CN112549039B

CN112549039B - Distributed multifunctional oiling robot end effector

Info

Publication number: CN112549039B
Application number: CN202011262375.7A
Authority: CN
Inventors: 徐海波; 刘旭阳; 陈家豪; 薛海洋; 沈翁炀
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2022-05-20
Anticipated expiration: 2040-11-12
Also published as: CN112549039A

Abstract

The invention discloses a distributed multifunctional oiling robot end effector, wherein a driven shaft is connected on a driven supporting structure, one end of an oil gun integral structure, one end of an oil tank opening inner cover integral structure and one end of an oil tank opening outer cover integral structure are all sleeved on the driven shaft and are rotatably connected with the driven shaft, the integral driving structure comprises an oil gun driving bearing structure, an oil tank opening outer cover driving bearing structure and an oil tank opening inner cover driving bearing structure which can respectively drive the oil gun integral structure, the oil tank opening inner cover integral structure and the oil tank opening outer cover integral structure to rotate around the driven shaft in a reciprocating way, the integral structure of the oil gun and the driving bearing structure of the oil gun, the integral structure of the inner cover of the oil tank and the driving bearing structure of the outer cover of the oil tank, and the integral structure of the outer cover of the oil tank and the driving bearing structure of the inner cover of the oil tank are connected through a group of forward rope transmission structures and reverse rope transmission structures respectively. The invention can greatly reduce the weight of the tail end robot and improve the efficiency.

Description

Distributed multifunctional oiling robot end effector

Technical Field

The invention belongs to the technical field of automatic automobile refueling, and particularly relates to an end effector of a distributed multifunctional refueling robot.

Background

The main mode of refueling to current car still is the manual refueling, needs to carry out the refueling on duty by special personnel, and whole refueling efficiency is lower, along with the development of technique, to some heavier and frequent work of labour, has the mechanized necessity of changing the people. At present, some basic researches are carried out aiming at automatic refueling, but the basic researches are not put into practical application.

Patent CN110182746A has issued an intelligent full-automatic oiling robot and intelligent full-automatic oiling system. The quick-change male connector on the tail end of the mechanical arm is replaced and butted with the quick-change female connector of the tail end actuator, actions such as opening the outer cover, opening the inner cover and oiling are sequentially performed, the whole process is complex, and the efficiency is low.

Patent CN 108751107A has issued an oiling robot and intelligent oiling system, and this patent is also through the arm to grab in proper order and take off enclosing cover, inner cup, mechanism such as refuel, is realizing concrete intelligent oiling in-process, and inefficiency.

Among the intelligence of issuing at present refuels robot and refueling system, all there need the arm to get in proper order and snatch each end effector and remove the problem of accomplishing the refueling, and overall efficiency is lower, can not be integrated to an end with each end effector on, and its leading cause lies in with each end effector integrated together, need add a plurality of end effector power supplies, and whole end is heavier, realizes comparatively difficultly.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a distributed multifunctional oiling robot end effector, which separates a power source of the end effector from a part of the end effector for executing tasks, and transmits the power source to the end effector through a flexible rope transmission mechanism, so that the weight of the end robot can be greatly reduced, and the efficiency is improved.

In order to realize the purpose, the invention adopts the following technical scheme to realize the purpose:

a distributed multifunctional oiling robot end effector comprises an integral driving structure, a forward rope transmission structure, a reverse rope transmission structure, a driven supporting structure, an oil gun integral structure, an oil tank inner cover integral structure and an oil tank outer cover integral structure, wherein the driven supporting structure can be connected with a robot connecting flange, a driven shaft is connected onto the driven supporting structure, one end of the oil gun integral structure, one end of the oil tank inner cover integral structure and one end of the oil tank outer cover integral structure are sleeved on the driven shaft and can be rotatably connected with the driven shaft, the integral driving structure comprises an oil gun driving bearing structure which can respectively drive the oil gun integral structure, the oil tank inner cover integral structure and the oil tank outer cover integral structure to rotate back and forth around the driven shaft, an oil tank outer cover driving bearing structure and an oil tank inner cover driving bearing structure, the oil gun integral structure and the oil gun driving bearing structure are connected through a set of forward rope transmission structure and a reverse rope transmission structure, the oil tank opening inner cover integral structure is connected with the oil tank opening outer cover driving bearing structure through a set of forward rope transmission structure and a reverse rope transmission structure, and the oil tank opening outer cover integral structure is connected with the oil tank opening inner cover driving bearing structure through a set of forward rope transmission structure and a reverse rope transmission structure.

Preferably, the integral driving structure comprises a rotary cylinder, a driving structure supporting seat and a transmission shaft, the rotary cylinder and the transmission shaft are arranged on the driving structure supporting seat, the transmission shaft is rotatably connected with the driving structure supporting seat, and an output shaft of the rotary cylinder is connected with one end of the transmission shaft; the structure of the oil gun driving bearing structure, the structure of the oil tank outer cover driving bearing structure and the structure of the oil tank inner cover driving bearing structure are the same, and the oil gun driving bearing structure, the oil tank outer cover driving bearing structure and the oil tank inner cover driving bearing structure respectively comprise a bearing seat, a connecting flange and a ventilation locking bearing, one end of the bearing seat is arranged on a driving structure supporting seat, the other end of the bearing seat is provided with a through hole and is sleeved on a transmission shaft through the through hole, the connecting flange and the ventilation locking bearing are both sleeved on the transmission shaft, one end of the connecting flange is rotatably connected with the through hole on the bearing seat, the ventilation locking bearing comprises a ventilation locking bearing inner ring and a ventilation locking bearing outer ring, the ventilation locking bearing outer ring is sleeved on the ventilation locking bearing inner ring, the ventilation locking bearing outer ring is also coaxially and fixedly connected with the connecting flange, and the ventilation locking bearing inner ring is sleeved on the transmission shaft and can synchronously rotate along with the transmission shaft; the outer ring of the ventilation locking bearing is connected with a driving bearing structure of an oil gun, a driving bearing structure of an outer cover of an oil tank or a driving bearing structure of an inner cover of the oil tank through a group of forward rope transmission structures and reverse rope transmission structures; the ventilating locking bearing inner ring and the ventilating locking bearing outer ring can rotate relatively when not ventilated and locked, and the ventilating locking bearing inner ring and the ventilating locking bearing outer ring are locked mutually and can rotate synchronously when ventilated and locked.

Preferably, the surface of the outer ring of the ventilating and locking bearing outer ring is provided with a rope connecting hole for connecting with the forward rope transmission structure and the reverse rope transmission structure, and a groove for embedding a rope of the forward rope transmission structure and the reverse rope transmission structure; the connecting part of the ventilating and locking bearing inner ring and the ventilating and locking bearing outer ring is provided with a ball-bumping pin, the inner ring of the ventilating and locking bearing outer ring is provided with a sliding groove for embedding steel balls of the ball-bumping pin, the ventilating and locking bearing inner ring is provided with a ventilating and locking bearing inner ring air hole, an air passage is arranged from the ventilating and locking bearing inner ring air hole to the position of each ball-bumping pin in the ventilating and locking bearing inner ring, and the part of the ball-bumping pin, which is positioned in the ventilating and locking bearing inner ring, is sealed with the air passage.

Preferably, oil gun overall structure includes oil gun overall fixed plate, oil gun trigger actuating mechanism, oil gun mount pad and oil gun, and the one end of oil gun overall fixed plate is equipped with the mounting hole, and oil gun overall fixed plate passes through the mounting hole cover on the driven shaft and with driven shaft rotatable coupling, this end of oil gun overall fixed plate is connected with oil gun drive bearing structure through a set of forward rope transmission structure and reverse rope transmission structure, and the oil gun mount pad is installed on oil gun overall fixed plate, and the oil gun is installed on the oil gun mount pad, and oil gun trigger actuating mechanism installs on oil gun overall fixed plate and is located oil gun trigger department.

Preferably, oil gun trigger actuating mechanism includes sharp cylinder and trigger finger, and sharp cylinder is installed on the whole fixed plate of oil gun, and trigger finger and sharp cylinder output shaft are connected, and trigger finger is located oil gun trigger one side, and trigger finger is used for pulling and releasing the oil gun trigger.

