CN113003523A - A moving platform and refuel robot for refuel robot - Google Patents
A moving platform and refuel robot for refuel robot Download PDFInfo
- Publication number
- CN113003523A CN113003523A CN202110487803.4A CN202110487803A CN113003523A CN 113003523 A CN113003523 A CN 113003523A CN 202110487803 A CN202110487803 A CN 202110487803A CN 113003523 A CN113003523 A CN 113003523A
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- link
- axis
- support frame
- robot
- mechanical arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000000007 visual effect Effects 0.000 claims description 4
- 239000000446 fuel Substances 0.000 claims 2
- 238000000034 method Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/0417—Manipulator arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile platform for a refueling robot and the refueling robot, which comprise a support frame and a mechanical arm workbench, wherein the support frame moves along an x axis, two link mechanisms are arranged at the upper part and the lower part of one side of the support frame, two ends of each link mechanism are respectively and rotatably connected with the support frame and the mechanical arm workbench, and the link mechanisms drive the mechanical arm workbench to move on a y axis and a z axis. The three-freedom-degree movement mechanism is simple in structure and flexible to use, movement of the mechanical arm workbench on the y axis and the z axis is met simultaneously by arranging the connecting rod mechanism, and movement of the support frame on the x axis is matched, so that three-freedom-degree movement is realized; the link mechanism can be extended and retracted on the y axis, so that the space occupied by the mobile platform in the y axis direction is reduced.
Description
Technical Field
The invention relates to the field of robot oiling, in particular to a mobile platform for an oiling robot and the oiling robot.
Background
The traditional refueling mode mainly takes manual service as the main part, and its human cost is higher, intelligent level is lower. With the progress of the technology, some semi-self-service refueling systems and refueling methods are developed in the prior art, but the semi-self-service refueling method requires the customer to get off the vehicle and operate the system, so that the refueling experience of the customer is poor, and the refueling efficiency is low.
The Chinese patent application with publication number CN112299359A discloses a full-automatic oiling robot with a double-arm structure, wherein two mechanical arms are arranged, and one of the mechanical arms is provided with an oil tank cover opening and closing device for opening an oil tank cover; and an oiling device is arranged on the other mechanical arm and used for oiling to realize the full automation of vehicle oiling. The patent has set up triaxial mobile device, and it is including setting up the walking frame that realizes lateral shifting through the lateral shifting motor on the base, setting up the lift seat that realizes reciprocating through elevator motor on the walking frame, setting up the back-and-forth movement platform that realizes the back-and-forth movement through the back-and-forth movement motor on the lift seat, and this kind of triaxial mobile device's structure is comparatively complicated, and the occupation space of device is great, and it is comparatively inconvenient to use. Therefore, there is a need for an improved structure of the existing three-axis mobile device, which simplifies the structure, increases the flexibility of use, and reduces the occupied space.
Disclosure of Invention
The invention aims to provide a mobile platform for a refueling robot and the refueling robot, wherein the mobile platform meets the requirement of movement of a mechanical arm workbench on a y axis and a z axis simultaneously by arranging a link mechanism, and the three-degree-of-freedom movement is realized by matching with the movement of a support frame on an x axis; the link mechanism can stretch out and draw back on the y axis, so that the space occupied by the mobile platform in the y axis direction is reduced, and the problem in the background art is solved.
In order to achieve the above purpose, the invention provides a mobile platform for an oiling robot on one hand, which comprises a support frame and a mechanical arm workbench, wherein the support frame moves along an x axis, two link mechanisms are arranged on one side of the support frame from top to bottom, two ends of each link mechanism are respectively connected with the support frame and the mechanical arm workbench in a rotating manner, and the link mechanisms drive the mechanical arm workbench to move on a y axis and a z axis.
Further, link mechanism includes first connecting rod and second connecting rod, the one end of first connecting rod with the support frame rotates to be connected, the other end of first connecting rod with the one end of second connecting rod rotates to be connected, the other end of second connecting rod with the arm workstation rotates to be connected.
