CN110615398A - Robot-based intelligent oiling machine and oiling method thereof - Google Patents
Robot-based intelligent oiling machine and oiling method thereof Download PDFInfo
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- CN110615398A CN110615398A CN201910821469.4A CN201910821469A CN110615398A CN 110615398 A CN110615398 A CN 110615398A CN 201910821469 A CN201910821469 A CN 201910821469A CN 110615398 A CN110615398 A CN 110615398A
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- strip
- robot
- oiling
- main body
- driver
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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
- B67D7/04—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
-
- 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
- B67D7/04—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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
Abstract
The invention relates to an intelligent oiling machine based on a robot and an oiling method thereof, which comprise an oiling machine main body (1), a translation mechanism (2) positioned between the oiling machine main body (1) and a parking area (4), and a robot main body (3) arranged on the translation mechanism (2); translation mechanism (2) include two drive rollers (2.1) that are located bar groove (2.4), and the winding has transmission band (2.2) between two drive rollers (2.1), be fixed with a mobile station (2.3) on transmission (2.2). According to the intelligent oiling machine based on the robot and the oiling method thereof, the intelligent auxiliary oiling mode greatly improves the convenience of operation, and is beneficial to the popularization of autonomous oiling, so that the oiling cost of an oiling station is reduced.
Description
Technical Field
The invention relates to an intelligent oiling machine and an oiling method thereof, in particular to an intelligent oiling machine capable of being matched with a robot in a self-service oiling mode and an oiling method thereof, and belongs to the technical field of oiling machines.
Background
At present, with the high-speed development and the improvement of living standard of the country, the automobile keeping quantity is increased year by year, and the fuel stations matched with the automobile keeping quantity are more and more built; meanwhile, in consideration of cost reduction, the self-service refueling mode is widely popularized by the amount of fuel to be refueled nowadays, but for the first-time refueling personnel, or old drivers with a large age, or weak female drivers, the gun is lifted for self-service refueling, one tedious operation makes the gun be forbidden, and the winding of the fuel gun and the fuel pipe makes the gun and the fuel pipe have no follow, so that a robot system capable of assisting the gun is needed to be popularized in the self-service refueling mode.
Disclosure of Invention
The invention aims to overcome the defects and provides the intelligent oiling machine based on the robot and the oiling method thereof, and the intelligent auxiliary oiling mode greatly improves the convenience of operation and is beneficial to the popularization of autonomous oiling, so that the oiling cost of an oil station is reduced.
The purpose of the invention is realized as follows:
an intelligent oiling machine based on a robot comprises an oiling machine main body, a translation mechanism positioned between the oiling machine main body and a parking area, and a robot main body arranged on the translation mechanism;
the translation mechanism comprises two driving rollers positioned in a strip-shaped groove, a transmission belt is wound between the two driving rollers, a moving platform is fixed on the transmission belt, a supporting plate is arranged in the strip-shaped groove along the length direction of the strip-shaped groove, the two sides of the supporting plate along the length direction of the supporting plate are fixed on the inner walls of the two sides of the strip-shaped groove, and the upper surface of the transmission belt is flush with the notch of the strip-shaped groove, so that personnel can conveniently tread and pass through the transmission belt;
the robot main body comprises a six-axis robot, a lifting cylinder, a mounting plate and a camera; the cylinder seat of the lifting cylinder is arranged on the moving platform, a mounting plate is fixed on a piston rod of the lifting cylinder which is vertically upward, the six-axis manipulator is fixed on the mounting plate, a refueling gun of the refueling machine main body is arranged on the six-axis manipulator, a camera and an oil gas detection sensor are arranged on the refueling gun, the camera is in communication connection with an industrial personal computer in the refueling machine main body through an image processing module, and the oil gas detection sensor is in communication connection with the industrial personal computer in the refueling machine main body;
the parking area comprises a prompting lamp belt with a frame-shaped structure, at least one induction area is arranged in a frame-shaped parking space enclosed by the prompting lamp belt, the induction area comprises an induction groove, the length direction of the induction groove is vertical to the length direction of the strip-shaped groove, a plurality of guide pillars are vertically arranged in the induction groove, the height of each guide pillar is equal to the depth of the induction groove, the pressing plate is vertically and movably arranged in the induction groove, a guide hole for the guide pillar to movably penetrate through is formed in the pressing plate, a plurality of springs are vertically arranged in the induction groove, one end of each spring is fixed at the bottom of the groove, the other end of each spring is fixed at the lower surface of the pressing plate), a pressure switch and a photosensitive switch are arranged on the upper surface of the pressing plate, the pressure switch is connected in series on a power supply loop of the prompting lamp belt, and a plurality of laser, a plurality of laser emitters are arranged to form a laser emitting line, and the laser emitting line is parallel to the length direction of the strip-shaped groove; the photosensitive switch is connected in series with a main power supply loop of the laser transmitter.