Preferably, the integral structure of the oil tank opening inner cover comprises an integral oil tank opening inner cover fixing plate, a rotary driving mechanism, a cover screwing buffer mechanism, a pneumatic finger and a chuck, wherein one end of the integral oil tank opening inner cover fixing plate is provided with a mounting hole, the integral oil tank opening inner cover fixing plate is sleeved on a driven shaft through the mounting hole and is rotatably connected with the driven shaft, and the end of the integral oil tank opening inner cover fixing plate is connected with a driving bearing structure of an oil tank opening outer cover through a group of forward rope transmission structures and reverse rope transmission structures; the rotary driving mechanism is installed on the integral fixing plate of the inner cover of the oil tank, one end of the spiral cover buffering mechanism is connected with the output end of the rotary driving mechanism, the rotary driving mechanism can drive the spiral cover buffering mechanism to rotate, the other end of the spiral cover buffering mechanism is connected with a pneumatic finger, and a chuck used for clamping the oil tank cover is connected onto the pneumatic finger.

Preferably, the rotary driving mechanism comprises a pneumatic motor and a speed reducer, a pneumatic motor fixing plate and an inner cover opening structure mounting seat are mounted on an oil tank opening inner cover integral fixing plate, the pneumatic motor is mounted on the pneumatic motor fixing plate, the speed reducer is mounted in the inner cover opening structure mounting seat, an output shaft of the pneumatic motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with one end of the cover screwing buffer mechanism;

the spiral cover buffer mechanism comprises a spiral cover buffer structure sleeve, a buffer spring and a tail end connecting rod, one end of the spiral cover buffer structure sleeve is connected with an output shaft of the speed reducer, one end of the tail end connecting rod extends into the other end of the spiral cover buffer structure sleeve, the end of one end of the tail end connecting rod is connected with a flat key, a long hole or a long groove which is used for the flat key to extend into is formed in the wall of the spiral cover buffer structure sleeve along the axial direction, the buffer spring is arranged inside the spiral cover buffer structure sleeve, and the other end of the tail end connecting rod is connected with a pneumatic finger.

Preferably, the integral structure of the outer cover of the oil tank comprises an integral fixing plate of the outer cover, a sucker mounting sleeve, a vacuum sucker and a micro vacuum pump, wherein a mounting hole is formed in one end of the integral fixing plate of the outer cover, the integral fixing plate of the outer cover is sleeved on the driven shaft through the mounting hole and is rotatably connected with the driven shaft, and the end of the integral fixing plate of the outer cover is connected with a driving bearing structure of the inner cover of the oil tank through a group of forward rope transmission structures and reverse rope transmission structures; the sucking disc installation sleeve is installed in the other end of opening the whole fixed plate of enclosing cover, and sucking disc installation sleeve is piston structure, and vacuum chuck and the end connection of sucking disc installation sleeve piston rod, micro vacuum pump install on opening the whole fixed plate of enclosing cover and with a cavity intercommunication of sucking disc installation sleeve inner chamber.

Preferably, at oil gun overall structure on the driven bearing structure, open oil tank inner cup overall structure and open oil tank enclosing cover overall structure cover all install the spring in the relative position of one end on the driven shaft, oil gun overall structure, open oil tank inner cup overall structure and open oil tank enclosing cover overall structure's this end and establish to the circular arc structure, the spring is in compression state, the one end and the driven bearing structure of spring are connected, the other end of spring respectively with oil gun overall structure, open oil tank inner cup overall structure and open oil tank enclosing cover overall structure's circular arc structure surface and contact.

Preferably, the forward rope transmission structure comprises a first sleeve and a first rope, one end of the first sleeve is connected with the integral driving structure, the other end of the first sleeve is connected with the driven supporting structure, and the first rope penetrates through the first sleeve;

the reverse rope transmission structure comprises a second sleeve and a second rope, one end of the second sleeve is connected with the integral driving structure, the other end of the second sleeve is connected with the driven supporting structure, and the second rope penetrates through the second sleeve;

the oil gun integral structure is connected with the oil gun driving bearing structure through a first rope and a second rope, the oil tank inner cover integral structure is connected with the oil tank outer cover driving bearing structure through the first rope and the second rope, and the oil tank outer cover integral structure is connected with the oil tank inner cover driving bearing structure through the first rope and the second rope.

Compared with the existing manual operation mode, the invention has the beneficial effects that:

the distributed multifunctional oiling robot end effector separates an integral driving structure from a part for executing tasks (namely a driven supporting structure, an oil gun integral structure, an oil tank opening inner cover integral structure and an oil tank opening outer cover integral structure), the oil gun integral structure is connected with an oil gun driving bearing structure through a group of forward rope transmission structures and reverse rope transmission structures, the oil tank opening inner cover integral structure is connected with an oil tank opening outer cover driving bearing structure through a group of forward rope transmission structures and reverse rope transmission structures, the oil tank opening outer cover integral structure is connected with the oil tank opening inner cover driving bearing structure through a group of forward rope transmission structures and reverse rope transmission structures, and power output by the integral driving structure can be respectively transmitted to the oil gun integral structure, the oil tank opening inner cover integral structure and the oil tank opening outer cover integral structure by utilizing the forward rope transmission structures and the reverse rope transmission structures, and the tail end robot is controlled to work respectively, the structure is simple, the weight is light, and therefore the whole weight of the tail end robot can be greatly reduced, and the efficiency is improved.

Furthermore, the whole driving structure utilizes the ventilating locking bearing, and can control the combination or separation between the inner ring of the ventilating locking bearing and the outer ring of the ventilating locking bearing by utilizing compressed air when needed, so that transmission and contact transmission are realized.

Furthermore, the ball-bumping pin is arranged at the connecting part of the inner ring of the ventilating and locking bearing and the outer ring of the ventilating and locking bearing, the inner ring of the outer ring of the ventilating and locking bearing is provided with a sliding groove for embedding the steel balls of the ball-bumping pin, and the ball-bumping pin and the sliding groove are utilized, so that the inner ring of the ventilating and locking bearing and the outer ring of the ventilating and locking bearing can be quickly assembled and disassembled, and can relatively rotate at the same time, and the connecting requirement during non-transmission is met; the vent lock bearing inner ring air hole on the vent lock bearing inner ring can convey compressed gas into all air passages, and the part of the ball collision pin, which is positioned inside the vent lock bearing inner ring, is sealed with the air passages, so that after the compressed gas is introduced, the compressed gas can drive the steel balls of the ball collision pin to outwards push against the inner surface of the vent lock bearing outer ring, so that the vent lock bearing inner ring and the vent lock bearing outer ring form an integral structure, and the transmission is realized.

Further, at oil gun overall structure on the driven bearing structure, open oil tank inner cup overall structure and open oil tank enclosing cover overall structure cover all install the spring in the relative position of one end on the driven shaft, oil gun overall structure, open oil tank inner cup overall structure and open oil tank enclosing cover overall structure's this end and establish to circular arc structure, the spring is in compression state, the one end and the driven bearing structure of spring are connected, the other end of spring respectively with oil gun overall structure, open oil tank inner cup overall structure and open oil tank enclosing cover overall structure's circular arc structure surface and contact, in this structural style, utilize spring and oil gun overall structure, open oil tank inner cup overall structure and open the slight frictional force before the oil tank enclosing cover overall structure and can avoid them to rock when rotating too big, play the cushioning effect, ensure overall structure stability at the during operation.

