CN111977600B - Automatic automobile refueling robot - Google Patents
Automatic automobile refueling robot Download PDFInfo
- Publication number
- CN111977600B CN111977600B CN202010713423.3A CN202010713423A CN111977600B CN 111977600 B CN111977600 B CN 111977600B CN 202010713423 A CN202010713423 A CN 202010713423A CN 111977600 B CN111977600 B CN 111977600B
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- Prior art keywords
- moving base
- automobile
- oil gun
- port
- stage
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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
- 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
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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
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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
- B67D7/42—Filling nozzles
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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
- 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
- B67D2007/0419—Fuelling nozzles
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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
- 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
- B67D2007/043—Moveable
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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
- 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
- B67D2007/0444—Sensors
- B67D2007/0455—Sensors recognising the position
- B67D2007/0457—Sensors recognising the position of the car
- B67D2007/0463—Sensors recognising the position of the car optically
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
Abstract
The invention discloses an automatic automobile refueling robot which can automatically refuel an automobile in an unattended environment. Before refueling and in the refueling process, sensors such as a camera detect the position of an automobile, the position of an automobile owner, the posture of the automobile owner and suspicious objects (such as a container) forbidden to appear in the environment in real time, if dangerous factors exist, the automobile is stopped in time to warn, and if the dangerous factors cannot be eliminated all the time, remote alarm is carried out. In refueling the in-process, through sensors such as camera real-time detection car tank port position and to the distance of car side, each removes the axle cooperation and removes, guarantees that the oil gun mouth can accurate entering car tank port, realizes fast, the high and low-cost refueling of precision.
Description
Technical Field
The invention belongs to the technical field of automobile refueling, and particularly relates to an automatic automobile refueling robot.
Background
With the development of Chinese economy and the progress of society, automobiles become indispensable tools in the life of people. At present, a gas station is mainly filled manually by a filler. Due to the influence of labor cost and the difficulty of recruitment, the gas station is not equipped with enough personnel to meet the corresponding refueling requirements, so that the gas station is blocked, the waiting time of a client is long, and the refueling experience is poor.
If the traditional industrial six-axis robot is adopted to replace manual oiling, because part of rigidity is sacrificed for flexibility during the design of the industrial six-axis robot, the damage resistance of the industrial six-axis robot is weaker than that of a coordinate type robot, and the industrial six-axis robot cannot be well adapted to an unattended environment. In addition, the six-axis robot has a relatively complex track planning problem, and people nearby may be injured in the motion process, so that the six-axis robot is only suitable for being controlled by professionals.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide an automatic automobile refueling robot which can automatically complete a refueling process in an unattended environment, automatically send a fuel gun port into a fuel tank port for refueling through the movement of each coordinate axis under the condition of detecting the environmental safety, and achieve refueling with high speed, high precision and low cost.
The purpose of the invention is realized by adopting the following technical scheme:
the utility model provides an automatic car refueling robot, removes the base including removing, reciprocates base, first order back-and-forth movement base, second level back-and-forth movement base, automatic centering flexible oil gun anchor clamps and oil gun mouth, wherein:
the left-right moving base and the up-down moving base are movably connected through a guide rail sliding block; the up-down moving base and the first-stage back-and-forth moving base are movably connected through a guide rail sliding block; the first-stage front-and-back moving base and the second-stage front-and-back moving base are movably connected through a guide rail sliding block; the second-stage back-and-forth moving base is movably connected with the oil gun port through an automatic centering flexible oil gun clamp.
The invention has the further improvement that the up-down moving base moves relative to the left-right moving base through the movement of a gear rack driven by a motor; the first stage front-and-back moving base moves relative to the front-and-back moving base through the movement of a gear rack driven by a motor; the second-stage front-and-back moving base moves relative to the first-stage front-and-back moving base through the movement of a gear rack driven by a motor; the automatic centering flexible oil gun clamp is driven by an air cylinder to move relative to the second-stage front-and-back moving base; the oil gun port realizes the movement and rotation of the second-stage forward and backward movement base relatively through the universal joint with the automatic centering function on the automatic centering flexible oil gun clamp, so that the oil gun port can accurately enter an automobile oil tank port.
