CN110329979A - Snakelike arm oiling robot apparatus and system - Google Patents
Snakelike arm oiling robot apparatus and system Download PDFInfo
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- CN110329979A CN110329979A CN201910716264.XA CN201910716264A CN110329979A CN 110329979 A CN110329979 A CN 110329979A CN 201910716264 A CN201910716264 A CN 201910716264A CN 110329979 A CN110329979 A CN 110329979A
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- island
- oil gun
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- 239000000446 fuel Substances 0.000 claims abstract description 47
- 238000000034 method Methods 0.000 claims description 9
- 241000270295 Serpentes Species 0.000 claims description 2
- 230000010354 integration Effects 0.000 claims description 2
- 239000000945 filler Substances 0.000 description 13
- 239000002828 fuel tank Substances 0.000 description 6
- 230000002452 interceptive effect Effects 0.000 description 5
- 239000012530 fluid Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 2
- 230000007123 defense Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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
- 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
- B67D7/08—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred
-
- 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
- B67D7/42—Filling nozzles
-
- 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
- B67D7/78—Arrangements of storage tanks, reservoirs or pipe-lines
-
- 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
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
-
- 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
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/0417—Manipulator arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
Abstract
The invention discloses a kind of snakelike arm oiling robot apparatus and systems, snakelike arm oiling robot device, including oiling island, control driver, oiling sighting device, snakelike robotic arm, integrated oil gun, fuel door closing device, it include the first embedding inner cavity in oiling island, it is embedding interior intracavitary that control driver is mounted on described first, oiling sighting device, snakelike robotic arm is separately mounted to the top on the oiling island, the integrated oil gun, fuel door closing device is separately mounted to the end of the snakelike robotic arm, the oiling sighting device, snakelike robotic arm, integrated oil gun, fuel door closing device is electrically connected with the control driver respectively.The device is both able to achieve automatic oiling, improves oiling speed, moreover it is possible to meet explosion-proof and IP degree of protection requirement, can improve Customer Experience very well.
Description
Technical field
The present invention relates to oiling robotic technology field more particularly to a kind of snakelike arm oiling robot apparatus and systems.
Background technique
As China's expanding economy and social are constantly progressive, automobile, which has become modern, can not obtain scarce work of riding instead of walk
Tool.However as the construction and development in city, soil is rare in city, and it is more and more to meet can not to build more gas stations
Automobile quantity, and gas station relies primarily on oiling person and removes hand oiling, due to being increasingly difficult to by cost of labor and recruitment
The influence of problem, gas station are equipped with sufficient personnel there is no method to meet corresponding oiling rate requirement, to cause to add
Petrol station queuing time is long, some column problems such as Customer Experience difference.
In order to solve this problem, the gas station in some areas takes the form of self-service refueling, however customer is not due to having
Corresponding electrostatic protective suit is worn, and operation is not unskilled, professional strong, cannot not only improve oiling speed, is also easy to cause phase
The safety problem answered.Meanwhile existing intelligent automobile develops also more and more rapidly, self-service refueling can not cooperate intelligent automobile
Some intelligent functions cause the waste of many new functions.
It, will explosion-proof and IP protection etc. meanwhile if the main body of oiling robot uses traditional industrial six-joint robot
The constraint of the prior arts such as grade, cannot well adapt to existing gas station's scene.
Summary of the invention
The purpose of the present invention is to provide a kind of snakelike arm oiling robot apparatus and system, which had both been able to achieve automatically
It refuels, improves oiling speed, moreover it is possible to meet explosion-proof and IP degree of protection requirement, Customer Experience can be improved very well.
Its technical solution is as follows:
Snakelike arm oiling robot device, including oiling island, control driver, oiling sighting device, snakelike robotic arm, one
Body carburetion rifle, fuel door closing device include the first embedding inner cavity in oiling island, and it is embedding that control driver is mounted on described first
Interior intracavitary, oiling sighting device, snakelike robotic arm are separately mounted to the top on the oiling island, the integrated oil gun, oiling
Lid closing device is separately mounted to the end of the snakelike robotic arm, the oiling sighting device, snakelike robotic arm, integrated oil
Rifle, fuel door closing device are electrically connected with the control driver respectively.