Drawings

FIG. 1 is an overall appearance diagram of an end effector of the distributed multi-functional fueling robot of the present invention;

FIG. 2 is an overall external view of a driving structure of the end effector of the distributed multifunctional refueling robot according to the present invention;

FIG. 3 is a cutaway view of the overall appearance of the driving structure of the end effector of the distributed multifunctional refueling robot according to the present invention;

fig. 4(a) is a schematic view of the quick locking of the driving structure bearing of the end effector of the distributed multifunctional oiling robot according to the present invention; fig. 4(b) is a cross-sectional view of the quick locking of the driving structure bearing of the end effector of the distributed multifunctional oiling robot according to the present invention;

fig. 5(a) is a cross-sectional view of the outer ring of the vent lock bearing of the end effector of the distributed multifunctional oiling robot of the invention;

fig. 5(b) is an overall schematic view of an outer ring of a vent lock bearing of the end effector of the distributed multifunctional oiling robot according to the present invention;

fig. 5(c) is an overall schematic view of an inner ring of a ventilating and locking bearing of an end effector of the distributed multifunctional oiling robot according to the present invention;

FIG. 5(d) is a cross-sectional view of the inner race of the vent lock bearing of the end effector of the distributed multi-function fueling robot of the present invention;

fig. 6(a) is a structural diagram of a forward rope transmission structure of the distributed multifunctional refueling robot end effector; fig. 6(b) is a schematic structural diagram of a reverse rope transmission structure of the distributed multifunctional refueling robot end effector of the invention;

FIG. 7 is a schematic view of a driven support structure of the distributed multifunctional refueling robot end effector of the present invention;

FIG. 8 is a schematic view of the connection structure of the driven support structure, the oil gun overall structure, the oil tank opening inner cover overall structure and the oil tank opening outer cover overall structure of the distributed multifunctional oiling robot end effector of the present invention;

FIG. 9 is a schematic view of the assembly of the overall structure of the end effector gun of the distributed multi-functional fueling robot of the present invention;

fig. 10(a) is an overall schematic view of a structure of the distributed multifunctional oiling robot end effector oil gun overall fixing plate, the oil gun mounting seat, the linear cylinder and the trigger finger after connection according to the present invention; fig. 10(b) is a schematic structural diagram of an integral fixing plate of an end effector oil gun of the distributed multifunctional oiling robot according to the present invention;

FIG. 11 is a schematic view of the overall appearance of the integrated structure of the oil-opening tank inner cover of the end effector of the distributed multifunctional oiling robot according to the present invention;

fig. 12(a) is a detailed structural schematic diagram of an overall structure of an oil tank inner cover of an end effector of the distributed multifunctional oiling robot; fig. 12(b) is a schematic structural view of an integral fixing plate of an oil-opening tank inner cover of the end effector of the distributed multifunctional oiling robot according to the present invention;

fig. 13(a) is a schematic structural diagram of an overall structure of an oil-out cover of an end effector of the distributed multifunctional oiling robot according to the present invention; fig. 13(b) is a schematic structural view of an end effector opening cover integral fixing plate of the distributed multifunctional oiling robot of the present invention;

FIG. 14 is a schematic diagram of an end effector of the distributed multi-function fueling robot for performing a fueling operation in accordance with the present invention;

FIG. 15 is a schematic view of the end effector of the distributed multi-functional fueling robot of the present invention shown without performing a fueling operation;

in the figure:

1 is an integral driving structure, 101 is a rotary cylinder, 102 is a rotary cylinder fixing seat, 103 is a coupling, 104 is a driving structure supporting seat, 105 is a transmission shaft, 106 is a transmission shaft supporting bearing, 107 is a No. 92 oil gun driving bearing structure, 108 is an oil tank outer cover driving bearing structure, 109 is an oil tank inner cover driving bearing structure, and 1010 is a No. 95 oil gun driving bearing structure; 1071 is the bearing bracket, 1072 is the support bearing, 1073 is the flange, 1074 is ventilating and locking the bearing outer race, 1075 is ventilating and locking the bearing inner race, 1076 is ventilating and locking the bearing inner race, 10741 is the flange attachment hole, 10742 is the rope attachment hole, 10743 is ventilating and locking the bearing inner race inner wall, 10751 is ventilating and locking the bearing inner race air vent, 10752 is the steel ball, 10753 is the air flue; the structure of the

driving bearing structure

108, 109 of the outer cover of the oil tank, the structure of the driving bearing structure 1010, the structure of the driving bearing structure of the No. 95 oil gun and the structure of the driving bearing structure 107 of the No. 92 oil gun are the same, and the detailed structure diagrams are not repeated;

2, a forward rope transmission structure, 201 is a first sleeve, and 202 is a first rope;

3, a reverse rope transmission structure, 301 is a second sleeve, 302 is a second rope;

4 is a robot connecting flange;

5, a driven supporting structure, 501, a driven structure supporting seat, 502, a flange connecting plate, 503, a spring, 504, a driven shaft supporting bearing, 505, a driven shaft, 506, a No. 92 oil gun integral supporting bearing, 507, an oil tank opening inner cover supporting bearing, 508, an oil tank opening outer cover supporting bearing and 509, a No. 95 oil gun integral supporting bearing;

no. 6 is an integral structure of No. 92 oil gun, 601 is an integral fixing plate of the oil gun, 602 is an oil gun mounting seat, 603 is a linear cylinder, 604 is a trigger finger, 605 is an oil gun trigger, 606 is a No. 92 oil gun; 6011 is a bearing seat, and 6012 is a rope connecting hole;

7, an oil tank opening inner cover integral structure, 701, 702, 703, a pneumatic motor fixing plate, 704, a cover screwing buffer mechanism, 705, 706, a pneumatic motor, 707, a small belt pulley, 708, a large belt pulley and 709, wherein the oil tank opening inner cover integral structure is provided with an oil tank opening inner cover integral fixing plate; 7011 is a bearing seat, 7012 is a rope connecting hole, 7041 is a screw cap buffer structure sleeve, 7042 is a buffer spring, 7043 is a flat key, 7044 is a tail end connecting rod, 7051 is a chuck, 7081 is a central shaft;

8, an oil tank outer cover integral structure is opened, 801 is an outer cover integral fixing plate, 802 is a sucker mounting sleeve, 803 is a vacuum sucker and 804 is a micro vacuum pump; 8011 is a bearing seat, 8012 is a rope connecting hole;

no. 9 is a No. 95 oil gun integral structure, the structure of which is consistent with that of No. 92 oil tank integral structure, and the detailed structure diagram is not repeated.

Detailed Description

The invention is further described below with reference to the figures and examples.

Referring to fig. 1, 7, 8, 14 and 15, the distributed multifunctional oiling robot end effector of the invention comprises an integral driving structure 1, a forward rope transmission structure, a reverse rope transmission structure, a driven supporting structure 5, an oil gun integral structure, an oil tank opening inner cover integral structure 7 and an oil tank opening outer cover integral structure 8, wherein the driven supporting structure 5 can be connected with a robot connecting flange 4, the driven supporting structure 5 is connected with a driven shaft 505, one end of the oil gun integral structure, one end of the oil tank opening inner cover integral structure 7 and one end of the oil tank opening outer cover integral structure 8 are all sleeved on the driven shaft 505 and rotatably connected with the driven shaft 505, the integral driving structure 1 comprises an oil gun driving shaft bearing structure capable of respectively driving the oil gun integral structure, the oil tank opening inner cover integral structure 7 and the oil tank opening outer cover integral structure 8 to rotate around the driven shaft 505 in a reciprocating manner, Drive bearing structure 108 and drive bearing structure 109 are opened to the oil tank enclosing cover, be connected through a set of forward rope transmission structure and reverse rope transmission structure between oil gun overall structure and the oil gun drive bearing structure, open oil tank enclosing cover overall structure 7 and open between the oil tank enclosing cover drive bearing structure 108 through a set of forward rope transmission structure and reverse rope transmission structure connection, open between oil tank enclosing cover overall structure 8 and open between the oil tank enclosing cover drive bearing structure 109 through a set of forward rope transmission structure and reverse rope transmission structure connection.