The invention is further improved in that a three-coordinate-like robot is adopted to accurately convey the oil gun port to the position of the automobile oil tank port, and the forward and backward movement of the oil gun port is divided into two stages: the first stage is rigid driving in a gear and rack mode, so that an oil gun port can accurately reach the position near an automobile oil tank port; the second level is flexible drive in the form of a cylinder, so that the oil gun port cannot scratch the automobile when entering the oil tank port of the automobile.
The invention is further improved in that all the motion mechanisms are wrapped in the shell or the organ protective cover, so that the risk of damaging the automatic automobile refueling robot under the unattended condition is reduced.
The invention is further improved in that a pair of cameras are arranged on two sides of the top of the up-and-down moving base, the visual field covers the surrounding environment of the oil filling port of the automatic automobile oil filling robot, and the automobile position, the automobile owner posture and suspicious objects forbidden to appear in the environment are detected in real time.
The invention has the further improvement that the first-stage front-back moving base is provided with a set gradient, so that a vehicle owner can be effectively prevented from leaning against or placing sundries on the automatic vehicle refueling robot in the refueling process, and the risk that the automatic vehicle refueling robot is damaged under the unattended condition is reduced.
The invention is further improved in that the tail end of the second stage forward and backward moving base is provided with a camera and a distance sensor, so that the position of an automobile oil tank opening and the distance from the automobile oil tank opening to the side face of the automobile are detected in real time, and the oil gun opening is ensured to accurately enter the automobile oil tank opening.
The invention has the further improvement that an automatic centering flexible oil gun clamp is arranged on the air cylinder on the inner side wall of the second-stage forward and backward moving base, and the oil gun port is connected to the automatic centering flexible oil gun clamp, so that the change of a pitch angle and a course angle can be realized, and the oil gun port can smoothly enter an oil tank port of an automobile.
The invention has the further improvement that the automatic centering flexible oil gun clamp is connected with the oil gun mouth in a clamping type manner, and the oil gun mouth is replaced according to the actual requirement.
The invention has at least the following beneficial technical effects:
the automatic automobile refueling robot provided by the invention can realize automatic refueling of an automobile in an unattended environment. Before refueling and in the refueling process, sensors such as a camera detect the position of an automobile, the position of an automobile owner, the posture of the automobile owner and suspicious objects (such as a container) forbidden to appear in the environment in real time, if dangerous factors exist, the automobile is stopped in time to warn, and if the dangerous factors cannot be eliminated all the time, remote alarm is carried out. In the refueling process, the position of the automobile fuel tank port and the distance from the automobile fuel tank port to the side face of the automobile are detected in real time through sensors such as a camera, the fuel gun port can accurately enter the automobile fuel tank port, and the refueling with high speed, high precision and low cost is realized.
The automatic automobile refueling robot provided by the invention adopts a coordinate type structure, has high rigidity, strong damage resistance and simple trajectory planning, and is suitable for an unmanned environment.
Compared with the traditional three-coordinate robot, the automatic automobile refueling robot provided by the invention has the advantages that the front-back direction movement is divided into two stages: the first stage is rigid driving in a gear and rack mode, so that an oil gun port can accurately reach the position near an automobile oil tank port; the second stage is flexible driving in a cylinder mode, so that the oil gun port cannot scratch an automobile when entering an automobile oil tank port; in addition, the oil gun port is clamped by the automatic centering flexible oil gun clamp, so that the change of a pitch angle and a course angle can be realized, and the oil gun port can smoothly enter an automobile oil tank port.
Drawings
FIG. 1 is a schematic structural diagram of an automatic vehicle refueling robot of the present invention during standby;
FIG. 2 is a schematic structural view of the automatic automobile refueling robot with the two-stage forward and backward moving base fully extended;
FIG. 3 is a schematic structural diagram of the left-right moving base of the automatic automobile refueling robot of the present invention including an organ protection cover, wherein the moving structures of the up-down moving base and the first stage front-back moving base are the same as those of the up-down moving base;
FIG. 4 is a schematic structural view of the left-right moving base of the automatic automobile refueling robot without an organ protective cover, wherein the moving structures of the up-down moving base and the first-stage front-back moving base are the same as those of the up-down moving base and the first-stage front-back moving base;
FIG. 5 is a schematic view of a side-down view of a side-to-side motion base of an automotive vehicle according to the present invention;
FIG. 6 is a schematic diagram of the structure of the up-and-down moving base of the automatic vehicle refueling robot of the present invention, wherein the up-and-down moving base and the first stage forward-and-backward moving base have the same moving structure;
FIG. 7 is a schematic structural view of a first stage forward-backward moving base and a second stage forward-backward moving base of the automatic vehicle refueling robot according to the present invention;
FIG. 8 is a schematic structural view of a second stage forward and backward moving base inner cylinder and an automatic centering flexible grease gun clamp and a grease gun port of the automatic automobile refueling robot according to the present invention.
