CN111547669A

CN111547669A - Refueling robot for gas station and automatic refueling control method

Info

Publication number: CN111547669A
Application number: CN202010418425.XA
Authority: CN
Inventors: 王泽邦
Original assignee: Zhongshan Pinwu Information Technology Co ltd
Current assignee: Zhongshan Pinwu Information Technology Co ltd
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2020-08-18

Abstract

The invention provides a refueling robot for a gas station and an automatic refueling control method, which comprises a refueling gun, a plurality of oil product conveying channels, an oil product conversion device, a mechanical arm, a visual recognition system and a refueling control system, wherein each oil product conveying channel conveys an oil product, the output ends of the oil product conveying channels are connected with the oil product conversion device, the connection between one oil product conveying channel and the refueling gun is realized by controlling the oil product conversion device, the mechanical arm is used for automatically opening a fuel tank cover of a fuel tank and clamping the refueling gun, and the visual recognition system is arranged on the mechanical arm and is used for recognizing and analyzing a vehicle parking position signal and a vehicle fuel tank outer cover position signal; and the oiling control system is used for directly or indirectly controlling the oil conversion device, the oil conveying channels and the mechanical arm to work. The device has the advantages of simple structure, low manufacturing cost, simple operation and high automation program.

Description

Refueling robot for gas station and automatic refueling control method

Technical Field

The invention relates to a refueling robot for a gas station and an automatic refueling control method.

Background

In this era of rapid development of automation and intelligence, it is a trend that robots replace human beings to simply and repeatedly operate. The operation of refueling a vehicle at a refueling station is a simple and repetitive refueling operation, which is labor intensive. At present, the oiling duty work of most gasoline stations is 24 hours, or manual operation is adopted, and nowadays, the development of an intelligent full-automatic oiling robot is a social demand, wherein the labor cost is high.

At present, the operation of a refueling robot in research or application in a laboratory still mainly simulates human behavior, operates the existing refueling equipment and the automobile fuel tank cap, and is limited by technical level and environmental influence, and has low stability; the lack of research on the essential actions of the refueling process is behind the seal. The existing oiling robot has the following defects:

1) the difficulty that influences automatic oiling at present lies in: opening and closing of an inner cover of an automobile oil tank and operation of an oil gun; the outer cover of the automobile is opened, although the outer cover is a five-door, the opening operation is simple and easy; the inner cover of the automobile has the function of sealing, the opening and closing design of the inner cover is only considered from the aspect of human operation, the inner cover does not accord with the operation logic of oiling of a robot, and the inner cover is labor-consuming and unstable if a manipulator is used for operation;

2) in addition, the existing oil gun is purely mechanical, and the oil gun simulates the action of a human hand, so that the oil gun is heavy and inefficient when applied to automatic oil filling, has a complex structure and high manufacturing cost, is not suitable for the requirement of progress in the era of automation of electric appliances, and needs to be improved.

3) And the robot corresponds to a plurality of oil guns, each oil gun corresponds to an oil product, the structure is complex, the operation is complex, and the integrity is not strong.

Disclosure of Invention

The invention aims to provide a refueling robot for a gas station, which solves the technical problems of complex structure, high manufacturing cost and complex operation of the refueling robot in the prior art.

Another object of the present invention is to provide a method for controlling automatic refueling of a refueling robot for a refueling station, which is simple and easy to operate and has high automation degree.

The technical scheme of the invention is realized as follows:

a refuelling robot for a petrol station, characterized by: it includes:

the fuel filling gun is inserted into a fuel filling port of a fuel tank of the automobile and is used for filling fuel into the automobile;

a plurality of oil product conveying channels, each oil product conveying channel conveying one oil product;

the oil conversion device is connected with the output ends of the oil conveying channels, and one oil conveying channel is connected with the oil filling gun by controlling the oil conversion device;

the mechanical arm is used for automatically opening a fuel tank cover of the fuel tank, clamping the fuel gun and inserting a fuel gun nozzle of the fuel gun into a fuel filling port of the fuel tank;

the visual recognition system is arranged on the mechanical arm and used for recognizing and analyzing a vehicle parking position signal and a vehicle oil tank outer cover position signal, and the visual recognition system sends the detected related signals to the oiling control system for control so as to facilitate the oiling control system to make judgment;

the refueling equipment mounting cabinet is used for mounting related equipment in the oil product conveying channels;

and the oiling control system is used for directly or indirectly controlling the oil conversion device, the oil conveying channels and the mechanical arm to work.