As a preferred embodiment of the present invention, referring to fig. 1-3, the overall driving structure 1 includes a rotary cylinder 101, a driving structure supporting base 104 and a transmission shaft 105, the rotary cylinder 101 and the transmission shaft 105 are mounted on the driving structure supporting base 104, the transmission shaft 105 is rotatably connected to the driving structure supporting base 104, and an output shaft of the rotary cylinder 101 is connected to one end of the transmission shaft 105; the structure of the oil gun driving bearing structure, the structure of the oil tank opening outer cover driving bearing 108 and the structure of the oil tank opening inner cover driving bearing 109 are the same, and all comprise a bearing seat 1071, the bearing comprises a connecting flange 1073 and a ventilation locking bearing, wherein one end of a bearing seat 1071 is installed on a driving structure supporting seat 104, the other end of the bearing seat 1071 is provided with a through hole and is sleeved on a transmission shaft 105 through the through hole, the connecting flange 1073 and the ventilation locking bearing are both sleeved on the transmission shaft 105, one end of the connecting flange 1073 is rotatably connected with the through hole on the bearing seat 1071, the ventilation locking bearing comprises a ventilation locking bearing inner ring 1075 and a ventilation locking bearing outer ring 1074, the ventilation locking bearing outer ring 1074 is sleeved on the ventilation locking bearing inner ring 1075, the ventilation locking bearing outer ring 1074 is also coaxially and fixedly connected with the connecting flange 1073, and the ventilation locking bearing inner ring 1075 is sleeved on the transmission shaft 105 and can synchronously rotate along with the transmission shaft 105; the ventilation locking bearing outer ring 1074 is connected with the oil gun driving bearing structure, the oil tank opening outer cover driving bearing structure 108 or the oil tank opening inner cover driving bearing structure 109 through a group of forward rope transmission structure and reverse rope transmission structure; the ventilating locking bearing inner ring 1075 and the ventilating locking bearing outer ring 1074 can rotate relatively when not ventilating and locking, and the ventilating locking bearing inner ring 1075 and the ventilating locking bearing outer ring 1074 are locked with each other and can rotate synchronously when ventilating and locking.

As a preferred embodiment of the present invention, referring to fig. 4(a), 4(b), 5(a) -5 (d), the outer ring surface of the outer ring 1074 of the breather locking bearing is provided with a rope connection hole 10742 for connection with the forward rope transmission structure and the reverse rope transmission structure, and a groove for rope insertion of the forward rope transmission structure and the reverse rope transmission structure; the connecting portion of the ventilating and locking bearing inner ring 1075 and the ventilating and locking bearing outer ring 1074 is provided with a ball-touching pin, the inner ring of the ventilating and locking bearing outer ring 1074 is provided with a sliding groove for embedding steel balls of the ball-touching pin, the ventilating and locking bearing inner ring 1075 is provided with a ventilating and locking bearing inner ring air hole 10751, an air passage 10753 is arranged from the ventilating and locking bearing inner ring air hole 10751 to the position of each ball-touching pin in the ventilating and locking bearing inner ring 1075, and the part of the ball-touching pin in the ventilating and locking bearing inner ring 1075 is sealed with the air passage 10753.

Referring to fig. 8, 9, 10(a) and 10(b), the overall structure of the oil gun includes an overall oil gun fixing plate 601, an oil gun trigger driving mechanism, an oil gun mounting seat 602 and an oil gun, wherein one end of the overall oil gun fixing plate 601 is provided with a mounting hole, the overall oil gun fixing plate 601 is sleeved on the driven shaft 505 through the mounting hole and rotatably connected with the driven shaft 505, the end of the overall oil gun fixing plate 601 is connected with the oil gun driving bearing structure through a set of forward rope transmission structure and reverse rope transmission structure, the oil gun mounting seat 602 is mounted on the overall oil gun fixing plate 601, the oil gun is mounted on the oil gun mounting seat 602, and the oil gun trigger driving mechanism is mounted on the overall oil gun fixing plate 601 and located at the oil gun trigger 605.

Referring to fig. 9 and 10(a), the oil gun trigger driving mechanism includes a linear cylinder 603 and a trigger finger 604, the linear cylinder 603 is mounted on the oil gun integral fixing plate 601, the trigger finger 604 is connected to the output shaft of the linear cylinder 603, the trigger finger 604 is located at one side of an oil gun trigger 605, and the trigger finger 604 is used for pulling and releasing the oil gun trigger 605.

As a preferred embodiment of the present invention, referring to fig. 11, 12(a) and 12(b), the oil-tank opening inner cap integral structure 7 comprises an oil-tank opening inner cap integral fixing plate 701, a rotation driving mechanism, a cap-rotating buffer mechanism 704, a pneumatic finger 705 and a chuck 7051, wherein one end of the oil-tank opening inner cap integral fixing plate 701 is provided with a mounting hole, the oil-tank opening inner cap integral fixing plate 701 is sleeved on the driven shaft 505 through the mounting hole and is rotatably connected with the driven shaft 505, and the end of the oil-tank opening inner cap integral fixing plate 701 is connected with the oil-tank opening outer cap driving bearing structure 108 through a set of a forward rope transmission structure and a reverse rope transmission structure; the rotary driving mechanism is arranged on the integral fixing plate 701 of the inner cover of the oil tank, one end of the cap screwing buffering mechanism 704 is connected with the output end of the rotary driving mechanism, the rotary driving mechanism can drive the cap screwing buffering mechanism 704 to rotate, the other end of the cap screwing buffering mechanism 704 is connected with the pneumatic finger 705, and the pneumatic finger 705 is connected with a chuck 7051 used for clamping the oil tank cap.

As a preferred embodiment of the present invention, referring to fig. 11, 12(a) and 12(b), the rotation driving mechanism includes a pneumatic motor 706 and a speed reducer, a pneumatic motor fixing plate 703 and an open inner cover structure mounting base 702 are mounted on the open oil tank inner cover integral fixing plate 701, the pneumatic motor 706 is mounted on the pneumatic motor fixing plate 703, the speed reducer is mounted in the open inner cover structure mounting base 702, an output shaft of the pneumatic motor 706 is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with one end of a rotary cover buffer mechanism 704; the cap screwing buffer mechanism 704 comprises a cap screwing buffer structure sleeve 7041, a buffer spring 7042 and a tail end connecting rod 7044, one end of the cap screwing buffer structure sleeve 7041 is connected with an output shaft of the speed reducer, one end of the tail end connecting rod 7044 extends into the other end of the cap screwing buffer structure sleeve 7041, the end of one end of the tail end connecting rod 7044 is connected with a flat key 7043, a long hole or a long groove for the flat key 7043 to extend into is axially formed in the cylinder wall of the cap screwing buffer structure sleeve 7041, the buffer spring 7042 is arranged inside the cap screwing buffer structure sleeve 7041, and the other end of the tail end connecting rod 7044 is connected with a pneumatic finger 705.

As a preferred embodiment of the present invention, referring to fig. 13(a) and 13(b), the open oil tank outer cover integral structure 8 comprises an open outer cover integral fixing plate 801, a suction cup mounting sleeve 802, a vacuum suction cup 803 and a micro vacuum pump 804, wherein one end of the open outer cover integral fixing plate 801 is provided with a mounting hole, the open outer cover integral fixing plate 801 is sleeved on the driven shaft 505 through the mounting hole and is rotatably connected with the driven shaft 505, and the end of the open outer cover integral fixing plate 801 is connected with the open oil tank inner cover drive bearing structure 109 through a set of forward rope transmission structure and reverse rope transmission structure; the sucker mounting sleeve 802 is mounted at the other end of the open outer cover integral fixing plate 801, the sucker mounting sleeve 802 is of a piston structure, the vacuum sucker 803 is connected with the end of a piston rod of the sucker mounting sleeve 802, and the micro vacuum pump 804 is mounted on the open outer cover integral fixing plate 801 and is communicated with a cavity of an inner cavity of the sucker mounting sleeve 802.

Referring to fig. 7 and 8, as a preferred embodiment of the present invention, springs 503 are mounted on the driven support structure 5 at positions opposite to the ends of the oil gun integral structure, the oil tank opening inner cover integral structure 7 and the oil tank opening outer cover integral structure 8 sleeved on the driven shaft 505, the ends of the oil gun integral structure (the oil gun integral fixing plate 601 thereof), the oil tank opening inner cover integral structure 7 (the oil tank opening inner cover integral fixing plate 701 thereof) and the oil tank opening outer cover integral structure 8 (the oil tank opening outer cover integral fixing plate 801 thereof) are arc structures, the springs 503 are in a compressed state, one ends of the springs 503 are connected with the driven support structure 5, and the other ends of the springs 503 are respectively contacted with the arc structure surfaces of the oil gun integral structure, the oil tank opening inner cover integral structure 7 and the oil tank opening outer cover integral structure 8.