Description of reference numerals:
1 is a left-right moving base, 101 is a left-right moving base guide rail, 102 is a left-right moving base anchor, 103 is a left-right moving base frame, 104 is a left-right moving base rack, and 105 is a left-right moving base organ protection cover; 2, an up-down moving base, 201, 202, 203, 204, 205, 206, 207, 208, 209, an up-down moving base, 201, a line rail mounting plate at the bottom of the up-down moving base, a driving motor of the up-down moving base, a slider of the up-down moving base, a gear of the up-down moving base, a felt gear of the up-down moving base, a shell of the up-down moving base, a left camera of the up-down moving base, a right camera of the up-down moving base, and an organ protection cover of the up-down moving base; 3 is a first-stage front-back moving base, and 301 is a first-stage front-back moving base shell; 4 is a second-stage front-and-back moving base, 401 is a second-stage front-and-back moving base shell, 402 is a second-stage front-and-back moving base camera, 403 is a second-stage front-and-back moving base dust ring, and 404 is a second-stage front-and-back moving base cylinder; 5, an automatic centering flexible oil gun clamp, 501, 502 and 503 are respectively a pitch angle rotating shaft, a course angle rotating shaft and a clamping device of the automatic centering flexible oil gun clamp; and 6 is an oil gun port.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings so that the advantages and features of the invention will be more readily understood by those skilled in the art, and the scope of the invention will be clearly and clearly defined.
Referring to fig. 1, the left-right moving base 1 and the up-down moving base 2 of the automatic automobile refueling robot provided by the invention are movably connected through a guide rail slider, a left-right moving base guide rail 101 fixed through a screw is arranged on the left-right moving base 1, and an up-down moving base slider 203 fixed through a screw is arranged on the up-down moving base 2; the up-down moving base 2 and the first-stage back-and-forth moving base 3 are movably connected through a guide rail slider, a guide rail fixed through a screw is arranged on the up-down moving base 2, and a slider fixed through a screw is arranged on the first-stage back-and-forth moving base 3.
Referring to fig. 2, the automatic automobile refueling robot of the present invention has a left and right moving base 1 and an up and down moving base 2 movably connected by a guide rail slider, a left and right moving base guide rail 101 fixed by a screw is provided on the left and right moving base 1, and an up and down moving base slider 203 fixed by a screw is provided on the up and down moving base 2; the up-down moving base 2 and the first-stage back-and-forth moving base are movably connected through a guide rail slide block, a guide rail fixed through a screw is arranged on the up-down moving base 2, and a slide block fixed through a screw is arranged on the first-stage back-and-forth moving base 3; the first-stage front-and-back moving base 3 and the second-stage front-and-back moving base 4 are movably connected through guide rail sliding blocks, a guide rail fixed through screws is arranged on the first-stage front-and-back moving base 3, and a sliding block fixed through screws is arranged on the second-stage front-and-back moving base 4; the second-stage forward and backward moving base 4 is movably connected with the oil gun port 6 through an automatic centering flexible oil gun clamp 5.
Referring to fig. 3, in the automatic automobile refueling robot of the present invention, a left-right moving base frame 103 of a left-right moving base 1 is connected to the ground through a left-right moving base foot 102; the right and left movement base organ protection cover 105 is arranged on the right and left movement base frame 103 of the right and left movement base 1 to prevent foreign matters from entering the automatic automobile refueling robot, and the risk that the automatic automobile refueling robot is damaged under the unattended condition is reduced.
