tank cap (more specifically, an inner cap of a fuel tank) of a fuel vehicle. The robot 403 can perform opening and closing operations of the inner lid of the fuel tank more quickly and specifically by attitude adjustment in combination with spatial position change (such as the aforementioned lifting movement, rotating movement, and movement along the guide rail). Preferably, the robot 403 has a contact member configured to controllably grasp or release the fuel cap, the contact member being made of a flexible material. The contact element made of flexible material can reduce or even avoid the unfavorable damage to the fuel tank cap. The contact member may be designed in various desired structures according to the opening manner of the tank cap. For example, the fuel tank cap has a push-type opening and closing structure, and the contact member may be a column-shaped or disc-shaped structure. Or the fuel tank cover is provided with a rotary opening and closing structure, the contact piece can be a sucker type structure or a horn-shaped structure and can be better contacted with the fuel tank cover, and acting force for rotating the fuel tank cover in a non-falling state can be provided.

In a modification, the robot 403 is further provided with a pressure switch. The pressure switch is configured to control the force with which the contact member grips the fuel tank cap. Therefore, when the relative force between the contact member and the fuel tank cap is excessive, the pressure switch can adjust (reduce or even eliminate) the pressure applied to the fuel tank cap by the contact member, thereby preventing damage to the fuel tank cap.

Of course, in some examples, the pressure switch may be deactivated when the pressure between the contact member and the fuel tank cap is too low to be used to open and close the fuel tank cap, so that moving the contact member continuously exerts a force on the fuel tank that is as great as desired to open the inner cap of the fuel tank. Alternatively, the pressure switch can be operated, for example, to command the contact element to continuously approach the tank cap.

In addition, in some examples, the manipulator 403 may be connected to a touch switch when the contact member may open or close the fuel cap by a brief contact (e.g., a pressing action) with the fuel cap, rather than a continuous squeezing force. The touch switch is configured to selectively control the contact in a moving state and a stopped state.

In the moving state, the contact member continuously moves towards the fuel tank cover before contacting the fuel tank cover; in the stop state, the contact member stops approaching the tank cap when contacting the tank cap.

Referring to fig. 1 and 2, and fig. 7 and 8, the oil filler 402 has a suction hood 501, a filler pipe, and a vacuum generator. Wherein, the oil filling pipe 502 is arranged in the air suction cover 501. The vacuum generator is configured to create a suction effect between the suction hood 501 and the filler tube 502. The vacuum hood may be attached to a portion of a vehicle's fuel tank (e.g., the outer cover of the fuel tank) and coupled to suction to cause the suction hood 501 to adhere tightly to the vehicle body (e.g., the outer cover of the vehicle's fuel tank) to open the outer cover. And then the inner cover of the oil tank is opened by the manipulator 403. The oil filling pipe 502 extends into the oil tank to ensure the oil filling safety. The filler tube 502 may also be provided with a solenoid valve to control the amount of fuel added. The oil squirt including the suction hood may be turned upward as a whole. When the manipulator twists the inner cover of the oil tank, the air suction cover turns upwards. When the outer cover of the oil tank needs to be opened and the automobile needs to be oiled, the whole air suction cover is turned downwards (the whole length of the air suction cover is longer than that of a mechanical arm). The front end of the air suction cover is provided with a touch switch, and the front end is made of flexible materials.

In general, the fuel filler 402 has two functions, namely, a suction cover 501 for opening and closing a fuel tank cover of a fuel-powered vehicle and a fuel filler pipe 502 for filling fuel.

By the cooperation of the manipulator 403 of the fueling assembly 104 and the fueling instrument 402, the outer lid of the fuel tank is opened first by the suction hood, and then the inner lid of the fuel tank is opened by the manipulator 403, and further, the fueling is performed through the fueling pipe 502 of the fueling instrument 402.

Based on the above, the refueling assembly 104 is connected to the traveling mechanism 103 and can be moved in a plurality of complex movements in combination with different members or in a separate manner as needed to adjust (can be fine-tuned) the attitude and spatial position.