As a preferred embodiment of the present invention, referring to fig. 1, fig. 2, fig. 4(a), fig. 6(b), fig. 8, fig. 9, fig. 10(b), fig. 11, fig. 13(a) and fig. 13(b), the forward rope transmission structure includes a first sleeve 201 and a first rope 202, one end of the first sleeve 201 is connected to the integral driving structure 1, the other end of the first sleeve 201 is connected to the driven support structure 5, and the first rope 202 passes through the first sleeve 201;

the reverse rope transmission structure comprises a second sleeve 301 and a second rope 302, one end of the second sleeve 301 is connected with the integral driving structure 1, the other end of the second sleeve 301 is connected with the driven support structure 5, and the second rope 302 penetrates through the second sleeve 301; the first rope 202 and the second rope 302 may be flexible steel cables.

The integral structure of the oil gun (such as the integral fixing plate 601 of the oil gun) is connected with the driving bearing structure of the oil gun (such as the outer ring 1074 of the ventilation locking bearing on the driving bearing structure of the No. 95 oil gun and the driving bearing structure of the No. 92 oil gun) through the first rope 202 and the second rope 302, the integral structure 7 of the inner cover of the oil tank (the integral fixing plate 701 of the inner cover of the oil tank) is connected with the driving bearing structure 108 of the outer cover of the oil tank (the outer ring 1074 of the ventilation locking bearing thereon) through the first rope 202 and the second rope 302, and the integral structure 8 of the outer cover of the oil tank (the integral fixing plate 801 of the outer cover thereof) is connected with the driving bearing structure 109 of the inner cover of the oil tank (the outer ring 1074 of the ventilation locking bearing thereon) through the first rope 202 and the second rope 302.

Examples

This embodiment multi-functional refuelling robot end effector of distributing type, including whole drive structure 1, forward rope transmission structure 2, reverse rope transmission structure 3, driven bearing structure 5, No. 92 oil gun overall structure 6, open oil tank inner cup overall structure 7, open oil tank enclosing cover overall structure 8 and No. 95 oil gun overall structure 9. The integral driving structure 1 drives the driven supporting structure 5 to drive the tail end executing mechanism (No. 92 oil gun integral structure, oil tank opening inner cover integral structure 7, oil tank opening outer cover integral structure 8 and No. 95 oil gun integral structure 9) to perform the rotation motion required by respective functions through the flexible forward rope transmission structure 2 and the reverse rope transmission structure 3; the integral end mechanism is arranged at the tail end of the oiling robot through a customized robot connecting flange 4.

The integral driving structure 1 drives the end effector through a forward rope transmission structure 2 and a reverse rope transmission structure 3, the integral driving structure is driven by a single-power-source rotating cylinder 101, the rotating cylinder 101 is fixed on a driving structure supporting seat 104 through a rotating cylinder fixing seat 102 and drives a transmission shaft 105 to rotate through a coupling 103, wherein the transmission shaft 105 is fixed on the driving structure supporting seat 104 through a transmission shaft supporting bearing 106; no. 92 oil gun drive bearing structure 107 is through ventilating locking bearing inner race 1075 and transmission shaft 105 cooperation, and No. 92 oil gun drive bearing structure bearing frame 1071 is fixed on drive structure supporting seat 104, and the locking bearing outer race 1074 of ventilating is connected with flange 1073 through flange connecting hole 10741, and flange 1073 cooperates and fixes on bearing frame 1071 with support bearing 1072. The rotation of the ventilating and locking bearing inner ring 1075 and the ventilating and locking bearing outer ring 1074 is independent when the ventilating and locking are not carried out, the ventilating and locking bearing inner ring 1075 is matched with the transmission shaft 105 and rotates along with the transmission shaft, the ventilating and locking bearing outer ring 1074 does not rotate, and when the ventilating and locking bearing outer ring 1074 needs to rotate, ventilation can be carried out through the bearing inner ring air holes 10751 through ventilating and locking, so that the steel balls 10752 extending out of the ventilating and locking bearing inner ring tightly support the inner wall 10743 of the ventilating and locking bearing outer ring, and the ventilating and locking bearing outer ring 1074 is driven to rotate.

The outer ring 1074 of the ventilation locking bearing is provided with 2 rope connection threaded holes 10742, and two special rope connection threaded holes 10742 are symmetrically distributed at 180 degrees and are respectively connected and fixed with the forward rope transmission structure 2 and the reverse rope transmission structure 3, so that when the forward rope transmission structure 2 is in a tensioned state, the reverse rope transmission structure 3 is in a relaxed state, otherwise, when the reverse rope transmission structure 3 is in a tensioned state, the forward rope transmission structure 2 is in a relaxed state.

The structure of the drive bearing structure 108 of the outer cover of the oil opening tank, the drive bearing structure 109 of the inner cover of the oil opening tank, and the drive bearing structure 1010 of the oil gun No. 92 are the same as the structure of the drive bearing structure 107 of the oil gun No. 95 in the fixed installation and transmission mode, when the outer ring of the ventilation locking bearing of one of the bearing drive structures needs to rotate, the outer ring of the ventilation locking bearing only needs to be inflated, so that the inner ring and the outer ring of the ventilation locking bearing are in a locking state, and the time-sharing drive of the rotary cylinder 101 with a single power source to different drive bearing structures can be realized.

One end of the rope 202 in the forward rope transmission structure 2 is connected with a rope connecting threaded hole 10742 on the outer ring 1074 of the ventilating and locking bearing, and the other end is connected with a rope connecting hole 6012 on the integral fixing plate 601 of the oil gun 92. The connection form of the reverse rope transmission structure 3 is consistent with that of the forward rope transmission structure 2, and the end effector can be respectively driven to do forward rotation and reverse rotation through flexible rope transmission.

The driven supporting structure 5 comprises a driven structure supporting seat 501, a flange connecting plate 502, a spring 503, a driven shaft supporting bearing 504, a driven shaft 505, a No. 92 oil gun integral supporting bearing 506, an oil tank opening inner cover supporting bearing 507, an oil tank opening outer cover supporting bearing 508 and a No. 95 oil gun integral supporting bearing 509; wherein the flange connection plate 502 is used for connecting the robot end flange 4, the spring 503 is also connected to the flange connection plate 502, and when the end effector rotates to the horizontal state and is consistent with the axis state of the spring 503 (as shown in fig. 14), the spring 503 can play a role in buffering the end effector. The driven shaft 505 is fixed on the driven structure supporting seat 501 through a driven shaft supporting bearing 504; no. 92 oil gun integral supporting bearing 506, an oil tank opening inner cover supporting bearing 507, an oil tank opening outer cover supporting bearing 508 and a No. 95 oil gun integral supporting bearing 509 are respectively fixed on the driven shaft 504.

The No. 92 oil gun overall structure 6 comprises an oil gun overall fixing plate 601, an oil gun mounting seat 602, a linear air cylinder 603, a trigger finger 604, an oil gun trigger 605 and a No. 92 oil gun 606; the integral structure 6 of the No. 92 oil gun is connected with the outer ring of the integral support bearing 506 of the No. 92 oil gun through a bearing seat 6011 on the integral fixing plate 601 of the oil gun. No. 92 oil gun 606 is fixed on the oil gun mounting seat 602, and when the oil filling action needs to be executed, the trigger finger 604 can be driven by the linear cylinder 603 to do linear motion, so as to pull the oil gun trigger 605 to execute the oil filling action. The integral structure composition and action execution of the No. 95 oil gun integral structure 9 are consistent with those of the No. 95 oil gun integral structure 6.

The integral structure 7 of the inner cover of the oil tank opening comprises an integral fixing plate 701 of the inner cover of the oil tank opening, an installing seat 702 of the inner cover opening structure, a fixing plate 703 of a pneumatic motor, a cover screwing buffer mechanism 704, a pneumatic finger 705, a pneumatic motor 706, a small belt pulley 707, a large belt pulley 708, a belt 709 and a tail end connecting rod 7010; the oil tank opening inner cover integral structure 7 is connected with the outer ring of the oil tank opening inner cover supporting bearing 507 through a bearing seat 7011 on an oil tank opening inner cover fixing plate 701. The pneumatic motor 706 is connected to the pneumatic motor fixing plate 703 and drives the small belt pulley 707 to rotate; the small belt wheel 707 drives the large belt wheel 708 to rotate through the transmission of a belt 709; the large belt wheel 708 drives the cap screwing buffering mechanism 704 to rotate through the central shaft 7081, the pneumatic finger 705 is connected with the cap screwing buffering mechanism 704 through the end connector 7044, and the end connector 7044 is connected with the cap screwing buffering mechanism sleeve 7041 through the flat key 7043. The buffer spring 7042 is located between the end connector 7044 and the cap screwing buffer mechanism sleeve 7041, and can play a role in buffering when the inner cap is clamped.