Referring to fig. 4, the left-right moving base 1 and the up-down moving base 2 of the automatic automobile refueling robot are movably connected through a guide rail slider, a left-right moving base guide rail 101 fixed through a screw is arranged on the left-right moving base 1, and an up-down moving base slider 203 fixed through a screw is arranged on a line rail mounting plate 201 at the bottom of the up-down moving base 2. The up-down moving base 2 moves on the left-right moving base rack 104 by the up-down moving base gear 204 driven by the up-down moving base driving motor 202 to move relative to the left-right moving base 1. The moving structure of the up-down moving base 2 and the first-stage back-and-forth moving base 3 is the same as that of the up-down moving base.
Referring to fig. 5, the automatic automobile refueling robot of the present invention has a left and right moving base 1 and an up and down moving base 2 movably connected by a rail block, a left and right moving base rail 101 fixed by a screw is provided on the left and right moving base 1, and an up and down moving base block 203 fixed by a screw is provided on the up and down moving base 2. The up-down moving base 2 moves on the left-right moving base rack 104 by the up-down moving base gear 204 driven by the up-down moving base driving motor 202 to move relative to the left-right moving base 1. The bottom of the up-down moving base 2 is provided with an up-down moving base felt gear 205 to keep the rack clean. The moving structure of the up-down moving base 2 and the first-stage back-and-forth moving base 3 is the same as that of the up-down moving base.
Referring to fig. 6, in the automatic automobile refueling robot of the present invention, the two sides of the top of the up-down moving base shell 206 of the up-down moving base 2 are provided with the up-down moving base left side camera 207 and the up-down moving base right side camera 208, so that the visual field can cover the surrounding environment of the refueling port of the automatic automobile refueling robot, and the automobile position, the automobile owner posture, suspicious objects (such as a container) prohibited in the environment, etc. are detected in real time. The up-down moving base shell 206 of the up-down moving base 2 is provided with an up-down moving base organ protection cover 209 to prevent foreign matters from entering the automatic automobile refueling robot, and the risk that the automatic automobile refueling robot is damaged under the unattended condition is reduced.
Referring to fig. 7, according to the automatic automobile refueling robot disclosed by the invention, the first-stage front-and-back moving base shell 301 of the first-stage front-and-back moving base 3 has a certain gradient, so that a vehicle owner can be effectively prevented from leaning on or placing sundries on the automatic automobile refueling robot in the refueling process, and the risk that the automatic automobile refueling robot is damaged under the unattended condition is reduced. The second-stage front-and-back moving base shell 401 of the second-stage front-and-back moving base 4 is wrapped inside the first-stage front-and-back moving base shell 301 of the first-stage front-and-back moving base 3, and therefore the risk that the automatic automobile refueling robot is damaged under the unattended condition is reduced. A second stage forward and backward moving base dust ring 403 is mounted on the second stage forward and backward moving base housing 401, and the oil gun port can extend from the second stage forward and backward moving base dust ring 403. The second stage forward-backward moving base camera 402 and a distance sensor are arranged at the tail end of the second stage forward-backward moving base 4, the position of an automobile oil tank opening and the distance from the automobile oil tank opening to the side face of the automobile are detected in real time, and the fact that an oil gun port 6 can accurately enter the automobile oil tank opening is guaranteed.
Referring to fig. 8, an automatic centering flexible oil gun clamp 5 is mounted on the second stage forward-backward moving base cylinder 404 on the inner side wall of the second stage forward-backward moving base 4, wherein the automatic centering flexible oil gun clamp pitch angle rotating shaft 501 is fixed on the second stage forward-backward moving base cylinder 404 through a screw, the automatic centering flexible oil gun clamp course angle rotating shaft 502 is movably connected with the automatic centering flexible oil gun clamp pitch angle rotating shaft 501 through a rotating shaft, and the automatic centering flexible oil gun clamp clamping device 503 is movably connected with the automatic centering flexible oil gun clamp course angle rotating shaft 502 through a rotating shaft. The oil gun port 6 is connected to the automatic centering flexible oil gun clamp clamping device 503 of the automatic centering flexible oil gun clamp 5, so that the change of a pitch angle and a course angle can be realized, and the oil gun port 6 can smoothly enter an automobile oil tank port. The pitch angle rotating shaft 501 of the automatic centering flexible oil gun clamp and the course angle rotating shaft 502 of the automatic centering flexible oil gun clamp are both provided with a spring centering device and a limiting device, so that an oil gun port can rotate at a limited angle. The automatic centering flexible oil gun clamp 5 is connected with the oil gun port 6 in a clamping mode, and the oil gun port can be replaced according to actual requirements.