Each oil product conveying channel is provided with an electromagnetic valve and a metering pump, the opening or closing of the electromagnetic valve is controlled by an oil filling control system, a signal output end of the metering pump is connected to an input end of the oil filling control system, and an input port of each oil product conveying channel is connected with an oil product storage container.

The oil conversion device comprises a servo motor and an oil conversion valve, wherein the servo motor is controlled by an oil filling control system, and the oil filling control system drives an oil conversion valve to rotate by driving the servo motor, so that an oil conveying channel is connected with an oil filling gun.

The oil conversion valve comprises a rotating disk and a plurality of one-way valves, a plurality of oil inlets are formed in the bottom end of the rotating disk and are respectively connected with a plurality of oil conveying channels, an oil outlet is formed in the top end of the rotating disk and is connected with an oil filling gun through an oil way, a plurality of connecting pipelines are dug out on the rotating disk to enable the oil inlets to be communicated with the oil outlet, one-way valves are installed on each connecting pipeline, and the one-way valves are controlled by an oil filling control system.

Foretell nozzle anterior segment sets up the cover of breathing in, and the cover of breathing in passes through a vacuum pump of trachea connection, and the oil gas recovery system is constituteed to cover of breathing in, trachea and vacuum pump, solenoid valve and measuring pump are installed in refueling equipment installation cabinet.

And each oil product conveying channel is also provided with a filter element, and the filter elements are arranged in the refueling equipment installation cabinet.

The oil tank outer cover opening mechanism is mounted on the mechanical arm and comprises a sucker, an elastic pull rod and a sucker driving mechanism, the sucker is mounted at the top of the elastic pull rod, the elastic pull rod is driven by the driving mechanism and can move linearly back and forth and rotate, and the sucker driving mechanism is controlled by an oiling control system.

The sucker driving mechanism comprises a rack, a gear and a motor, wherein the bottom of the elastic pull rod is arranged on the rack, the rack is meshed with the gear, the motor drives the gear to rotate, and the motor is controlled by an oiling control system.

Foretell arm includes forearm, upper arm and base to form the arm of 3 degrees of freedom, the upper arm is connected with the base and can rotates around 360 degrees of base, installs touch display screen below the base, touch display screen and refueling control system are connected and are communicated.

The mechanical arm is arranged at the top of the refueling equipment mounting cabinet, and the refueling gun, the oil conversion device and the related connecting pipeline are arranged in the mechanical arm.

A control method for automatic refueling of a refueling robot of a gas station is characterized by comprising the following steps: the operation steps are as follows:

the method comprises the following steps: when the refueling vehicle stops beside the refueling robot, the refueling robot visual recognition system recognizes and analyzes whether the position of the vehicle is correct or not, and prompts instructions of parking, forward or backward and the like; the refueling robot identifies the condition of the outer cover of the fuel tank of the vehicle and prompts a vehicle owner whether to refuel by voice;

step two: the vehicle owner can set the refueling information such as the number and the quantity of the fuel through an app software program of a mobile phone or a robot touch screen and the like, and the refueling robot prompts the preparation to start refueling after receiving an instruction;

step three: the oiling robot adjusts the oil conversion device to the corresponding oil according to the oil number selected by the vehicle owner, and the mechanical arm moves to the side of the outer cover of the oil tank;

step four: the oil tank outer cover opening mechanism acts to extend the elastic pull rod, and the sucker directly pushes against the oil tank outer cover, sucks the oil tank outer cover and rotates rightwards until the oil tank inner cover can be fully exposed;

step five: the oiling robot identifies the structure of an inner cover of an oil tank at a short distance, analyzes and judges whether the direct insertion gun can be used for oiling; if the automobile is not the inner oiling cover of the automatic opening closing device, the oiling robot prompts an automobile owner to get off and open the cover, and analyzes whether the automobile meets the automatic oiling condition; if the automatic opening closing device is used for an oil filling inner cover, the oil filling robot extends the mechanical arm to clamp an oil gun to enter the inner cover flow guide port and jacks the automatic opening closing device, and when an oil gun nozzle enters an oil tank opening, the magnetic ring magnetically opens the displacement switch to start an oil filling process;