The oil tank opening outer cover integral structure 8 comprises an outer cover opening integral fixing plate 801, a sucker mounting sleeve 802, a vacuum sucker 803 and a micro vacuum pump 804; the oil-out cover integrated structure 8 is connected with the outer ring of the oil-out cover support bearing 508 through a bearing seat 8011 on the oil-out cover fixing plate 8001. The vacuum chuck 803 is mounted on the open outer cover integral fixing plate 801 through a chuck mounting sleeve 802, and the micro vacuum pump 804 can enable the vacuum chuck 803 to generate negative pressure, so that the vacuum chuck 803 is adsorbed on the outer cover of the oil tank.

The distributed multifunctional oiling robot end effector provided by the invention can effectively solve the problems of low efficiency and poor practicability caused by the fact that the end effector needs to be replaced for many times in the working process of the current oiling robot. Through adopting flexible rope drive mechanism forward and backward, separate end effector and driven power supply, alleviate power end robot's weight greatly, solved the higher problem of end to the power supply explosion-proof nature requirement more effectively to integrated end effector to a whole through this kind of mode, solved current robot need frequently change end effector's problem. Meanwhile, the design uses the ventilating and locking bearing mechanism, and can use a single power source to drive each end effector in a time-sharing manner, so that the quantity of power sources is reduced, and the control difficulty is simplified.

When the end effector does not perform the refueling action, the overall position of the end effector is schematically shown in fig. 15, and when the automatic refueling work needs to be performed, the overall action flow is as follows:

firstly, the action of opening the outer cover of the oil tank is carried out, the ventilation locking bearing inner ring 1085 of the oil tank opening outer cover driving bearing structure 108 is ventilated to enable the steel ball 10752 extending out of the ventilation locking bearing inner ring to be locked with the ventilation locking bearing outer ring 1084, the rotary cylinder 101 drives the transmission shaft 105 to rotate anticlockwise, one end of the forward transmission rope 202 is further enabled to rotate anticlockwise around the transmission shaft 105, the other end of the forward transmission rope rotates clockwise around the driven shaft 505, the integral structure 8 of the oil tank opening outer cover is further driven to rotate clockwise around the driven shaft 505, the vertical position is changed to the horizontal position, and the whole forward transmission rope 202 is in a tensioning state;

the micro vacuum pump 804 works, so that the vacuum sucker 803 generates negative pressure and tightly sucks the outer cover of the automobile oil tank, and the outer cover of the automobile oil tank is opened through the action of a robot connected with the end effector.

The revolving cylinder 101 drives the transmission shaft 105 to rotate clockwise, so that one end of the reverse transmission rope 302 rotates clockwise around the transmission shaft 105, the other end rotates counterclockwise around the driven shaft 505, and then the oil tank outer cover integral structure 8 is driven to rotate counterclockwise around the driven shaft 505, the horizontal position is rotated to the vertical position, the reset action is completed, the whole reverse transmission rope 302 is in the stretching state, and the ventilation locking bearing inner ring 1085 is in the separated state with the ventilation locking bearing outer ring 1084 by air-break of the ventilation locking bearing inner ring.

Then, an inner cover of an automobile oil tank is opened, an inner ventilating and locking bearing ring 1095 of the inner cover opening oil tank driving bearing structure 109 is ventilated to enable a steel ball 10752 extending out of the inner ventilating and locking bearing ring 1094 to be locked with an outer ventilating and locking bearing ring 1094, the rotating cylinder 101 drives the transmission shaft 105 to rotate anticlockwise, one end of the forward transmission rope 202 rotates anticlockwise around the transmission shaft 105, the other end of the forward transmission rope rotates clockwise around the driven shaft 505, the integral structure 7 of the inner cover opening oil tank is further driven to rotate clockwise around the driven shaft 505, the vertical position is rotated to the horizontal position, and the whole forward transmission rope 202 is in a tensioning state;

the pneumatic finger 705 is ventilated to drive the chuck 7051 to finish the action of clamping the inner cover of the automobile oil tank, the pneumatic motor 706 drives the small belt wheel to rotate, and the small belt wheel 707 drives the large belt wheel 708 to rotate through the transmission of the belt 709; the large pulley 708 drives the cap screwing buffer mechanism 704 to rotate through the central shaft 7081, and further drives the end chuck 7051 to complete the action of unscrewing the inner cap of the oil tank.

The revolving cylinder 101 drives the transmission shaft 105 to rotate clockwise, so that one end of the reverse transmission rope 302 rotates clockwise around the transmission shaft 105, the other end rotates counterclockwise around the driven shaft 505, the oil tank opening inner cover overall structure 7 is driven to rotate counterclockwise around the driven shaft 505, the horizontal position is rotated to the vertical position, the reset action is completed, the whole reverse transmission rope 302 is in the stretching state, and the ventilation locking bearing inner ring 1095 is cut off so that the steel ball 10752 extending out of the ventilation locking bearing inner ring and the ventilation locking bearing outer ring 1094 are in the separation state.

Finally, the automobile engine oil is added, for example, No. 92 oil is added; the ventilation locking bearing inner ring 1075 of the oil tank opening inner cover driving bearing structure 107 is ventilated, so that a steel ball 10752 extending out of the ventilation locking bearing inner ring is locked with the ventilation locking bearing outer ring 1074, the rotary cylinder 101 drives the transmission shaft 105 to rotate anticlockwise, one end of the forward transmission rope 202 rotates anticlockwise around the transmission shaft 105, the other end of the forward transmission rope 202 rotates clockwise around the driven shaft 505, the No. 92 oil tank integral structure 6 is driven to rotate clockwise around the driven shaft 505, the vertical position is changed to the horizontal position, and the whole forward transmission rope 202 is in a tensioning state;

the linear air cylinder 603 drives the trigger finger 604 to pull the oil gun trigger 605 to finish the oiling action, and after the oiling is finished, the linear air cylinder 603 drives the trigger finger 604 to retract, so that the oil gun trigger 605 automatically resets;

revolving cylinder 101 drives transmission shaft 105 clockwise, and then makes the one end of reverse drive rope 302 rotate around transmission shaft 105 clockwise, and the other end rotates around driven shaft 505 anticlockwise, and then drives No. 92 oil tank overall structure 6 and rotates around driven shaft 505 anticlockwise, by horizontal position to vertical position, accomplish the action of reseing, whole reverse drive rope 302 is in the state of stretching, the locking bearing inner circle 1075 that ventilates cuts off the gas and makes the steel ball 10752 that the locking bearing inner circle of ventilating stretched out and lock bearing outer lane 1784 and be in the state of separation.

From the description, the distributed multifunctional oiling robot end effector can complete the driving of each end effector in a time-sharing manner through the flexible rope transmission structure based on the single power source, and has high overall efficiency, safety and integration level.

The installation and working process of the distributed multifunctional oiling robot end effector is as follows:

firstly, respectively installing an integral driving mechanism 1 and a driven structure 5, and respectively installing a No. 92 oil tank integral structure 6, an oil tank opening inner cover integral structure 7, an oil tank opening outer cover integral structure 8 and a No. 95 oil tank integral structure 9 on the driven structure 5; then, two ends of the forward transmission rope 202 and the reverse transmission rope 302 are respectively connected to a rope connecting hole 10742 on an outer ring 1074 of the ventilating and locking bearing and a rope connecting hole 6012 on the integral oil gun fixing plate 601 for completing the transmission of power; the connection of the transmission ropes of the integral structure 7 of the inner cover of the oil tank and the integral structure 8 of the outer cover of the oil tank and the integral structure 9 of the No. 95 oil tank is consistent with the connection of the ropes of the integral structure 6 of the No. 92 oil tank; and the driven structural whole 5 is arranged at the tail end of the oil mechanical arm through the robot connecting flange 4.