Furthermore, the joint of the first connecting rod and the second connecting rod is a bent part, and the bent parts of the two connecting rod mechanisms are bent inwards relatively, so that the occupied space of the connecting rod mechanisms can be reduced. The skilled person can set the distance between the upper and lower link mechanisms as required to prevent them from colliding with each other.
Furthermore, a driving device is arranged at the joint of the connecting rod mechanism and the support frame, and the driving device drives the connecting rod mechanism to rotate, so that the mechanical arm workbench moves on the y axis and the z axis. The connecting rod mechanism can meet the use requirement only by arranging the driving device at one end of the connecting rod mechanism, preferably, the driving device is arranged at the joint of the support frame and the connecting rod mechanism, and the driving device and the support frame driving device for driving the support frame to move along the x axis are integrally arranged in the support frame, so that the unified management is facilitated. Of course, the skilled person may position the drive means for driving the rotation of the linkage as desired, for example at the connection of the linkage to the robot arm table.
Furthermore, a driving device is arranged at the joint of the connecting rod mechanism and the supporting frame, a driving device is arranged at the joint of the connecting rod mechanism and the mechanical arm workbench, and the driving device drives the connecting rod mechanism to rotate, so that the mechanical arm workbench moves on the y axis and the z axis.
Further, a mechanical arm is arranged on the mechanical arm workbench.
Further, a visual recognition device is arranged on the mechanical arm workbench.
The invention further provides a refueling robot, which comprises the mobile platform for the refueling robot.
Compared with the prior art, the invention has the beneficial effects that:
(1) the three-freedom-degree movement mechanism is simple in structure and flexible to use, movement of the mechanical arm workbench on the y axis and the z axis is met simultaneously by arranging the connecting rod mechanism, and movement of the support frame on the x axis is matched, so that three-freedom-degree movement is realized;
(2) the connecting rod mechanism can extend and retract on the y axis, so that the space occupied by the mobile platform in the y axis direction is reduced;
(3) the two link mechanisms are arranged up and down, so that the mechanical arm workbench can keep balance in the moving process.
(4) Through the rotation angle of the control connecting rod mechanism, the first connecting rod of the connecting rod mechanism positioned above and the second connecting rod of the connecting rod mechanism positioned below are kept parallel, and the second connecting rod of the connecting rod mechanism positioned above and the first connecting rod of the connecting rod mechanism positioned below are kept parallel, so that the mechanical arm workbench is always kept parallel to the support frame, the mechanical arm workbench is always positioned in a vertical position, and the working stability can be ensured.
Drawings
FIG. 1 is a front view of a mobile platform for a fueling robot of the present invention;
fig. 2 is a top view of the mobile platform for the fueling robot of the present invention.
In the figure: 1. a base; 2. a support frame; 3. a mechanical arm workbench; 31. a mechanical arm; 32. a visual recognition device; 4. a link mechanism; 41. a first link; 42. a second link; 43. and (6) bending.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. The following description of the embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and are not to be construed as limiting the present invention.
Fig. 1 shows a schematic structural diagram of a mobile platform for a fueling robot in this embodiment, which includes a base 1 and a robot arm worktable 3, a support frame 2 is arranged on the base 1, the support frame 2 moves on an x-axis through a driving device such as a lead screw, and a robot arm 31 and a visual recognition device 32 are arranged on the robot arm worktable 3.
As shown in fig. 1, two link mechanisms 4 are arranged up and down on one side of the support frame 2 facing the y-axis direction, two ends of each link mechanism 4 are respectively connected with the support frame 2 and the mechanical arm workbench 3 in a rotating manner, and the link mechanisms 4 drive the mechanical arm workbench 3 to move on the y-axis and the z-axis. Specifically, the link mechanism 4 includes a first link 41 and a second link 42, one end of the first link 41 is rotatably connected to the support frame 2, the other end of the first link 41 is rotatably connected to one end of the second link 42, and the other end of the second link 42 is rotatably connected to the robot arm table 3.