step six: the oiling robot receives the start-up information of refueling, and the solenoid valve action of refueling starts the refueling, and when the liquid level of refueling overflowed the oil gun nozzle, the anti-overflow oil gas crossing of air duct was stopped up, and negative pressure appears in the air chamber, and the diaphragm removes and triggers the magnetic control switch disconnection and to refuel control system signals, refuels control system control and refuels the solenoid valve and open the speed of refueling slowly, and the solenoid valve control of refueling is closed once more to the magnetic control switch, stops when refueling, and the system sets for the oil tank and has filled up this moment.

Step seven: the refueling robot starts an exit program, exits the mechanical arm and the refueling gun, starts the closing operation of the outer cover of the oil tank, and rotates the elastic pull rod leftwards to enable the outer cover of the oil tank to be flat and pressed with the vehicle body; the visual recognition system observes whether the edge of the outer cover is level with the vehicle body or not, and if the edge of the outer cover is level with the vehicle body, the cover is successfully closed; if the outer cover of the oil tank and the automobile body are not flat, the oil tank needs to be pressed again or an alarm is given.

Compared with the prior art, the invention has the following advantages:

1. the mode of single oil gun and multi-oil electromagnetic conversion control is adopted, and a magnetic control switch, a displacement switch and the like are adopted to control the oil filling electromagnetic valve, so that all oil filling operation mechanical mechanisms for operating the oil filling gun are omitted; the device is suitable for equipment informatization application, high in accuracy rate, simple and convenient to operate, light, simple in structure and low in manufacturing cost.

2. A single oil gun and a plurality of oil conversion devices are adopted, and a servo motor is used for controlling a multi-channel oil conversion valve to convert and fill oil, so that the conversion and filling capacity of a single oil gun nozzle and a plurality of oil products at any time is realized. The oil gun has the advantages of simple structure, integrated equipment, multiple oil products in one gun, great reduction in oil gun configuration, simplified structure and reduced cost. When different oil products are filled, actions such as oil gun replacement operation of a robot arm are not needed, the operation is simple, and the automation degree is high.

3. The special cover-opening-free oil tank inner cover is matched with a robot to fill oil, so that the method is simple and rapid; after the robot opens the outer cover of the vehicle, the robot can directly insert the oil gun into the oil tank port to jack the automatic opening and closing device to refuel, the action is simple, and time and speed are saved; the defects that the mechanical arm which is researched in the market at present simulates human operation to open the inner cover of the oil tank, and is complex in structure, long in operation time, high in error rate and the like are overcome.

4. The oil gun, the oil product pipeline and the mechanical arm are integrally designed, so that the appearance is concise, and the operation is accurate and stable; the mechanical arm stands on the oiling machine equipment box, and the 360-degree rotation design, the outward appearance is vivid, characteristics such as operation scope are big can refuel to the vehicle of within range all around.

5. Adopt displacement switch to combine intelligent vision identification system, automatic shutdown refuels when the oil gun leaves the fuel tank port. The valve can be closed in time to stop oiling when the oil gun leaves a specific position, and the risk is reduced.

6. The automatic closing device for the inner cover of the oil tank has advanced design concept and is easy to identify by a machine; the operation is convenient and simple when the oil is added, and the cover can not be lost without opening the cover; at present, the luxury vehicles in Europe and America and the like start to adopt an inner cover self-closing mode, which is a trend of the development of an inner cover of an oil tank, and the inner cover and the automatic oil filling are in the same direction, so the oil filling operation is very simple.

7. The background computer uses an intelligent information interaction system, and can realize the refueling context such as unattended operation, no need of getting off the vehicle and the like; the input has cell-phone APP, robot touch display screen, background operation etc. and the payment mode has forms such as union pay, little letter, dodge and pay, convenient and fast.