When the oil tank outer cover is opened, the ventilating and locking bearing inner ring 1085 of the oil tank outer cover driving bearing structure 108 is ventilated to enable the ventilating and locking bearing inner ring steel ball 10752 to be locked with the ventilating and locking bearing outer ring 1084, the rotary cylinder 101 drives the transmission shaft 105 to rotate anticlockwise, one end of the forward transmission rope 202 rotates anticlockwise around the transmission shaft 105, the other end of the forward transmission rope rotates clockwise around the driven shaft 505, the oil tank outer cover integral structure 8 is driven to rotate clockwise around the driven shaft 505, the vertical position is rotated to the horizontal position, and the whole forward transmission rope 202 is in a tensioning state; further, the micro vacuum pump 804 works, so that the vacuum chuck 803 generates negative pressure and tightly sucks the outer cover of the automobile oil tank, and the opening of the outer cover of the automobile oil tank is completed through the action of a robot connected with the end effector. Further, revolving cylinder 101 drives transmission shaft 105 clockwise, and then makes reverse drive rope 302's one end around transmission shaft 105 clockwise, and the other end around driven shaft 505 anticlockwise rotates, and then drives open oil tank enclosing cover overall structure 8 around driven shaft 505 anticlockwise rotation, changes to vertical position by horizontal position, accomplishes the action that resets, whole reverse drive rope 302 is in the state of stretching into, and the locking bearing inner circle 1085 that ventilates cuts off the gas makes the locking bearing inner circle steel ball 10752 that ventilates and lock bearing outer circle 1084 in the separation state.

When the inner cover of the automobile oil tank is opened, the ventilating locking bearing inner ring 1095 of the oil tank opening inner cover driving bearing structure 109 is ventilated to enable a steel ball 10752 extending out of the ventilating locking bearing inner ring to be locked with the ventilating locking bearing outer ring 1094, the rotary cylinder 101 drives the transmission shaft 105 to rotate anticlockwise, one end of the forward transmission rope 202 rotates anticlockwise around the transmission shaft 105, the other end of the forward transmission rope rotates clockwise around the driven shaft 505, the oil tank opening inner cover integral structure 7 is driven to rotate clockwise around the driven shaft 505, the vertical position is rotated to the horizontal position, and the whole forward transmission rope 202 is in a tensioning state; further, the pneumatic finger 705 is ventilated to drive the chuck 7051 to finish the action of clamping the inner cover of the automobile oil tank, the pneumatic motor 706 drives the small belt wheel to rotate, and the small belt wheel 707 drives the large belt wheel 708 to rotate through the transmission of the belt 709; the large pulley 708 drives the cap screwing buffer mechanism 704 to rotate through the central shaft 7081, and further drives the end chuck 7051 to complete the action of unscrewing the inner cap of the oil tank. Further, the revolving cylinder 101 drives the transmission shaft 105 to rotate clockwise, so that one end of the reverse transmission rope 302 rotates clockwise around the transmission shaft 105, the other end of the reverse transmission rope rotates counterclockwise around the driven shaft 505, the oil tank inner cover integral structure 7 is driven to rotate counterclockwise around the driven shaft 505, the reverse transmission rope 302 is rotated to a vertical position from a horizontal position, the reset action is completed, the whole reverse transmission rope 302 is in a tension state, and the ventilation locking bearing inner ring 1095 is disconnected so that the steel ball 10752 extending out of the ventilation locking bearing inner ring and the ventilation locking bearing outer ring 1094 are in a separation state.

When the automobile engine oil is operated, No. 92 oil is added as an example; the ventilation locking bearing inner ring 1075 of the oil tank opening inner cover driving bearing structure 107 is ventilated, so that a steel ball 10752 extending out of the ventilation locking bearing inner ring is locked with the ventilation locking bearing outer ring 1074, the rotary cylinder 101 drives the transmission shaft 105 to rotate anticlockwise, one end of the forward transmission rope 202 rotates anticlockwise around the transmission shaft 105, the other end of the forward transmission rope 202 rotates clockwise around the driven shaft 505, the No. 92 oil tank integral structure 6 is driven to rotate clockwise around the driven shaft 505, the vertical position is changed to the horizontal position, and the whole forward transmission rope 202 is in a tensioning state; further, the linear cylinder 603 drives the trigger finger 604 to pull the oil gun trigger 605 to finish the oiling action, after the oiling is finished, the linear cylinder 603 drives the trigger finger 604 to retract, and the oil gun trigger 605 automatically resets; further, revolving cylinder 101 drives transmission shaft 105 clockwise, and then makes the one end of reverse drive rope 302 rotate around transmission shaft 105 clockwise, and the other end rotates around driven shaft 505 anticlockwise, and then drives No. 92 oil tank overall structure 6 and rotates around driven shaft 505 anticlockwise, changes to vertical position by horizontal position, accomplishes the action of reseing, whole reverse drive rope 302 is in the state of stretching out, it makes the steel ball 10752 that the locking bearing inner race stretches out of ventilating to be in the separation state with the locking bearing outer race 1784 of ventilating to ventilate to lock the bearing inner race 1075 and cut off the gas.

Claims

1. The utility model provides a multi-functional refuelling robot end effector of distributing type, a serial communication port, including whole drive structure (1), forward rope transmission structure, reverse rope transmission structure, driven bearing structure (5), oil gun overall structure, open oil tank inner cup overall structure (7) and open oil tank enclosing cover overall structure (8), driven bearing structure (5) can be connected with robot flange (4), be connected with driven shaft (505) on driven bearing structure (5), oil gun overall structure's one end, open oil tank inner cup overall structure's (7) one end and open oil tank enclosing cover overall structure's (8) one end all overlaps on driven shaft (505) and with driven shaft (505) rotatable coupling, whole drive structure (1) is including can driving oil gun overall structure respectively, open oil tank inner cup overall structure (7) and open oil tank enclosing cover overall structure (8) around the reciprocating rotation of driven shaft (505) oil gun drive bearing structure, The oil tank opening outer cover driving bearing structure (108) and the oil tank opening inner cover driving bearing structure (109) are connected through a set of forward rope transmission structure and a set of reverse rope transmission structure, the oil tank opening inner cover integrated structure (7) and the oil tank opening outer cover driving bearing structure (108) are connected through a set of forward rope transmission structure and a set of reverse rope transmission structure, and the oil tank opening outer cover integrated structure (8) and the oil tank opening inner cover driving bearing structure (109) are connected through a set of forward rope transmission structure and a set of reverse rope transmission structure;

the integral driving structure (1) comprises a rotary cylinder (101), a driving structure supporting seat (104) and a transmission shaft (105), the rotary cylinder (101) and the transmission shaft (105) are installed on the driving structure supporting seat (104), the transmission shaft (105) is rotatably connected with the driving structure supporting seat (104), and an output shaft of the rotary cylinder (101) is connected with one end of the transmission shaft (105); the structure of the oil gun driving bearing structure, the structure of the oil tank outer cover driving bearing structure (108) and the structure of the oil tank inner cover driving bearing structure (109) are the same and respectively comprise a bearing seat (1071), a connecting flange (1073) and a ventilation locking bearing, one end of the bearing seat (1071) is installed on a driving structure supporting seat (104), the other end of the bearing seat (1071) is provided with a through hole and is sleeved on a transmission shaft (105) through the through hole, the connecting flange (1073) and the ventilation locking bearing are both sleeved on the transmission shaft (105), one end of the connecting flange (1073) is rotatably connected with the through hole on the bearing seat (1071), the ventilation locking bearing comprises a ventilation locking bearing inner ring (1075) and a ventilation locking bearing outer ring (1074), the ventilation locking bearing outer ring (1074) is sleeved on the ventilation locking bearing inner ring (1075), the ventilation locking bearing outer ring (1074) is also coaxially and fixedly connected with the connecting flange (1073), the ventilating locking bearing inner ring (1075) is sleeved on the transmission shaft (105) and can synchronously rotate along with the transmission shaft (105); the outer ring (1074) of the ventilating locking bearing is connected with a driving bearing structure of an oil gun, a driving bearing structure (108) of an outer cover of an oil tank or a driving bearing structure (109) of an inner cover of the oil tank through a group of forward rope transmission structures and reverse rope transmission structures; the ventilating locking bearing inner ring (1075) and the ventilating locking bearing outer ring (1074) can rotate relatively when not ventilating and locking, and the ventilating locking bearing inner ring (1075) and the ventilating locking bearing outer ring (1074) are locked with each other and can rotate synchronously when ventilating and locking;