The connection position of the first link 41 and the second link 42 is a bending position 43, and the bending positions 43 of the two link mechanisms 4 are relatively bent inwards, so that the occupied space of the link mechanisms 4 can be reduced. Of course, in other embodiments, the bend 43 may be relatively outwardly bent.
The link mechanism 4 can meet the use requirement only by arranging a driving device at one end of the link mechanism, preferably, the driving device is arranged at the joint of the support frame 2 and the link mechanism 4, and the driving device and the support frame 2 driving device for driving the support frame 2 to move along the x axis are integrally arranged in the support frame 2, so that the unified management is facilitated. Of course, a person skilled in the art may set the position of the driving means for driving the link mechanism 4 to rotate as needed, for example, at the connection of the link mechanism 4 and the robot arm table 3.
In a preferred embodiment, the two ends of the link mechanism 4 are provided with driving devices, and the rotation angle of the link mechanism 4 is adjusted by the driving devices, so that the first connecting rod 31 of the link mechanism 4 located above and the second connecting rod 42 of the link mechanism 4 located below are kept parallel, and the second connecting rod 42 of the link mechanism 4 located above and the first connecting rod 41 of the link mechanism 4 located below are kept parallel, so that the mechanical arm workbench 3 is always kept parallel to the supporting frame 2, thereby realizing that the mechanical arm workbench 3 is always located at a vertical position and ensuring the stability of the work. For example, the first link 31 of the upper link mechanism 4 rotates clockwise by a predetermined angle, and at this time, the second link 32 of the lower link mechanism 4 is controlled to rotate clockwise, so that the upward movement of the robot arm table 3 is realized, and the robot arm table 3 is kept parallel to the support frame 2.
When the mechanical arm workbench 3 is not used, the connecting rod mechanisms 4 are in a contraction state, the upper connecting rod mechanism 4 and the lower connecting rod mechanism 4 are relatively bent inwards and contract to the vicinity of the support frame 2 along the y-axis direction, and at the moment, the occupied space of the whole moving platform is small. When the mechanical arm workbench 3 needs to be oiled, the support frame 2 moves to a target position along the x axis, the driving device drives the link mechanisms 4 to rotate, the first connecting rod 41 drives the mechanical arm workbench 3 to move to the target position on the y axis and the z axis through the second connecting rod 42, the mechanical arm 31 arranged on the mechanical arm workbench 3 starts to work, in the process, the upper link mechanism 4 and the lower link mechanism 4 respectively support the upper part and the lower part of the mechanical arm workbench 3, and the mechanical arm workbench 3 can be kept balanced in the moving process.
The embodiment also provides a refueling robot, which comprises the mobile platform for the refueling robot.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides a moving platform for refueling robot, includes support frame (2) and arm workstation (3), support frame (2) remove along the x-axis, its characterized in that: two link mechanisms (4) are arranged on one side of the support frame (2) from top to bottom, two ends of each link mechanism (4) are respectively connected with the support frame (2) and the mechanical arm workbench (3) in a rotating mode, and the link mechanisms (4) drive the mechanical arm workbench (3) to move on a y axis and a z axis.
2. The mobile platform according to claim 1, wherein the link mechanism (4) comprises a first link (41) and a second link (42), one end of the first link (41) is rotatably connected to the support frame (2), the other end of the first link (41) is rotatably connected to one end of the second link (42), and the other end of the second link (42) is rotatably connected to the robot arm work table (3).
3. The mobile platform according to claim 2, characterized in that the connection of the first link (41) and the second link (42) is a bend (43), and the bends (43) of the two link mechanisms (4) are bent inwards relatively.