According to the robot-based intelligent oiling machine, the maximum distance between the two driving rollers is equal to the length of the strip-shaped groove, and the width of the driving rollers is equal to the width of the strip-shaped groove.
The invention relates to an intelligent oiling machine based on a robot.A driving motor for driving a driving roller to rotate is embedded in the ground beside a strip-shaped groove.
The invention relates to an intelligent oiling machine based on a robot, wherein two induction areas are arranged, and the laser emission line is positioned between the two induction areas.
An intelligent refueling method based on a robot comprises the following steps:
step one, a vehicle drives into a frame-shaped parking space, a front wheel presses a pressure plate and then starts a pressure switch and a photosensitive switch, a prompt lamp band emits light at the moment to inform a driver that the vehicle starts to enter the frame-shaped parking space, and a laser transmitter emits light upwards to prompt;
step two, prompting the lamp strip to stop lighting after the front wheel drives away from the pressing plate, and if the driver finds that the laser emitter stops lighting, indicating that the vehicle drives away from the frame-shaped parking space, and returning to the step one; if the driver finds that the laser emitter continuously emits light due to continuous triggering of the photosensitive switch, the step three is advanced;
step three, prompting the lamp strip to emit light after the rear wheel presses the pressing plate to inform a driver that the driver starts to enter the oiling position of the frame-shaped parking space, and starting braking by the driver at the moment until the rear wheel drives away from the pressing plate to prompt the lamp strip to stop emitting light, namely braking the vehicle and pulling up a hand brake;
step four, opening the fuel tank cover after the driver gets off the vehicle, starting the translation mechanism at the moment, working and detecting the fuel tank opening immediately by the camera and the oil gas detection sensor, and inserting the fuel truck nozzle for refueling through the six-axis manipulator after the fuel tank opening is detected;
and step five, after refueling is finished, the translation mechanism drives the robot main body to leave the fuel tank port to reset, and a driver drives the vehicle to leave after screwing the fuel tank cover.
Compared with the prior art, the invention has the beneficial effects that:
when the self-service refueling is carried out, the fuel tank cover is opened manually, and the refueling robot is operated for subsequent refueling, so that the self-service refueling robot is simple and convenient, and is beneficial to popularization and use in different crowds.
Drawings
Fig. 1 is a schematic diagram of the structure of the robot-based intelligent fuel dispenser of the invention.
Figure 2 is a partial cross-sectional view at the translation mechanism of a robot-based intelligent fuel dispenser of the present invention.
Figure 3 is a partial schematic view of the translation mechanism of a robot-based intelligent fuel dispenser of the present invention.
Figure 4 is a partial schematic view of a robot body of a robot-based intelligent fuel dispenser of the present invention.
Figure 5 is a partial schematic view of a robot-based intelligent fuel dispenser of the present invention at the park area.
Wherein:
the oiling machine comprises an oiling machine main body 1, a translation mechanism 2, a robot main body 3 and a parking area 4;
a fuel nozzle 1.1;
the device comprises a driving roller 2.1, a conveying belt 2.2, a moving platform 2.3, a strip-shaped groove 2.4, a supporting plate 2.5 and a driving motor 2.6;
the device comprises a six-axis manipulator 3.1, a lifting cylinder 3.2, a mounting plate 3.3, a camera 3.4 and an oil gas detection sensor 3.5;
a prompt lamp belt 4.1, a sensing area 4.2 and a laser emitter 4.3;
induction groove 4.2.1, clamp plate 4.2.2, spring 4.2.3, guide pillar 4.2.4.