As a modification, referring to fig. 6, the fueling assembly 104 is connected to the traveling mechanism 103 through a telescopic arm that can be selectively extended and shortened, and more specifically, the telescopic arm is connected to the traveling mechanism 103 through the aforementioned rotating shaft 305 as shown in fig. 4 and 5. The robot 403 and the lubricator 402 are both connected to the telescopic arm. As shown in fig. 6, the telescopic arm may be provided with a telescopic motor 404 through a motor fixing base 405. The telescopic motor 404 is connected to the elevating screw 601 and the optical axis (smooth axis). The elevating screw 601 and the optical axis are also connected to a slide block 401, and the slide block 401 is a member used to enable the oil feed unit 104 to perform a middle pendulum or rotation by engaging with the aforementioned rotation shaft 305. The slide block 401 is connected to the inner housing 306 of the traveling mechanism 103 and is relatively stationary, so that when the motor drives the elevating screw 601 to rotate, the elevating screw 601 can also move in the vertical direction together with the telescopic motor 404, and accordingly, the robot 403 and the lubricator 402 can also move up and down (in the vertical direction).

To obtain confirmation of the field (e.g., vehicle, tank cap), etc., the fueling robot 100 has a vision assembly 105 as shown in fig. 1 configured to capture the tank cap. The vision assembly 105 is coupled to the travel mechanism 103 and/or fueling assembly 104. In this embodiment, the vision assembly 105 includes a depth camera disposed at an end of the inner housing 306 of the travel mechanism 103 (distal from the guide assembly 102), as shown in FIG. 1. Typically, the sight assembly 105 may be connected to the end of the inner shell 306 by an intermediate piece (intermediate housing 310). In addition, the intermediate housing 310 may also serve to partially house the rotation shaft 305 and the bevel gear 309.

Further, as shown in fig. 6, the vision assembly 105 may further include a binocular stereo camera 406 connected to an end of the telescopic arm and adjacent to the robot 403. The binocular stereo camera 406 has the same orientation as the contact member of the robot 403 so that the tank can be visually observed when the contact member opens and closes the tank cap or the filler neck 402 for refueling. The camera can adopt other types, such as a binocular stereo vision camera, a monocular camera or a depth camera. Additionally, the vision component 105 may also employ other implementations, such as laser, radar, infrared, and so forth. Preferably, the combination of multiple implementations of the vision assembly 105 may be to achieve more accurate and efficient viewing, and of course, such a combination may result in increased costs. Of course, as the price of various sensitive components decreases, the use of multiple vision assemblies 105 is a better option.

In one example, the use of the fueling robot 100 is illustrated by the following process. The owner opens the outer cover of the oil tank of the vehicle in the vehicle (for example, the locking mechanism is opened, so that the outer cover is in a state capable of being opened), then extinguishes the vehicle, the depth camera identifies the position of the outer cover of the oil tank, the robot body moves to the position of the outer cover of the oil tank, the air suction cover 501 sucks and opens the outer cover of the oil tank, the binocular stereoscopic vision camera identifies the pose of the oil tank cover, the manipulator 403 opens the inner cover of the oil tank, the oil pipe inside the air suction cover 501 is inserted into the oil filler, the electromagnetic valve is opened to start oiling, the electromagnetic valve is closed after oiling is finished, and the manipulator 403 screws the inner cover of.

The oiling robot provided by the embodiment of the invention at least has the following advantages:

for the narrow and small condition in fuel tank cap exterior space, the manipulator that provides in the embodiment operates the fuel tank cap convenience. When the automobile oil filling device walks on the guide assembly, the displacement of the walking mechanism and the displacement of the oil filling assembly can still be kept consistent and uniform to a certain degree under the condition of stress. The oil feeder and the mechanical arm work relatively independently and without interference, so that the oil filling operation is more convenient. The oiling robot has multiple degrees of freedom, can adjust complex spatial position and attitude, and can meet the oiling requirement of automobiles at any oil tank height and any distance.

The depth camera can reduce the influence of illumination and accurately identify the outline of the object. The reversible suction hood can realize the switching between different operations. When the manipulator twists the fuel tank cap, the suction hood turns upwards. When the outer cover of the oil tank needs to be opened and the automobile needs to be oiled, the whole air suction cover is turned downwards. The oil filling pipe and the air suction cover are combined together, so that the multipurpose of one component is realized. Through the freedom composition (no blind spot) of unable adjustment base, rotating base, lift base, rotation axis, flexible arm, can realize refueling arbitrary vehicle in the target. The ground guide rail is integrally fixed with the ground, and the motor drives the fixed slide block to move along the direction of the guide rail shown in the figure through the lead screw. The fixed sliding block is occluded with the guide rail through the groove to prevent sliding. The tail end of the telescopic arm is provided with a mechanical claw, the front end of the mechanical claw is made of flexible materials, and the front end of the mechanical claw is provided with a touch switch to prevent a vehicle from being scratched. The mechanical claw palm is provided with a pressure switch, so that the inner cover of the oil tank is held by proper force and is unscrewed. The tail end of the mechanical claw is connected with the motor through a coupler. The depth camera identifies the position of the outer cover of the oil tank, the binocular stereo camera identifies the pose of the oil tank cover, and the oil tank cover is sequentially identified, and a plurality of (such as 3 or four) points with obvious marks are arranged on the oil tank cover.

Based on the above fueling robot 100, the embodiment of the present invention further provides a fueling station. The fueling station is provided with the aforementioned fueling robot 100. The fueling station may be of an open design, i.e., an area is defined by a fence or wall, etc., and the guide assembly 102 of the fueling robot 100 is laid down at a specific portion of the aforementioned area. The fuel supply components, such as the reservoir, the pump, etc., are fixedly located in another relatively independent and safe area. The filler pipe 502 of the fueling robot 100 is connected to an oil tank or the like through a piping system.

Alternatively, the gasoline station is provided with an access control system. And limiting the access of the appointed vehicle through an access control system. In other words, the vehicles are screened by the gate inhibition system so as to satisfy the vehicle that releases the design use object of the fueling robot 100.

Alternatively, the gasoline station can also be designed with a payment system according to the requirement. The payment system comprises a base and a stand column. The upright post is internally provided with a cavity, accommodates various electronic components and provides an interactive interface with a user through a display.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A refuel robot for refuel a fuel powered vehicle, comprising:

a guide assembly configured to provide a walking path for the fueling robot;

the traveling mechanism can move along the guide assembly and is connected with the guide assembly in a matching way;

a refueling assembly connected to the traveling mechanism, the refueling assembly including a robot and a lubricator adjacent to each other and independently operable respectively, the robot being configured to open or close a tank inner lid of the fuel vehicle, the lubricator having a suction hood, a filler pipe disposed in the suction hood, and a vacuum generator configured to generate a suction action between the suction hood and the filler pipe to open or close a tank outer lid of the fuel vehicle through the suction hood;

the manipulator is provided with a contact element which is configured to controllably grab or release the oil tank inner cover and is made of flexible materials;

the manipulator is also provided with a pressure switch which is configured to control the force of the contact piece for grabbing the inner cover of the oil tank;

the manipulator is also connected with a touch switch which is configured to control the contact piece to be in a motion state or a stop state;

in a motion state, the contact element continuously moves towards the oil tank inner cover before contacting the oil tank inner cover; in a stop state, when the contact element contacts the inner cover of the oil tank, the contact element stops approaching the inner cover of the oil tank;

the oiling assembly is connected with the travelling mechanism through a telescopic arm capable of being extended or shortened, and the manipulator and the oil injector are both connected with the telescopic arm;

the whole length of the air suction cover is longer than that of the manipulator;

the whole oil ejector containing the air suction cover can be turned upwards;

when the manipulator screws the inner cover of the oil tank, the air suction cover turns upwards;

when the outer cover of the oil tank needs to be opened and the automobile needs to be oiled, the whole air suction cover is turned downwards.

2. The fueling robot of claim 1, wherein the travel mechanism has a lift platform, and the fueling assembly is coupled to the lift platform and is capable of being driven into lifting motion by the lift platform.

3. The fueling robot of claim 2, wherein the travel mechanism has a base capable of rotational movement, the base being movably connected to the guide assembly, the base further being connected to the lift table, the fueling assembly being capable of independent or combined lifting and rotational movement in cooperation with the base and the lift table.

4. The fueling robot of claim 1, wherein the telescoping arm is coupled to the traveling mechanism by a rotating shaft.

5. The fueling robot of claim 1, wherein the fueling robot has a vision assembly configured to capture the inner tank lid, the vision assembly being connected to the running gear and/or the fueling assembly.

6. A gasoline station, characterized in that the gasoline station is provided with a gasoline robot as claimed in any one of the claims 1-5.

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