Examples
The invention relates to an automatic automobile refueling robot, wherein a left-right moving base 1 and an up-down moving base 2 are movably connected through a guide rail slide block; the up-down moving base 2 and the first-stage back-and-forth moving base are movably connected through a guide rail sliding block; the first-stage front-and-back moving base and the second-stage front-and-back moving base are movably connected through a guide rail sliding block; the second-stage back-and-forth moving base is movably connected with the oil gun port through an automatic centering flexible oil gun clamp. The up-down moving base 2 moves relative to the left-right moving base 1 through the movement of a gear rack driven by a motor; the first stage front-and-back moving base moves relative to the up-and-down moving base 2 through the movement of a gear rack driven by a motor; the second-stage front-and-back moving base moves relative to the first-stage front-and-back moving base through the movement of a gear rack driven by a motor; the automatic centering flexible oil gun clamp is driven by the air cylinder to move relative to the second-stage front-and-back movement base; the universal joint that has the automatic centering function on the flexible oil gun anchor clamps of automatic centering through the oil gun mouth realizes the removal and the rotation of relative second level back-and-forth movement base to make the oil gun mouth can accurately get into car oil tank port and refuel.
The specific working process of the invention is as follows:
before refueling and in the refueling process, sensors such as a camera detect the position of an automobile, the position of an automobile owner, the posture of the automobile owner and suspicious objects (such as a container) forbidden to appear in the environment in real time, if dangerous factors exist, the automobile is stopped in time to warn, and if the dangerous factors cannot be eliminated all the time, remote alarm is carried out. At the refueling in-process, through sensors such as camera real-time detection car tank port position and to the distance of car side, each removes the axle cooperation and removes, can accurately send into car tank port with the oil gun mouth, realizes fast, the high and low-cost refueling of precision.
The foregoing illustrates and describes the principles, essential features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the appended claims.
The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides an automatic car robot that refuels, its characterized in that, including remove about base (1), reciprocate base (2), first order back-and-forth movement base (3), second level back-and-forth movement base (4), automatic centering flexible oil gun anchor clamps (5) and grease gun mouth (6), wherein:
the left-right moving base (1) and the up-down moving base (2) are movably connected through a guide rail sliding block; the up-down moving base (2) is movably connected with the first-stage back-and-forth moving base (3) through a guide rail sliding block; the first-stage front-and-back moving base (3) and the second-stage front-and-back moving base (4) are movably connected through a guide rail sliding block; the second-stage front-and-back moving base (4) is movably connected with the oil gun port (6) through an automatic centering flexible oil gun clamp (5);
the up-down moving base (2) moves relative to the left-right moving base (1) through the movement of a gear rack driven by a motor; the first stage front-and-back moving base (3) moves relative to the up-and-down moving base (2) through the movement of a gear rack driven by a motor; the second-stage front-and-back moving base (4) moves relative to the first-stage front-and-back moving base (3) through the movement of a gear rack driven by a motor; the automatic centering flexible oil gun clamp (5) is driven by a cylinder to move relative to the second-stage front-and-back movement base (4); the oil gun port (6) moves and rotates relative to the second-stage forward and backward moving base (4) through a universal joint with an automatic centering function on the automatic centering flexible oil gun clamp (5), so that the oil gun port (6) can accurately enter an automobile oil tank port;
adopt three-coordinate-like robot form, send oil gun mouth (6) accuracy to car oil tank port position, its fore-and-aft direction removes and divide into the two-stage: the first stage is rigid driving in a gear and rack mode, so that an oil gun port (6) can accurately reach the position close to an automobile oil tank port; the second stage is flexible driving in a cylinder mode, so that the oil gun port (6) can not scratch the automobile when entering the automobile oil tank port;
the first-stage front-and-back moving base (3) is provided with a set gradient, so that an automobile owner can be effectively prevented from leaning against or placing sundries on the automatic automobile refueling robot in the refueling process, and the risk that the automatic automobile refueling robot is damaged under the unattended condition is reduced;
the camera and the distance sensor are arranged at the tail end of the second-stage forward and backward moving base (4), so that the position of an automobile oil tank port and the distance from the automobile oil tank port to the side face of the automobile are detected in real time, and the oil gun port is ensured to accurately enter the automobile oil tank port;
the automatic centering flexible oil gun clamp (5) is arranged on the air cylinder on the inner side wall of the second-stage forward and backward moving base (4), the oil gun port (6) is connected to the automatic centering flexible oil gun clamp (5), the change of a pitch angle and a course angle can be realized, and the oil gun port (6) can smoothly enter an automobile oil tank port.