Drawings

Fig. 1 is a circuit block diagram of a fueling robot according to an embodiment of the present invention;

fig. 2 is a front view of a fueling robot according to a first embodiment of the present invention;

fig. 3 is a top view of a fueling robot according to an embodiment of the present invention;

fig. 4 is a side view of a fueling robot according to a first embodiment of the present invention;

fig. 5 is a schematic structural diagram of an oil gun according to a first embodiment of the present invention;

FIG. 6 is a top view of an oil change-over valve according to an embodiment of the present invention;

FIG. 7 is a bottom view of an oil change-over valve according to an embodiment of the present invention;

fig. 8 is a schematic structural view of an opening mechanism of an outer cover of a fuel tank according to an embodiment of the present invention;

FIG. 9 is a schematic view of the swing mechanism of FIG. 8;

FIG. 10 is a schematic view of a fuel tank cap currently installed at a fuel tank port;

FIG. 11 is a schematic view of the structure of a current inner lid of a fuel tank;

FIG. 12 is a right side view of FIG. 11;

fig. 13 is a circuit block diagram of a fueling robot according to a second embodiment of the present invention;

fig. 14 is a front view of the fueling robot according to the second embodiment of the present invention.

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. 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.

The first embodiment is as follows:

as shown in fig. 1 to 7, a fueling robot for a fueling station of the present invention is characterized in that: it includes:

the fuel filling gun 1 is inserted into a fuel filling port of a fuel tank of the automobile and used for filling fuel into the automobile;

a plurality of oil product conveying channels 2, each oil product conveying channel conveying one oil product;

the oil conversion device 3 is connected with the output ends of the oil conveying channels 2, and the oil conversion device 3 is controlled to realize the connection of one oil conveying channel 2 and the oil filling gun 1;

the mechanical arm 4 is used for automatically opening a fuel tank cover of the fuel tank, clamping the fuel gun 1 and inserting the fuel gun nozzle 10 of the fuel gun 1 into a fuel filling port of the fuel tank;

the visual recognition system 5 is arranged on the mechanical arm 4 and used for recognizing and analyzing a vehicle parking position signal and a vehicle oil tank outer cover position signal, and the visual recognition system 5 sends the detected related signals to the oiling control system for control so that the oiling control system can make judgment; the visual recognition system 5 is installed on the mechanical arm 4 and rotates along with the mechanical arm 4, so that the application adaptability is higher, and the environment recognition capability is more accurate. The visual recognition system 5 comprises a photoelectric device, the photoelectric device senses the parking position of the vehicle, the visual recognition system 5 is started, scanning and ranging are carried out in modes of structured light and the like, and the position of the vehicle and the condition of the outer cover of the oil tank are analyzed.

The refueling equipment mounting cabinet 6 is used for mounting related equipment in the oil product conveying channels 2;

and the oiling control system is used for directly or indirectly controlling the oil conversion device 3, the oil conveying channels 2 and the mechanical arm 4 to work.

The invention uses the electromagnetic valve to control the oiling to replace the mechanical control, thereby simplifying the structure and reducing the cost.

Each oil product conveying channel 2 is provided with an electromagnetic valve 21 and a metering pump 22, the opening or closing of the electromagnetic valve 21 is controlled by a refueling control system, a signal output end of the metering pump 22 is connected to an input end of the refueling control system, an input port of each oil product conveying channel 2 is connected with an oil product storage container 7, and 2 oil product storage containers 7 are arranged in fig. 2 and respectively store 95# gasoline and 92# gasoline. The invention adopts the electromagnetic control type oil gun, saves all complex mechanical structures, is suitable for equipment informatization application, and has high accuracy, portability and simplicity.

The oil conversion device 3 comprises a servo motor 31 and an oil conversion valve 32, wherein the servo motor 31 is controlled by an oil filling control system, and the oil filling control system drives the oil conversion valve 32 to rotate by driving the servo motor 31, so that the connection between an oil conveying channel 2 and the oil filling gun 1 is realized. The oil conversion valve 32 comprises a rotating disk 321 and a plurality of one-way valves 322, the bottom end of the rotating disk 321 is provided with a plurality of oil inlet holes 3211 which are respectively connected with a plurality of oil conveying channels 2, the top end of the rotating disk 321 is provided with an oil outlet 3212, the oil outlet 321 is connected with the oil filling gun 1 through an oil way, a plurality of connecting pipelines are dug on the rotating disk 321 to enable the plurality of oil inlet holes to be communicated with the oil outlet, each connecting pipeline is provided with one-way valve, and the one-way valves are controlled by. The tail of the oil gun nozzle 10 is communicated with an oil outlet 3212 at the top end of the rotating disc 321 through an oil path 110. The oil conversion valve 32 is provided with a low-pressure check valve to realize the leakage-proof function.