Detailed Description
Referring to fig. 1 to 5, the robot-based intelligent oiling machine comprises an oiling machine body 1, a translation mechanism 2 located between the oiling machine body 1 and a parking area 4, and a robot body 3 mounted on the translation mechanism 2;
the translation mechanism 2 comprises two driving rollers 2.1 positioned in a strip-shaped groove 2.4, a transmission belt 2.2 is wound between the two driving rollers 2.1, a moving platform 2.3 is fixed on the transmission belt 2.2, a support plate 2.5 is arranged in the strip-shaped groove 2.4 along the length direction of the strip-shaped groove, the two sides of the support plate 2.5 along the length direction of the support plate are fixed on the inner walls of the two sides of the strip-shaped groove 2.4, and the upper surface of the transmission belt 2.2 is flush with the notch of the strip-shaped groove 2.4, so that a person can conveniently tread and pass through the transmission belt;
the robot main body 3 comprises a six-axis robot 3.1, a lifting cylinder 3.2, a mounting plate 3.3 and a camera 3.4; the cylinder seat of the lifting cylinder 3.2 is arranged on the mobile station 2.3, a mounting plate 3.3 is fixed on a piston rod of the lifting cylinder 3.2 which is vertically upward, the six-axis manipulator 3.1 is fixed on the mounting plate 3.3, the oiling gun 1.1 of the oiling machine main body 1 is arranged on the six-axis manipulator 3.1, a camera 3.4 and an oil-gas detection sensor 3.5 are arranged on the oiling gun 1.1, the camera 3.4 is in communication connection with an industrial computer in the oiling machine main body 1 through an image processing module, and the oil-gas detection sensor 3.5 is in communication connection with the industrial computer in the oiling machine main body 1;
the parking area 4 comprises a prompting lamp strip 4.1 with a frame-shaped structure, at least one induction area 4.2 is arranged in a frame-shaped parking space enclosed by the prompting lamp strip 4.1, the induction area 4.2 comprises an induction groove 4.2.1, the length direction of the induction groove 4.2.1 is vertical to the length direction of the strip-shaped groove 2.4, a plurality of guide pillars 4.2.4 are vertically arranged in the induction groove 4.2.1, the height of each guide pillar 4.2.4 is equal to the groove depth of the induction groove 4.2.1, the pressing plate 4.2.2 is vertically and movably arranged in the induction groove 4.2.1, a guide hole for the guide pillar 4.2.4 to movably penetrate is arranged on the pressing plate 4.2.2, a plurality of springs 4.2.3 are vertically arranged in the induction groove 4.2.1, one end of each spring 4.2.3 is fixed at the bottom of the pressing plate, the other end of each pressing plate 4.2.2.2 is fixed at the lower surface of the pressing plate 4.2.2.2, a pressure switch and a photosensitive switch are arranged on the upper surface of the pressing plate 4.2.2.2.2, the pressing plate 4 is connected with a power supply, when the vehicle leaves, the vehicle stops lighting, so that the vehicle is prompted when the vehicle enters and leaves; a plurality of laser transmitters 4.3 which are connected in parallel are vertically arranged in a frame-shaped parking space surrounded by the prompt lamp strip 4.1, the plurality of laser transmitters 4.3 are arranged to form a laser emission line, and the laser emission line is parallel to the length direction of the strip-shaped groove 2.4; the photosensitive switch is connected in series with a main power supply loop of the laser transmitter 4.3; therefore, when a vehicle drives into the frame-shaped parking space, the laser emitter 4.3 emits light upwards, so that a driver can judge the forward distance of the vehicle according to the brightness intensity of the laser seen at the head of the vehicle, the vehicle is prevented from unintentionally driving away from the frame-shaped parking space, and the parking assisting function is achieved;
further, the maximum distance between the two driving rollers 2.1 is equal to the length of the strip-shaped groove 2.4, and the width of the driving roller 2.1 is equal to the width of the strip-shaped groove 2.4;
further, a driving motor 2.6 for driving the driving roller 2.1 to rotate is embedded in the ground beside the strip-shaped groove 2.4;
furthermore, two sensing areas 4.2 are arranged, and the laser emission line is positioned between the two sensing areas 4.2;
an intelligent refueling method based on a robot comprises the following steps:
step one, a vehicle drives into a frame-shaped parking space, a pressure switch and a photosensitive switch start after a front wheel presses a pressure plate 4.2.2, at the moment, a prompt lamp strip 4.1 emits light to inform a driver that the vehicle starts to enter the frame-shaped parking space, and a laser transmitter 4.3 emits light upwards to prompt;
step two, prompting the lamp strip 4.1 to stop lighting after the front wheel drives away from the pressing plate 4.2.2, and if the driver finds that the laser emitter 4.3 stops lighting, indicating that the vehicle drives away from the frame-shaped parking space, returning to the step one; if the driver finds that the laser emitter 4.3 continuously emits light due to continuous triggering of the photosensitive switch, the step three is advanced;