4. The mobile platform according to claim 1, characterized in that a driving device is arranged at the connection of the link mechanism (4) and the support frame (2), and the driving device drives the link mechanism (4) to rotate, so that the mechanical arm workbench (3) moves on the y axis and the z axis.
5. The mobile platform according to claim 1, characterized in that a driving device is arranged at the connection of the link mechanism (4) and the support frame (2), and a driving device is arranged at the connection of the link mechanism (4) and the robot arm working table (3), and the driving device drives the link mechanism (4) to rotate, so that the robot arm working table (3) moves on the y-axis and the z-axis.
6. The mobile platform according to claim 1, characterized in that a robot arm (31) is arranged on the robot arm table (3).
7. The mobile platform according to claim 1, characterized in that a visual recognition device (32) is provided on the robot arm table (3).
8. A fuel filling robot comprising a mobile platform for a fuel filling robot as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110487803.4A CN113003523A (en) | 2021-04-30 | 2021-04-30 | A moving platform and refuel robot for refuel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110487803.4A CN113003523A (en) | 2021-04-30 | 2021-04-30 | A moving platform and refuel robot for refuel robot |
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| Publication Number | Publication Date |
|---|---|
| CN113003523A true CN113003523A (en) | 2021-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110487803.4A Pending CN113003523A (en) | 2021-04-30 | 2021-04-30 | A moving platform and refuel robot for refuel robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113979400A (en) * | 2021-10-12 | 2022-01-28 | 广东皓耘科技有限公司 | Automatic oiling manipulator end device |
| CN114195084A (en) * | 2021-11-27 | 2022-03-18 | 正星科技股份有限公司 | Double-side automatic oiling robot and control method |
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| CN1589191A (en) * | 2001-12-31 | 2005-03-02 | 天津大学 | Planar parallel robot mechanism with two translational degrees of freedom |
| CN206170648U (en) * | 2016-11-22 | 2017-05-17 | 广州造维科技有限公司 | Crank link mechanism of arm -type 3D printer of machinery |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN207997068U (en) * | 2018-02-06 | 2018-10-23 | 郑州英博锐电子技术有限公司 | A kind of industrial robot for dimension laser cutting |
| JP2018187728A (en) * | 2017-05-09 | 2018-11-29 | 国立大学法人金沢大学 | Operation control method of parallel link robot |
| CN111547669A (en) * | 2020-05-18 | 2020-08-18 | 中山市品物信息技术有限公司 | Refueling robot for gas station and automatic refueling control method |
| CN111671441A (en) * | 2020-04-15 | 2020-09-18 | 杭州杭睿科技有限公司 | Robot draws blood |
| CN112299359A (en) * | 2020-10-27 | 2021-02-02 | 江阴市富仁高科股份有限公司 | Full-automatic oiling robot with double-arm structure |
| CN214611501U (en) * | 2021-04-30 | 2021-11-05 | 江阴市富仁高科股份有限公司 | A moving platform and refuel robot for refuel robot |
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2021
- 2021-04-30 CN CN202110487803.4A patent/CN113003523A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5107719A (en) * | 1990-08-28 | 1992-04-28 | The University Of Michigan | Adjustable robotic mechanism |
| CN1589191A (en) * | 2001-12-31 | 2005-03-02 | 天津大学 | Planar parallel robot mechanism with two translational degrees of freedom |
| CN206170648U (en) * | 2016-11-22 | 2017-05-17 | 广州造维科技有限公司 | Crank link mechanism of arm -type 3D printer of machinery |
| JP2018187728A (en) * | 2017-05-09 | 2018-11-29 | 国立大学法人金沢大学 | Operation control method of parallel link robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113979400A (en) * | 2021-10-12 | 2022-01-28 | 广东皓耘科技有限公司 | Automatic oiling manipulator end device |
| CN114195084A (en) * | 2021-11-27 | 2022-03-18 | 正星科技股份有限公司 | Double-side automatic oiling robot and control method |
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