According to the invention, the oil conversion device 3 with a single oil gun and multiple oil products is adopted, and the oil conversion device 3 is controlled by the servo motor to convert and fill the oil products, so that the conversion and filling capability of matching multiple oil products at any time by the single oil gun is realized. The oil gun has the advantages of simple structure, integrated equipment and one gun with multiple oil products, and greatly reduces the configuration of the oil gun. When different oil products are filled, the actions such as oil gun replacement operation and the like of the mechanical arm 4 are not needed, and the oiling operation can be simplified. The oil gun 1 is internally provided with a negative pressure balancing device to prevent leakage caused by expansion with heat and contraction with cold.

The front section of the refueling gun is provided with an air suction cover 11, the air suction cover 11 is connected with a vacuum pump 13 through an air pipe 12, the air suction cover 11, the air pipe 12 and the vacuum pump 13 form an oil gas recovery system, and the vacuum pump 13, an electromagnetic valve 21 and a metering pump 22 are installed in a refueling equipment installation cabinet. The solenoid valve 21 is controlled to open or close by the fueling control system.

Each oil product conveying channel is also provided with a filter element 23, and the filter elements 23 are arranged in the refueling equipment installation cabinet 6.

As shown in fig. 8, the mechanical arm 4 is provided with an oil tank outer cover opening mechanism 9, the oil tank outer cover opening mechanism 9 includes a suction cup 91, an elastic pull rod 92 and a suction cup driving mechanism, the suction cup 91 is provided on the top of the elastic pull rod 92, the elastic pull rod 92 is driven by the driving mechanism and can move back and forth and rotate, the suction cup driving mechanism is controlled by an oiling control system, the suction cup driving mechanism includes a rack 93, a gear 94 and a motor 95, the bottom of the elastic pull rod 92 is provided on the rack 93, the rack 93 is engaged with the gear 94, the motor 95 drives the gear 94 to rotate, the motor 95 is controlled by the oiling control system, the bottom of the elastic pull rod 92 extends out a front foot 97 and a rear foot 96, the bottom of the front foot 97 is provided with a circular hole 971, a pin 931 protruding from the top of the rack 93 is inserted into the circular hole 971, the swing mechanism can drive the tail of the elastic pull rod 92 to swing, as shown in fig. 9, a point B of the rear foot 96 can swing back and forth, the swing mechanism comprises a swing rod 101, a slide block 102 and a crank 103 which are arranged on the swing rod, an output shaft of a stepping motor is connected to a point C to drive the crank 103 to rotate, the other end of the crank 103 is hinged to the slide block 102, and the slide block 102 drives the swing rod 101 to swing. Wherein the rack 93, the gear 94 and the motor 95 are mounted inside the forearm 41 of the robot arm 4. The outer cover of the oil tank is opened, an independent cover opening mechanism is installed above the robot arm, a sucker spring pull rod type is adopted, the sucker is pressed in a jacking mode when the sucker sucks the outer cover of the oil tank, the spring pull rod is contracted and rotated backwards, the sucker is dragged to rotate the outer cover, and cover opening or cover closing is achieved. The visual recognition system images and analyzes whether the oil tank inner cover is a special oil filling cover or an oil tank inner cover which is free of cover opening and is filled with oil. The gun is directly extended to refuel according with the conditions, and the refuel is started after the displacement switch is connected.

The mechanical arm comprises a forearm 41, an upper arm 42 and a base 43, and forms a 3-axis freedom mechanical arm, the upper arm 42 is connected with the base 43 and can rotate around the base 360 degrees, a touch display screen 8 is installed below the base 43, and the touch display screen 8 is connected with and communicates with the refueling control system.