step three, after the rear wheel presses the pressing plate 4.2.2, the prompting lamp strip 4.1 gives out light to inform a driver that the driver starts to enter the oiling position of the frame-shaped parking space, at the moment, the driver starts to brake until the rear wheel drives away from the pressing plate 4.2.2, the prompting lamp strip 4.1 stops giving out light, namely, the vehicle is braked and stopped, and the hand brake is pulled up;
step four, a driver opens the oil tank cover after getting off the vehicle, the translation mechanism 2 is started at the moment, the camera 3.4 and the oil gas detection sensor 3.5 work to detect the oil tank opening immediately, and the oil gun 1.1 is inserted into the oil tank opening through the six-axis manipulator 3.1 to refuel after the oil tank opening is detected;
after refueling is finished, the translation mechanism 2 drives the robot main body 3 to leave the oil tank opening to reset, and a driver drives a vehicle to leave after screwing the oil tank cover;
further, the oil gun 1.1 is also provided with a human body infrared sensor, and the translation mechanism 2 is started to move after being triggered;
furthermore, an intelligent starting program can be set by triggering the pressing plate 4.2.2 twice before oiling, namely, the translation mechanism 2 is started at the moment;
in addition: it should be noted that the above-mentioned embodiment is only a preferred embodiment of the present patent, and any modification or improvement made by those skilled in the art based on the above-mentioned conception is within the protection scope of the present patent.
Claims (5)
1. The utility model provides an intelligent tanker aircraft based on robot which characterized in that: comprises an oiling machine main body (1), a translation mechanism (2) positioned between the oiling machine main body (1) and a parking area (4), and a robot main body (3) arranged on the translation mechanism (2);
the translation mechanism (2) comprises two driving rollers (2.1) positioned in a strip-shaped groove (2.4), a transmission belt (2.2) is wound between the two driving rollers (2.1), a moving platform (2.3) is fixed on the transmission (2.2), a supporting plate (2.5) is arranged in the strip-shaped groove (2.4) along the length direction of the strip-shaped groove, the two sides of the supporting plate (2.5) along the length direction of the supporting plate are fixed on the inner walls of the two sides of the strip-shaped groove (2.4), and the upper surface of the transmission belt (2.2) is flush with the notch of the strip-shaped groove (2.4), so that a person can conveniently tread and pass through the transmission belt;
the robot main body (3) comprises a six-axis robot (3.1), a lifting cylinder (3.2), a mounting plate (3.3) and a camera (3.4); the cylinder seat of the lifting cylinder (3.2) is arranged on the mobile station (2.3), a mounting plate (3.3) is fixed on a piston rod of the lifting cylinder (3.2) which is vertically upward, the six-axis manipulator (3.1) is fixed on the mounting plate (3.3), the oiling machine main body (1) is provided with an oiling gun (1.1) arranged on the six-axis manipulator (3.1), the oiling gun (1.1) is provided with a camera (3.4) and an oil-gas detection sensor (3.5), the camera (3.4) is in communication connection with an industrial control computer in the oiling machine main body (1) through an image processing module, and the oil-gas detection sensor (3.5) is in communication connection with the industrial control computer in the oiling machine main body (1);
the parking area (4) comprises a prompt lamp strip (4.1) with a frame-shaped structure, at least one induction area (4.2) is arranged in a frame-shaped parking space enclosed by the prompt lamp strip (4.1), the induction area (4.2) comprises an induction groove (4.2.1), the length direction of the induction groove (4.2.1) is perpendicular to the length direction of the strip-shaped groove (2.4), a plurality of guide pillars (4.2.4) are vertically arranged in the induction groove (4.2.1), the height of each guide pillar (4.2.4) is equal to the depth of the induction groove (4.2.1), the pressure plate (4.2.2) is vertically and movably arranged in the induction groove (4.2.1), a guide hole for the guide pillar (4.2.4) to movably penetrate is arranged on the pressure plate (4.2.2), a plurality of springs (4.2.3) are vertically arranged in the induction groove (4.2.1), one end of each spring (4.2.3) is fixed on the bottom of the pressure switch, and the upper surface of the pressure switch (4.2.2) is fixed on the pressure switch, the pressure switch is connected in series with a power supply loop of the prompt lamp strip (4.1), a plurality of laser transmitters (4.3) which are connected in parallel are vertically arranged in a frame-shaped parking space surrounded by the prompt lamp strip (4.1), the plurality of laser transmitters (4.3) are arranged to form a laser emission line, and the laser emission line is parallel to the length direction of the strip-shaped groove (2.4); the photosensitive switch is connected in series with the main power supply loop of the laser transmitter (4.3).
2. The robot-based intelligent fuel dispenser of claim 1, wherein: the maximum distance between the two driving rollers (2.1) is equal to the length of the strip-shaped groove (2.4), and the width of the driving roller (2.1) is equal to the width of the strip-shaped groove (2.4).
3. The robot-based intelligent fuel dispenser of claim 1, wherein: a driving motor (2.6) for driving the driving roller (2.1) to rotate is embedded in the ground beside the strip-shaped groove (2.4).
4. The robot-based intelligent fuel dispenser of claim 1, wherein: the number of the induction areas (4.2) is two, and the laser emission line is located between the two induction areas (4.2).
5. An intelligent refueling method based on a robot is characterized in that: the method comprises the following steps:
step one, a vehicle drives into a frame-shaped parking space, a front wheel presses a pressure plate (4.2.2) and then starts a pressure switch and a photosensitive switch, a prompt lamp strip (4.1) emits light at the moment to inform a driver that the vehicle starts to enter the frame-shaped parking space, and a laser emitter (4.3) emits light upwards to prompt the driver;
step two, prompting the lamp strip (4.1) to stop emitting light after the front wheel drives away from the pressing plate (4.2.2), and if the driver finds that the laser emitter (4.3) stops emitting light, indicating that the vehicle drives away from the frame-shaped parking space, and returning to the step one at this moment; if the driver finds that the laser emitter (4.3) continuously emits light due to the continuous triggering of the photosensitive switch, the step three is advanced;
thirdly, after the rear wheel presses the pressing plate (4.2.2), the prompting lamp strip (4.1) gives out light to inform a driver that the driver starts to enter the oiling position of the frame-shaped parking space, at the moment, the driver starts to brake until the rear wheel drives away from the pressing plate (4.2.2), the prompting lamp strip (4.1) stops giving out light, and then the vehicle is braked and stopped and the hand brake is pulled;
opening the fuel tank cover after a driver gets off the vehicle, starting the translation mechanism (2), working the camera (3.4) and the oil gas detection sensor (3.5) to detect the fuel tank opening immediately, and inserting the fuel filling gun (1.1) into the fuel filling gun for filling fuel through the six-axis manipulator (3.1) after the fuel tank opening is detected;
and step five, after refueling is finished, the translation mechanism (2) drives the robot main body (3) to leave the fuel tank opening for resetting, and a driver drives the vehicle to leave after screwing the fuel tank cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821469.4A CN110615398A (en) | 2019-09-02 | 2019-09-02 | Robot-based intelligent oiling machine and oiling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821469.4A CN110615398A (en) | 2019-09-02 | 2019-09-02 | Robot-based intelligent oiling machine and oiling method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110615398A true CN110615398A (en) | 2019-12-27 |
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ID=68922991
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910821469.4A Withdrawn CN110615398A (en) | 2019-09-02 | 2019-09-02 | Robot-based intelligent oiling machine and oiling method thereof |
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| Country | Link |
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| CN (1) | CN110615398A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113044797A (en) * | 2021-01-28 | 2021-06-29 | 江阴市富仁高科股份有限公司 | Automatic oil gun arranged on unmanned vehicle |
-
2019
- 2019-09-02 CN CN201910821469.4A patent/CN110615398A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113044797A (en) * | 2021-01-28 | 2021-06-29 | 江阴市富仁高科股份有限公司 | Automatic oil gun arranged on unmanned vehicle |
| CN113044797B (en) * | 2021-01-28 | 2023-02-17 | 江阴市富仁高科股份有限公司 | Automatic oil gun arranged on unmanned vehicle |
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Application publication date: 20191227 |