The snakelike robotic arm includes snakelike arm, multiple pulling rope beams, oil filling pipe, driving device, under the snakelike arm
End is flexibly connected with the driving device, and the snakelike arm includes multiple Hooke sections, the successively head and the tail activity of multiple Hooke sections
Connection, each Hooke section are connect by each pulling rope beam with the driving device respectively, and the snakelike arm has hollow
Inner cavity, the oil filling pipe pass through the hollow cavity and are connected to the integrated oil gun.
The integrated oil gun includes flange, refueling nozzle, and the refueling nozzle is mounted on the snakelike machine by the flange
On the end of device arm.
The fuel door closing device includes vacuum chuck, telescopic cylinder, and the vacuum chuck passes through the telescopic cylinder
It is mounted on the side of the integrated oil gun, the telescopic cylinder and the control driver are electrically connected.
The oiling sighting device includes the first camera, the first camera shooting bracket, second camera, second camera branch
Frame, first camera are mounted on snakelike arm side on the oiling island by the first camera shooting bracket, and described second takes the photograph
As head is mounted on the top on oiling island by the second camera shooting bracket, the camera electrically connects with the control driver
It connects.
Snakelike arm oiling robot system, including fuel charger and aforementioned snakelike arm oiling robot device；The oiling
Island further includes the second embedding inner cavity, and the fuel charger is mounted on described second embedding interior intracavitary, and the fuel charger passes through the snake
Shape robotic arm is connected to the integrated oil gun.
Further include petrol station control system, the petrol station control system respectively with the fuel charger, snakelike arm oiling robot
Device is electrically connected.
It further include two parking areas, two parking areas are located at the two sides on the oiling island.
It further include smart terminal, the smart terminal is mounted on the top on the oiling island, the smart terminal
It is electrically connected with the petrol station control system.
It should be understood that
Aforementioned " first, second ... " does not represent specific quantity and sequence, is only used for the differentiation to title.
Advantages of the present invention or principle are illustrated below:
1, this snakelike arm oiling robot device includes oiling island, control driver, oiling sighting device, snakelike machine
Arm, integrated oil gun, fuel door closing device, oiling island are structures above ground level, and using buried mode, control is driven
Device is mounted in oiling island first embedding interior intracavitary, by control driver electric controling element and main explosion-proof area every
From solving that existing oiling machine people's air defense is quick-fried and the relevant issues of IP protection；In use, being parked in finger after vehicle drives into gas station
Fixed refueling position after control driver receives oiling instruction, sends determining for oil tank of vehicle oil filler to oiling sighting device
Bit instruction；Oiling sighting device carries out positioning of taking pictures by the oil filler to vehicle's contour position and oil tank of vehicle, obtains vehicle
The location information of tank filler, and location information is fed back into control driver, control driver is controlled according to location information
Snakelike robotic arm movement, the fuel door of snakelike robotic arm control fuel door closing device unlocking vehicle fuel tank, then, snakelike machine
Arm controls the interior hydraulic fluid port of integrated oil gun insertion oil tank of vehicle, and after confirmation is inserted in place, integrated oil gun will be inserted in place letter again
Breath feedback executes fueling operation to control driver；
The device is both able to achieve automatic oiling, improves oiling speed, moreover it is possible to meet explosion-proof and IP degree of protection requirement, energy
Customer Experience is improved very well.
2, snakelike robotic arm includes snakelike arm, multiple pulling rope beams, oil filling pipe, driving device, and snakelike robotic arm is using pure
Mechanical structure is located at the electrical structure for controlling snakelike robotic arm in control driver, it is anti-to equipment that the scene of refueling may be implemented
Quick-fried requirement；Oil filling pipe is built in snakelike arm, promotes the utilization rate of snakelike arm inner space, and be effectively protected oil filling pipe with
It is worn caused by ground friction, improves equipment life, save equipment cost.
3, integrated oil gun includes flange, refueling nozzle, and integrated oil gun retains the front segment structure of existing oil gun, rear end is tied
Structure is integrated into the end of snakelike robotic arm, reduces error caused by crawl rifle, while being reduced and being answered needed for crawl refueling nozzle
Miscellaneous end clamp structure.