The mechanical arm is arranged at the top of the refueling equipment installation cabinet 6, and the refueling gun 1, the oil conversion device 3 and the related connecting pipeline 110 are arranged in the mechanical arm 4. The oil gun, the oil product pipeline and the mechanical arm are integrally designed, so that the appearance is concise, and the operation is accurate and stable; the mechanical arm stands on the oiling machine equipment box, and 360-degree rotation design, the outward appearance is vivid, characteristics such as operation scope is big can refuel the vehicle of within range all around, practices thrift the cost, simple structure.

The oiling control system is connected with a background computer, and the background computer uses an intelligent information interaction system, so that the oiling context such as unattended operation, no need of getting off and the like can be realized; the user input end has cell-phone APP, robot touch display screen, backstage operation etc. and the payment mode has forms such as union pay, little letter, dodge and pay, convenient and fast. The touch display screen can be convenient for a refueling client to manually input a selected oil product number to adjust the oil product conversion device to a corresponding oil product. The touch screen display 8 may also display relevant information for the fueling customer to know.

The refueling control system is also connected with a voice prompt system, when a refueling vehicle stops beside a refueling robot, the refueling robot visual recognition system 5 recognizes and analyzes whether the position of the vehicle is correct or not, and the voice prompt system is utilized to prompt instructions of parking, forward or backward and the like; the refueling robot identifies the condition of the outer cover of the fuel tank of the vehicle and prompts a vehicle owner whether to refuel by using a voice prompt system; after the oiling is finished, the oiling control system controls the voice prompt system to give out a prompt.

The air guide pipe 15 is arranged in the oil gun nozzle 10, the air guide pipe 15 is communicated with the air chamber 16, the diaphragm 17 is arranged in the air chamber 16, the magnetic control switch 18 is installed at the bottom of the air chamber 16 and used for sensing fluctuation of the diaphragm 17, when the oil tank finishes oil filling, but the oil surface exceeds an anti-overflow oil gas intersection of the air guide pipe 15 in the oil gun nozzle 10, negative pressure occurs in the air chamber 16, the diaphragm 17 moves to trigger the magnetic control switch 18 to be disconnected to stop oil filling, and an output signal of the magnetic control switch 18 is sent to the oil filling control. The oil spill prevention switch shown in fig. 1 is a magnetic control switch 18. The negative pressure type linkage magnetic control switch 18 is used for preventing oil spilling; when the oil level exceeds the gun nozzle anti-overflow oil gas intersection, negative pressure occurs in the air chamber, the diaphragm moves, and the magnetic control switch is switched off to stop oiling.

A displacement switch 19 is arranged at the front section of the air duct 15, the air duct 15 is arranged in the oil gun nozzle 10, the air duct 15 is communicated with an air chamber 16, a diaphragm 17 is arranged in the air chamber 16, and a magnetic control switch 18 is arranged at the bottom of the air chamber 16; when the automatic oil filling robot works, the mechanical arm 4 of the oil filling robot extends to clamp an oil gun 1 to enter a flow guide port 1a of an oil tank inner cover 2a, an oil gun nozzle 10 jacks an automatic opening closing device 6a, when the oil gun nozzle 10 enters an oil filling port of an oil tank, a magnetic ring magnetic force opens a magnetic control switch 18 or a displacement switch 19, the magnetic control switch 18 or the displacement switch 19 sends a signal to an oil filling control system, and an oil filling process is started; the oiling robot receives the information of starting oiling, the oiling control system controls the action of the electromagnetic valve 21, when the liquid level of the oiling overflows the oil gun nozzle 10, the anti-overflow oil gas crossing of the air duct 15 is blocked, the air chamber 16 generates negative pressure, the diaphragm 17 moves to trigger the magnetic control switch 18 to be disconnected and send a signal to the oiling control system, the oiling control system closes the electromagnetic valve 21 to stop oiling, and at the moment, the system is set to be full of the oil tank. The displacement switch 19 is adopted to be combined with the intelligent visual recognition system 5, and the oil gun 1 automatically stops oiling when leaving the oil filling port of the oil tank. The oil gun 1 can close the electromagnetic valve to stop oiling when leaving a specific position, and the risk is reduced.