the integral structure of the oil gun comprises an integral oil gun fixing plate (601), an oil gun trigger driving mechanism, an oil gun mounting seat (602) and the oil gun, wherein a mounting hole is formed in one end of the integral oil gun fixing plate (601), the integral oil gun fixing plate (601) is connected with the driven shaft (505) in a rotatable mode through the mounting hole, the end of the integral oil gun fixing plate (601) is connected with an oil gun driving bearing structure through a set of forward rope transmission structure and reverse rope transmission structure, the oil gun mounting seat (602) is mounted on the integral oil gun fixing plate (601), the oil gun is mounted on the oil gun mounting seat (602), and the oil gun trigger driving mechanism is mounted on the integral oil gun fixing plate (601) and located at the oil gun trigger (605).

2. The distributed multifunctional oiling robot end effector of claim 1, wherein the outer ring surface of the vent lock bearing outer ring (1074) is provided with rope connection holes (10742) for connecting with the forward rope transmission structure and the reverse rope transmission structure, and grooves for rope embedding of the forward rope transmission structure and the reverse rope transmission structure; the connecting portion of the ventilating and locking bearing inner ring (1075) and the ventilating and locking bearing outer ring (1074) is provided with a ball latch pin, the inner ring of the ventilating and locking bearing outer ring (1074) is provided with a sliding groove for embedding of a steel ball of the ball latch pin, the ventilating and locking bearing inner ring (1075) is provided with a ventilating and locking bearing inner ring air hole (10751), the inside of the ventilating and locking bearing inner ring (1075) is provided with an air passage (10753) from the ventilating and locking bearing inner ring air hole (10751) to the position of each ball latch pin, and the ball latch pin is positioned between the part inside of the ventilating and locking bearing inner ring (1075) and the air passage (10753) in a sealing mode.

3. The distributed multifunctional oiling robot end effector of claim 1, wherein the oil gun trigger driving mechanism comprises a linear cylinder (603) and a trigger finger (604), the linear cylinder (603) is installed on the oil gun integral fixing plate (601), the trigger finger (604) is connected with the output shaft of the linear cylinder (603), the trigger finger (604) is located at one side of the oil gun trigger (605), and the trigger finger (604) is used for pulling and releasing the oil gun trigger (605).

4. The distributed multifunctional oiling robot end effector of claim 1, wherein the oil tank opening inner cover integral structure (7) comprises an oil tank opening inner cover integral fixing plate (701), a rotary driving mechanism, a cover rotating buffering mechanism (704), a pneumatic finger (705) and a chuck (7051), one end of the oil tank opening inner cover integral fixing plate (701) is provided with a mounting hole, the oil tank opening inner cover integral fixing plate (701) is sleeved on the driven shaft (505) through the mounting hole and is rotatably connected with the driven shaft (505), and the end of the oil tank opening inner cover integral fixing plate (701) is connected with the oil tank opening outer cover driving bearing structure (108) through a set of forward rope transmission structure and reverse rope transmission structure; the rotary driving mechanism is installed on the integral fixing plate (701) of the inner cover of the oil tank, one end of the cap screwing buffering mechanism (704) is connected with the output end of the rotary driving mechanism, the rotary driving mechanism can drive the cap screwing buffering mechanism (704) to rotate, the other end of the cap screwing buffering mechanism (704) is connected with a pneumatic finger (705), and a chuck (7051) used for clamping the oil tank cap is connected onto the pneumatic finger (705).

5. The distributed multifunctional oiling robot end effector of claim 4, wherein the rotary driving mechanism comprises a pneumatic motor (706) and a reducer, a pneumatic motor fixing plate (703) and a split inner cover structure mounting seat (702) are installed on a split oil tank inner cover integral fixing plate (701), the pneumatic motor (706) is installed on the pneumatic motor fixing plate (703), the reducer is installed in the split inner cover structure mounting seat (702), an output shaft of the pneumatic motor (706) is connected with an input shaft of the reducer, and an output shaft of the reducer is connected with one end of a rotary cover buffer mechanism (704);

the spiral cover buffer mechanism (704) comprises a spiral cover buffer structure sleeve (7041), a buffer spring (7042) and a tail end connecting rod (7044), one end of the spiral cover buffer structure sleeve (7041) is connected with an output shaft of the speed reducer, one end of the tail end connecting rod (7044) extends into the other end of the spiral cover buffer structure sleeve (7041), one end of the tail end connecting rod (7044) is connected with a flat key (7043), a long hole or a long groove for the flat key (7043) to extend into is formed in the cylinder wall of the spiral cover buffer structure sleeve (7041) along the axial direction, the buffer spring (7042) is arranged inside the spiral cover buffer structure sleeve (7041), and the other end of the tail end connecting rod (7044) is connected with a pneumatic finger (705).

6. The distributed multifunctional oiling robot end effector of claim 1, wherein the oil tank opening outer cover integral structure (8) comprises an oil tank opening outer cover integral fixing plate (801), a sucker mounting sleeve (802), a vacuum sucker (803) and a micro vacuum pump (804), one end of the oil tank opening outer cover integral fixing plate (801) is provided with a mounting hole, the oil tank opening outer cover integral fixing plate (801) is sleeved on the driven shaft (505) through the mounting hole and is rotatably connected with the driven shaft (505), and the end of the oil tank opening outer cover integral fixing plate (801) is connected with the oil tank opening inner cover driving bearing structure (109) through a set of forward rope transmission structure and reverse rope transmission structure; the sucker mounting sleeve (802) is mounted at the other end of the open outer cover integral fixing plate (801), the sucker mounting sleeve (802) is of a piston structure, a vacuum sucker (803) is connected with the end of a piston rod of the sucker mounting sleeve (802), and the micro vacuum pump (804) is mounted on the open outer cover integral fixing plate (801) and is communicated with a cavity of an inner cavity of the sucker mounting sleeve (802).

7. The distributed multifunctional oiling robot end effector of claim 1, wherein springs (503) are respectively installed on the driven support structure (5) at the positions of the oil gun integral structure, the oil tank opening inner cover integral structure (7) and the oil tank opening outer cover integral structure (8) which are sleeved on the driven shaft (505) and opposite to one end, the ends of the oil gun integral structure, the oil tank opening inner cover integral structure (7) and the oil tank opening outer cover integral structure (8) are arranged to be arc structures, the springs (503) are in a compressed state, one end of each spring (503) is connected with the driven support structure (5), and the other end of each spring (503) is respectively contacted with the arc structure surfaces of the oil gun integral structure, the oil tank opening inner cover integral structure (7) and the oil tank opening outer cover integral structure (8).

8. The distributed multifunctional oiling robot end effector of claim 1, wherein the forward rope transmission structure comprises a first sleeve (201) and a first rope (202), one end of the first sleeve (201) is connected with the integral driving structure (1), the other end of the first sleeve (201) is connected with the driven supporting structure (5), and the first rope (202) passes through the first sleeve (201);

the reverse rope transmission structure comprises a second sleeve (301) and a second rope (302), one end of the second sleeve (301) is connected with the integral driving structure (1), the other end of the second sleeve (301) is connected with the driven supporting structure (5), and the second rope (302) penetrates through the second sleeve (301);

the oil gun integral structure is connected with the oil gun driving bearing structure through a first rope (202) and a second rope (302), the oil tank opening inner cover integral structure (7) is connected with the oil tank opening outer cover driving bearing structure (108) through the first rope (202) and the second rope (302), and the oil tank opening outer cover integral structure (8) is connected with the oil tank opening inner cover driving bearing structure (109) through the first rope (202) and the second rope (302).