2. An automated vehicle refuelling robot according to claim 1 wherein all kinematic mechanisms are encased in a housing or organ shield to reduce the risk of damage to the automated vehicle refuelling robot in an unattended situation.
3. The automatic automobile refueling robot as claimed in claim 1, wherein a pair of cameras are mounted on two sides of the top of the up-down moving base (2), the visual field covers the surrounding environment of the refueling port of the automatic automobile refueling robot, and the automobile position, the automobile owner posture and suspicious objects prohibited from appearing in the environment are detected in real time.
4. The automatic automobile refueling robot as claimed in claim 1, wherein the automatic centering flexible oil gun clamp (5) is connected with the oil gun port (6) in a clamping manner, and the oil gun port (6) is replaced according to actual requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010713423.3A CN111977600B (en) | 2020-07-22 | 2020-07-22 | Automatic automobile refueling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010713423.3A CN111977600B (en) | 2020-07-22 | 2020-07-22 | Automatic automobile refueling robot |
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| Publication Number | Publication Date |
|---|---|
| CN111977600A CN111977600A (en) | 2020-11-24 |
| CN111977600B true CN111977600B (en) | 2022-07-12 |
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| CN202010713423.3A Active CN111977600B (en) | 2020-07-22 | 2020-07-22 | Automatic automobile refueling robot |
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| CN112777555A (en) * | 2021-03-23 | 2021-05-11 | 江苏华谊广告设备科技有限公司 | Intelligent oiling device and method |
| CN113580151B (en) * | 2021-06-28 | 2023-01-13 | 江阴市富仁高科股份有限公司 | Full-automatic hydrogenation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201014505Y (en) * | 2006-11-20 | 2008-01-30 | 艾佩克斯科技(北京)有限公司 | Telescoping mechanism of microoil gun |
| CN105193435A (en) * | 2014-06-11 | 2015-12-30 | 南京普爱射线影像设备有限公司 | Synchronization telescoping device of medical X-ray generator movement arm |
| CN105628411B (en) * | 2014-10-28 | 2018-04-03 | 中国航空工业集团公司西安飞机设计研究所 | A kind of rigid flight refuelled system Three Degree Of Freedom translational motion analogue means |
| CN206748434U (en) * | 2016-11-30 | 2017-12-15 | 深圳职业技术学院 | A kind of Automatic-searching automotive oil tank oiling robot |
| CN108128747B (en) * | 2017-12-22 | 2020-07-28 | 河南理工大学 | Refueling robot and gas station |
| CN207681945U (en) * | 2017-12-27 | 2018-08-03 | 广州奥拓夫节能科技有限公司 | Three axis workbenches |
| CN108190825B (en) * | 2017-12-29 | 2023-12-26 | 北京星和众工设备技术股份有限公司 | Oil gun grabbing device |
| CN207790125U (en) * | 2018-01-20 | 2018-08-31 | 浙江高光数控科技有限公司 | A kind of golden eagle machine of the two-orbit with organ cover |
| CN108751106A (en) * | 2018-05-16 | 2018-11-06 | 合肥亿福自动化科技有限公司 | A kind of robot automatic fuelling device |
| CN109592632B (en) * | 2019-02-18 | 2024-07-09 | 济南瑞玛电气有限公司 | Automatic flexible filling rifle |
| CN110371915B (en) * | 2019-06-06 | 2021-07-30 | 江阴市富仁高科股份有限公司 | Automatic oiling gun connected with oiling machine and oiling method |
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2020
- 2020-07-22 CN CN202010713423.3A patent/CN111977600B/en active Active
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