As shown in fig. 10, 11 and 12, it is a schematic structural diagram of a tank cap of a fuel filler of an automobile tank, and includes an outer cap 3a, an inner cap 2a, a diversion port 1a, a magnetic ring magnetic force generating device 5a and a locking device 4a installed on the outer cap 3 a. As shown in fig. 10 and 11, the flow guide opening 1a is funnel-shaped, the automatic closing device 6a is installed at the bottom of the flow guide opening 1a, when the automatic closing device works, the oiling robot extends the mechanical arm 4 to clamp the oil gun 1 to enter the flow guide opening 1a of the oil tank inner cover 2a, the oil gun nozzle 10 pushes the automatic closing device 6a open, and when the oil gun nozzle 10 enters the oil filling opening of the oil tank, the magnetic ring magnetic force opens the magnetic switch 18 or the displacement switch 19. The oil gun 1 is pulled out, and the automatic closing device 6a automatically closes the oil filler of the oil tank. The automatic closing device for the inner cover of the oil tank has advanced design concept and is easy to identify by a machine; the operation is convenient and simple when the oil is added, and the cover can not be lost without the traditional rotary cover opening mode; at present, the luxury vehicles in Europe and America and the like start to adopt an inner cover self-closing mode, which is a trend of the development of an inner cover of an oil tank and has the same direction with automatic oil filling. The special cover-opening-free oil tank inner cover is matched with the oiling robot to perform oiling, so that the oiling is simple and rapid; after the oiling robot opens the outer cover of the vehicle, the robot can directly insert an oil gun into the automatic opening closing device of the oil tank opening top opening inner cover for oiling, and time and speed are saved; at present, the mechanical arm researched in the market opens the inner cover of the oil tank by simulating human operation, and the inner cover needs to be turned and unscrewed, so that the mechanical arm has the defects of complex structure, long operation time, high error rate and the like. The outer edge of the flow guide opening 1a of the inner cover 2a of the oil tank is made of special materials, so that the robot can conveniently track and position, and the oil filling accuracy of the robot is improved. The design that the oil tank cover seat is separated from the automatic closing device is adopted; the automatic opening closing device is in standardized design and is suitable for automatic oiling or manual oiling of a robot without opening a cover; the oil tank cover seat can be customized according to different brands and models, and can be combined to be used for adapting to various vehicle types. An open diversion port and an automatic closing device are used; when the oil gun extends into the flow guide port, the automatic opening and closing device is opened in a jacking mode, and the oil gun enters the oil tank port to realize oil filling; when the oil is added, the oil gun withdraws from the oil tank, and the automatic closing device seals the port of the oil tank and recovers the sealing function of the oil tank.

The magnetic ring magnetic force generating device 5a is a magnetic ring which is arranged in the oil filling port of the oil tank, when the oil gun nozzle of the oiling robot enters the flow guide port, the magnetic ring magnetic force generating device 5a starts a magnetic control switch or a displacement switch, and the oiling process is started. The automatic closing device 6a is internally provided with a breather valve, so that the air pressure balance can be realized when the pressure in the oil tank is overlarge or the air pressure can be balanced within hours, and the damage to the oil tank caused by overlarge pressure difference is avoided.

The displacement switch is matched with the special oil tank inner cover, so that the opening and closing automation of oiling is realized, and the oiling operation can be simplified.

Example two:

the present embodiment is an improvement on the first embodiment, and the improvement point is that as shown in fig. 13 and 14, 3 oil product conveying channels 2 are provided, which are respectively a 90# gasoline conveying channel 2, a 92# gasoline conveying channel 2 and a 95# gasoline conveying channel 2.

Example three:

the fueling robot used in this embodiment is the fueling robot of the first embodiment or the second embodiment.