4, fuel door closing device includes vacuum chuck, telescopic cylinder, and fuel door closing device refuels for oil tank of vehicle
The folding of mouth outer cover and inner cover, in use, telescopic cylinder driving vacuum chuck draws the outer cover or inner cover of oil tank of vehicle oil filler,
Then snakelike robotic arm, the outer cover or inner cover of retractable oil tank of vehicle oil filler are rotated.
5, oiling sighting device includes the first camera, the first camera shooting bracket, and second camera, the second camera shooting bracket make
Used time, the outline position information for obtaining vehicle is shot by second camera, the shooting of the first camera obtains tank filler
Location information, and corresponding position information is fed back into control driver, the coordinate position of hydraulic fluid port is obtained by calculation.
6, snakelike arm oiling robot system includes fuel charger and aforementioned snakelike arm oiling robot device, using burying
Ground mode is mounted in oiling island second embedding interior intracavitary fuel charger is embedding, fuel charger is isolated with main explosion-proof area,
Existing fuel charger Explosion-Proof is solved, in use, the control driver as snakelike arm oiling robot device receives integration
After what oil gun was sent is inserted in place information, fuel charger carries out fueling operation to oil tank of vehicle by integrated oil gun.
7, this snakelike arm oiling robot system further includes petrol station control system, and petrol station control system is for receiving the letter that refuels
Breath, and instruction of refueling is sent to the control driver of snakelike arm oiling robot device according to oiling information, when snakelike arm refuels
After what the control driver of robot device received that integrated oil gun sends is inserted in place information, control driver passes through oil
Station control system starts fuel charger and carries out fueling operation；Entire refueling process can be automatically performed the oiling work to vehicle, take charge of
Machine whole process need not get off, and improve Customer Experience, while also mitigate the cost of labor burden of gas station, improve work effect
Rate.
8, this snakelike arm oiling robot system further includes two parking areas, and two parking areas are located at the two of oiling island
Side can be such that vehicle realizes in the two sides on oiling island and refuel.
9, this snakelike arm oiling robot system further includes smart terminal, is equipped with human-computer interaction system in smart terminal
System, man-machine interactive system include oil product class input pattern and non-oil category input pattern, and oil product class input pattern is used for oil product class
Information collection, and oil product category information is sent to petrol station control system, oil product category information includes oiling quantity information and oil product class
Other information；Non-oil category input pattern be the selection of non-oil commodity is provided for driver, and after the completion of oiling to designated place into
Row is got；By petrol station control system acquire man-machine interactive system oiling information, be transferred to snakelike arm oiling robot device into
Row refueling operation, whole system can realize the full-automatic fueling procedure to vehicle, greatly reduce personnel's investment of petrol station, improve
Working efficiency.
Detailed description of the invention
Fig. 1 is the cross-sectional view of the snakelike arm oiling robot device of the embodiment of the present invention.
Fig. 2 is the stereoscopic schematic diagram of the snakelike snakelike robotic arm of arm oiling robot device of the embodiment of the present invention.
Fig. 3 is the side view of the snakelike snakelike robotic arm of arm oiling robot device of the embodiment of the present invention.
Fig. 4 is the A-A sectional view of Fig. 3.
Fig. 5 is the partial enlarged view of Fig. 4-B.
Fig. 6 is the stereoscopic schematic diagram of the snakelike arm oiling robot system of the embodiment of the present invention.
Fig. 7 is the top view of the snakelike arm oiling robot system of the embodiment of the present invention.
Fig. 8 is the cross-sectional view of the snakelike arm oiling robot system of the embodiment of the present invention.
Description of symbols:
10, oiling island, 11, parking area, 20, control driver, 31, oiling sighting device, the 311, first camera, 312,
First camera shooting bracket, 313, second camera, the 314, second camera shooting bracket, 40, snakelike robotic arm, 41, snakelike arm, 411, Hooke
Section, 42, driving device, 50, integrated oil gun, 51, flange, 52, refueling nozzle, 60, fuel door closing device, 61, vacuum chuck,
62, telescopic cylinder, 70, fuel charger, 80, smart terminal, 90, vehicle.
Specific embodiment
The embodiment of the present invention is described in detail below.
As shown in Figures 1 to 5, snakelike arm oiling robot device, including oiling island 10, control driver 20, view of refueling
Feel device 31, snakelike robotic arm 40, integrated oil gun 50, fuel door closing device 60, includes in first embedding in oiling island 10
Chamber, control driver 20 are mounted on first embedding interior intracavitary, and oiling sighting device 31, snakelike robotic arm 40 are separately mounted to refuel
The top on island 10, integrated oil gun 50, fuel door closing device 60 are separately mounted to the end of snakelike robotic arm 40, oiling vision
Device 31, snakelike robotic arm 40, integrated oil gun 50, fuel door closing device 60 are electrically connected with control driver 20 respectively.
Control driver 20 is mounted on oiling island 10 using buried mode for structures above ground level by oiling island 10
Interior first is embedding interior intracavitary, and the electric controling element for controlling driver 20 is isolated with main explosion-proof area, is solved existing
The quick-fried relevant issues with IP protection of oiling machine people's air defense；In use, being parked in specified oiling position after vehicle 90 drives into gas station
It sets, after control driver 20 receives oiling instruction, the positioning for sending 90 tank filler of vehicle to oiling sighting device 31 refers to
It enables；Oiling sighting device 31 carries out positioning of taking pictures to the outline position of vehicle 90 and the oil filler of fuel tank, obtains 90 fuel tank of vehicle
The location information of oil filler, and location information is fed back into control driver 20, control driver 20 is controlled according to location information
Snakelike robotic arm 40 acts, and snakelike robotic arm 40 controls the fuel door of 60 unlocking vehicle of fuel door closing device, 90 fuel tank, then,
Snakelike robotic arm 40 controls the interior hydraulic fluid port that integrated oil gun 50 is inserted into 90 fuel tank of vehicle, after confirmation is inserted in place, integrated oil gun
50 will be inserted in place information feedback to control driver 20 again, execute fueling operation；The device is both able to achieve automatic oiling, improves
Oiling speed, moreover it is possible to meet explosion-proof and IP degree of protection requirement, Customer Experience can be improved very well.
Wherein, snakelike robotic arm 40 includes snakelike arm 41, multiple pulling rope beams, oil filling pipe, driving device 42, snakelike arm 41
Lower end be flexibly connected with driving device 42, snakelike arm 41 includes multiple Hooke sections 411, and successively head and the tail are living for multiple Hooke sections 411
Dynamic connection, each Hooke section 411 are connect by each pulling rope beam with driving device 42 respectively, and snakelike arm 41 has hollow cavity, are added
Oil pipe passes through hollow cavity and is connected to integrated oil gun 50.Snakelike robotic arm 40 uses pure mechanic structure, the snakelike machine of control
The electrical structure of arm 40 is located in control driver 20, and the scene of the refueling requirement explosion-proof to equipment may be implemented；Built in oil filling pipe
In snakelike arm 41, the utilization rate of snakelike 41 inner space of arm is promoted, and is effectively protected caused by oil filling pipe and ground friction
Abrasion improves equipment life, saves equipment cost.
Integrated oil gun 50 includes flange 51, refueling nozzle 52, and refueling nozzle 52 is mounted on snakelike robotic arm 40 by flange 51
End on.Integrated oil gun 50 retains the front segment structure of existing oil gun, and rear end structure is integrated into the end of snakelike robotic arm 40
In end, reduce crawl rifle caused by error, while reduce crawl refueling nozzle 52 needed for complicated end clamp structure.
Fuel door closing device 60 includes vacuum chuck 61, telescopic cylinder 62, and vacuum chuck 61 is pacified by telescopic cylinder 62
On the side of integrated oil gun 50, telescopic cylinder 62 and control driver 20 are electrically connected.Fuel door closing device 60 is used
In the folding of 90 tank filler outer cover and inner cover of vehicle, in use, telescopic cylinder 62 drives vacuum chuck 61 to draw vehicle 90
Then the outer cover or inner cover of tank filler rotate snakelike robotic arm 40, the outer cover or interior of retractable 90 tank filler of vehicle
Lid.
Oiling sighting device 31 includes that the first camera 311, first images bracket 312, and second camera 313, second are taken the photograph
As head bracket 314, the first camera 311 is mounted on snakelike arm side on oiling island 10 by the first camera shooting bracket 312, and second takes the photograph
As first 313 are mounted on the top on oiling island 10 by second camera bracket 314, camera and 20 electrical property of control driver connect
It connects.In use, obtaining the outline position information of vehicle using second camera 313, is shot using the first camera 311 and obtain vehicle
The location information of 90 tank fillers, and location information is fed back into control driver 20, the seat of hydraulic fluid port is obtained by calculation
Cursor position.
Snakelike arm oiling robot system, including fuel charger 70 and aforementioned snakelike arm oiling robot device；Oiling island
10 further include the second embedding inner cavity, fuel charger 70 be mounted on it is second embedding interior intracavitary, fuel charger 70 by snakelike robotic arm 40 with
Integrated oil gun 50 is connected to.
Using buried mode, fuel charger 70 it is embedding be mounted in oiling island 10 it is second embedding interior intracavitary, by fuel charger
70 are isolated with main explosion-proof area, solve existing 70 Explosion-Proof of fuel charger, in use, when snakelike arm oiling robot device's
After what control driver 20 received that integrated oil gun 50 sends is inserted in place information, fuel charger 70 passes through integrated oil gun 50
Fueling operation is carried out to 90 fuel tank of vehicle.
Wherein, this snakelike arm oiling robot system further includes petrol station control system, two parking areas 11, smart terminals
80, petrol station control system is electrically connected with fuel charger 70, snakelike arm oiling robot device respectively.Petrol station control system is for connecing
Oiling information is received, and instruction of refueling is sent to the control driver 20 of snakelike arm oiling robot device according to oiling information, when
After what the control driver 20 of snakelike arm oiling robot device received that integrated oil gun 50 sends is inserted in place information, control
Driver 20 processed starts fuel charger 70 by petrol station control system and carries out fueling operation；Entire refueling process can be automatically performed pair
The oiling work of vehicle 90, driver's whole process need not get off, and improve Customer Experience, while also mitigate the cost of labor of gas station
Burden, improves work efficiency.
Two parking areas 11 are located at the two sides on oiling island 10.Vehicle 90 can be made to realize in the two sides on oiling island 10 to add
Oil.
Smart terminal 80 is mounted on the top on oiling island 10, and smart terminal 80 and petrol station control system are electrically connected.
Man-machine interactive system is equipped in smart terminal 80, man-machine interactive system includes oil product class input pattern and non-oil category input mould
Formula, oil product class input pattern are acquired for oil product category information, and oil product category information is sent to petrol station control system, oil product class letter
Breath includes oiling quantity information and oil product classification information；Non-oil category input pattern is that the selection of non-oil commodity is provided for driver,
And it is got after the completion of oiling to designated place；Man-machine interactive system oiling information is acquired by petrol station control system, is passed
It is defeated by snakelike arm oiling robot device and carries out refueling operation, whole system can realize the full-automatic fueling procedure to vehicle 90,
The personnel's investment for greatly reducing petrol station, improves work efficiency；
Preferably, smart terminal 80 include the first touch display screen, the second touch display screen, the first touch display screen,
Second touch display screen is located at two opposite sides of smart terminal 80, the first touch display screen, the second touch display screen point
Not towards oiling island 10 two sides parking area 11, facilitate the input of driver to operate.
The above is only specific embodiments of the present invention, are not limited the scope of protection of the present invention with this；Do not violating this hair
Made any replacement and improvement, category protection scope of the present invention on the basis of bright design.
Claims (9)
1. snakelike arm oiling robot device, which is characterized in that including oiling island, control driver, oiling sighting device, snakelike
Robotic arm, integrated oil gun, fuel door closing device, include the first embedding inner cavity in oiling island, and control driver is mounted on institute
State first embedding interior intracavitary, oiling sighting device, snakelike robotic arm are separately mounted to the top on the oiling island, the integration
Oil gun, fuel door closing device are separately mounted to the end of the snakelike robotic arm, the oiling sighting device, snakelike machine
Arm, integrated oil gun, fuel door closing device are electrically connected with the control driver respectively.
2. snakelike arm oiling robot device as described in claim 1, which is characterized in that the snakelike robotic arm includes snakelike
Arm, multiple pulling rope beams, oil filling pipe, driving device, the lower end of the snakelike arm are flexibly connected with the driving device, the snake
Shape arm includes multiple Hooke sections, and multiple Hooke sections are successively flexibly connected from beginning to end, and each Hooke section passes through each described respectively
Pulling rope beam is connect with the driving device, and the snakelike arm has hollow cavity, and the oil filling pipe passes through the hollow cavity
It is connected to the integrated oil gun.
3. snakelike arm oiling robot device as claimed in claim 2, which is characterized in that the integrated oil gun includes method
Blue, refueling nozzle, the refueling nozzle are mounted on the end of the snakelike robotic arm by the flange.
4. snakelike arm oiling robot device as claimed in claim 3, which is characterized in that the fuel door closing device includes
Vacuum chuck, telescopic cylinder, the vacuum chuck are mounted on the side of the integrated oil gun by the telescopic cylinder, institute
It states telescopic cylinder and the control driver is electrically connected.
5. such as the described in any item snakelike arm oiling robot devices of Claims 1-4, which is characterized in that the oiling vision
Device includes the first camera, the first camera shooting bracket, second camera, second camera bracket, and first camera passes through
The first camera shooting bracket is mounted on snakelike arm side on the oiling island, and the second camera passes through the second camera shooting branch
Frame is mounted on the top on oiling island, and the camera and the control driver are electrically connected.
6. snakelike arm oiling robot system, which is characterized in that including fuel charger and described in any one of claim 1 to 5
Snakelike arm oiling robot device；The oiling island further includes the second embedding inner cavity, and the fuel charger is mounted on described second and buries
Set interior intracavitary, the fuel charger is connected to by the snakelike robotic arm with the integrated oil gun.
7. snakelike arm oiling robot system as claimed in claim 6, which is characterized in that further include petrol station control system, institute
Petrol station control system is stated to be electrically connected with the fuel charger, snakelike arm oiling robot device respectively.
8. snakelike arm oiling robot system as claimed in claim 7, which is characterized in that it further include two parking areas, two
The parking area is located at the two sides on the oiling island.
9. snakelike arm oiling robot system as claimed in claim 7, which is characterized in that it further include smart terminal, it is described
Smart terminal is mounted on the top on the oiling island, and the smart terminal and the petrol station control system are electrically connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910716264.XA CN110329979A (en) | 2019-08-02 | 2019-08-02 | Snakelike arm oiling robot apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910716264.XA CN110329979A (en) | 2019-08-02 | 2019-08-02 | Snakelike arm oiling robot apparatus and system |
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| CN110329979A true CN110329979A (en) | 2019-10-15 |
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| CN201910716264.XA Pending CN110329979A (en) | 2019-08-02 | 2019-08-02 | Snakelike arm oiling robot apparatus and system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331616A (en) * | 2020-03-30 | 2020-06-26 | 李铁成 | Integrated S-shaped arm hydrogenation robot device and system |
| CN111360846A (en) * | 2020-03-30 | 2020-07-03 | 李铁成 | Serpentine arm hydrogenation robot device and system |
| CN112549039A (en) * | 2020-11-12 | 2021-03-26 | 西安交通大学 | Distributed multifunctional oiling robot end effector |
| CN113894802A (en) * | 2020-06-22 | 2022-01-07 | 沈阳新松机器人自动化股份有限公司 | S-shaped arm oiling robot |
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| CN112549039A (en) * | 2020-11-12 | 2021-03-26 | 西安交通大学 | Distributed multifunctional oiling robot end effector |
| CN112549039B (en) * | 2020-11-12 | 2022-05-20 | 西安交通大学 | Distributed multifunctional oiling robot end effector |
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