The specific operation method comprises the following steps:

step six: when the oiling robot receives information of starting oiling, the oiling electromagnetic valve acts to start oiling, when the oiling liquid level overflows a nozzle of an oil gun, an anti-overflow oil gas intersection of the air guide pipe is blocked, negative pressure occurs in the air chamber, the diaphragm moves to trigger the magnetic control switch to be disconnected and send a signal to the oiling control system, the oiling control system controls the oiling electromagnetic valve to open and slowly oil, if the magnetic control switch acts again, the oiling control system controls the oiling electromagnetic valve to close, oiling is stopped when the magnetic control switch acts again, and the system is set that the oil tank is full;

The mechanical arm and the oil gun are withdrawn after the oiling is finished, and the negative pressure balance valve device is started inside the oiling robot to prevent oil leakage. The refueling control system is connected with a background computer, the background computer uses an intelligent information interaction system, and after the deduction of the intelligent information interaction system is completed, the refueling context is converted into green, so that the visual recognition system 5 can conveniently recognize the refueled content; the voice prompt of the refueling robot indicates that the vehicle owner can leave safely and welcome next refueling. When the oiling robot starts to oil, the oiling context is light red, so that the visual recognition system 5 can conveniently recognize the oiling context.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A refuelling robot for a petrol station, characterized by: it includes:

2. A fuel filling robot for a fuel filling station as claimed in claim 1, characterized in that: each oil product conveying channel is provided with an electromagnetic valve and a metering pump, the opening or closing of the electromagnetic valve is controlled by the oiling control system, the signal output end of the metering pump is connected to the input end of the oiling control system, and the input end of each oil product conveying channel is connected with an oil product storage container.

3. A fuel filling robot for a fuel filling station as claimed in claim 2, characterized in that: the oil conversion device comprises a servo motor and an oil conversion valve, the servo motor is controlled by the oiling control system, and the oiling control system drives the oil conversion valve to rotate by driving the servo motor, so that an oil delivery channel is connected with the oiling gun.

4. A fuel filling robot for a fuel filling station as claimed in claim 3, characterized in that: the oil conversion valve comprises a rotating disk and a plurality of one-way valves, a plurality of oil inlets are formed in the bottom end of the rotating disk and are respectively connected with a plurality of oil conveying channels, an oil outlet is formed in the top end of the rotating disk and is connected with an oil filling gun through an oil way, a plurality of connecting pipelines are dug out on the rotating disk to enable the oil inlets to be communicated with the oil outlet, one-way valves are installed on each connecting pipeline, and the one-way valves are controlled by an oil filling control system.

5. A fuel filling robot for a fuel filling station as claimed in claim 4, characterized in that: the front section of the refueling gun is provided with an air suction cover, the air suction cover is connected with a vacuum pump through an air pipe, the air suction cover, the air pipe and the vacuum pump form an oil gas recovery system, and the vacuum pump, the electromagnetic valve and the metering pump are installed in a refueling equipment installation cabinet.

6. A fuel filling robot for a fuel filling station as claimed in claim 5, characterized in that: still be provided with the filter core on every oil transfer passage, the filter core is installed in refueling equipment installation cabinet.

7. A fuel filling robot for a fuel filling station according to claim 1 or 2 or 3 or 4 or 5 or 6, characterized in that: the oil tank outer cover opening mechanism is installed on the mechanical arm and comprises a sucker, an elastic pull rod and a sucker driving mechanism, the sucker is installed at the top of the elastic pull rod, the elastic pull rod is driven by the driving mechanism and can linearly move back and forth and rotate, and the sucker driving mechanism is controlled by an oiling control system.

8. A fuel filling robot for a fuel filling station as claimed in claim 6, characterized in that: the sucker driving mechanism comprises a rack, a gear and a motor, the bottom of the elastic pull rod is arranged on the rack, the rack is meshed with the gear, the motor drives the gear to rotate, and the motor is controlled by the oiling control system.

9. A fuel filling robot for a fuel filling station as claimed in claim 8, characterized in that: the arm includes forearm, upper arm and base to form the arm of 3 degrees of freedom, the upper arm is connected with the base and can rotates around 360 degrees of base, installs touch display screen below the base, and touch display screen and refueling control system are connected and are communicated.

10. A fuel filling robot for a fuel filling station as claimed in claim 8, characterized in that: the arm is installed at the top of filling equipment installation cabinet, and nozzle, oil conversion equipment and relevant connecting line install in the arm.

11. A control method for automatic refueling of a refueling robot of a gas station is characterized by comprising the following steps: the operation steps are as follows: