CN113582122A

CN113582122A - Refuel terminal assembly of robot and refuel robot

Info

Publication number: CN113582122A
Application number: CN202110953940.2A
Authority: CN
Inventors: 罗功波; 李金厚; 蔡红璞
Original assignee: Beijing Sanki Petroleum Technology Co ltd
Current assignee: Beijing Sanki Petroleum Technology Co ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2021-11-02

Abstract

The application relates to an refueling device, especially relate to a refuel terminal assembly of robot and refuel the robot, its technical scheme main points are: the oil gun clamping device comprises a frame block, wherein an outer cover opening and closing mechanism for opening or buckling an outer cover of an oil tank, an inner cover screwing mechanism for screwing an inner cover of the oil tank and an oil gun clamping mechanism for clamping an oil gun are arranged on the frame block; the operation in the whole refueling process and after the refueling is finished does not need special staff, and the staff investment of the gas station is reduced.

Description

Refuel terminal assembly of robot and refuel robot

Technical Field

The application relates to an oiling device, in particular to an oiling robot tail end assembly and an oiling robot.

Background

A gasoline station refers to a station for replenishing gasoline or engine oil or lubricating oil for servicing automobiles or other motor vehicles.

The refueling mode of filling station who records in the correlation technique is generally carried out by the manual work, need relevant staff to carry out the operation of refueling promptly at the in-process that refuels, including opening the oil tank enclosing cover, unscrewing the oil tank inner cup and through operating procedure such as nozzle refuels to the oil tank inside, increased staff's input to a certain extent, and when the staff kept away from the work post of filling station, often required car owner customer to wait for a period of time, prolonged car owner customer's refuelling time.

Disclosure of Invention

In order to reduce the staff of filling station and drop into, this application provides a terminal assembly of refueling robot and refuels robot.

The application provides a refuel terminal assembly of robot adopts following technical scheme:

the end assembly of the oiling robot comprises a frame block, wherein an outer cover opening and closing mechanism used for opening or buckling an outer cover of an oil tank, an inner cover screwing mechanism used for screwing an inner cover of the oil tank and an oil gun gripping mechanism used for gripping an oil gun are arranged on the frame block.

By adopting the technical scheme, the tail end assembly of the refueling robot can be matched with the corresponding mechanical arm for use, when a vehicle runs to one side of the refueling robot, the mechanical arm drives the outer cover opening and closing mechanism to move to the position of the vehicle oil tank, and the outer cover opening and closing mechanism automatically opens the outer cover of the oil tank; after the outer cover of the oil tank is opened, the mechanical arm drives the inner cover screwing mechanism to move to the position of the inner cover of the oil tank, and the inner cover screwing mechanism automatically unscrews the inner cover of the oil tank and grips the inner cover of the oil tank to move away from the oil port of the oil tank; finally, the mechanical arm drives the oil gun grasping mechanism to move to the position of the oil port of the oil tank, the gun head of the oil gun is inserted into the oil port of the oil tank, and the oil gun is started to fill oil into the oil tank, so that the oil filling operation is completed; the operation in the whole refueling process does not need special staff to participate, and the staff investment of the gas station is reduced.

Optionally, the outer cover opening and closing mechanism comprises a vacuum chuck, an air pumping cylinder and vacuum equipment which are sequentially communicated, a relevant joint rod is fixed on the air pumping cylinder, and a first linear driving piece used for driving the joint rod to reciprocate along the axis direction of the machine frame block is arranged on the machine frame block.

Through adopting above-mentioned technical scheme, enclosing cover mechanism that opens and shuts removes to oil tank enclosing cover position department after, first linear drive spare drive articulated arm and vacuum chuck constantly remove until the vacuum chuck laminating on the surface of oil tank enclosing cover to the direction that is close to the oil tank enclosing cover, start vacuum apparatus so that vacuum chuck adsorbs firmly on the oil tank enclosing cover, make articulated arm and vacuum chuck remove and the pulling lifts the oil tank enclosing cover to the direction of keeping away from the oil tank through arm and first linear drive spare after that.

Optionally, a hinge shaft is fixed to the circumferential surface of the through joint rod, the hinge shaft extends to both sides of the joint rod and is rotatably connected with a relevant joint barrel, the joint rod is inserted into the joint barrel and can rotate around the axis of the hinge shaft in the joint barrel, and the joint barrel is arranged on the first linear driving member; one side of the joint cylinder is provided with a abdicating hole for the circumferential surface of the joint rod to pass through, and the abdicating hole penetrates through the end surface of the joint cylinder close to the joint rod and is arranged; one side that the hole of stepping down was seted up to a joint section of thick bamboo is provided with the reset shell fragment of U-shaped and opening towards a joint section of thick bamboo, and the one end and the articulated arm of shell fragment that resets link firmly and the other end is connected with a joint section of thick bamboo.

In the process of opening the outer cover of the oil tank, the outer cover of the oil tank and the vehicle body rotate in a relative fixed axis mode, and the joint rod also moves in a corresponding plane mode in the process, namely the included angle between the joint rod and the surface of the vehicle body changes constantly, so that the joint rod can move through the cooperation of the mechanical arm, but the stroke of the mechanical arm is large due to the method; by adopting the technical scheme, under the condition that mechanical arms are not matched, the plane motion of the joint rod can be realized through the hinge joint between the joint rod and the joint barrel, the stroke of the mechanical arms is shortened, the flexible connection is formed between the joint rod and the first linear driving piece, and the breakage and the damage of the joint rod or the first linear driving piece caused by radial load or torque between the joint rod and the first linear driving piece are prevented.

Optionally, the inner cap screwing mechanism comprises a first clamping jaw and a second linear driving element for driving the first clamping jaw to reciprocate, two clamping heads of the first clamping jaw are respectively fixed with a clamping rod, and the two clamping rods are arranged oppositely; the rack block is provided with a rotating component for driving the first clamping jaw fixed shaft to rotate and a rotary driving component for providing power for the rotating component.

Through adopting above-mentioned technical scheme, under the effect of first clamping jaw, the oil tank inner cup presss from both sides tightly between two clamping bars, starts the rotary driving piece so that two clamping bars rotate around the axis dead axle of oil tank inner cup, and the direction removal that the second straight line driving piece is kept away from the oil tank slowly is in order to cooperate the oil tank inner cup to revolve down from oil tank oil port department in this in-process, and then realizes the automation of oil tank inner cup and revolve soon.

Optionally, the rotating assembly comprises a driving wheel coaxially fixed on an output shaft of the rotating driving part, the rack block is rotatably connected with a driven wheel, and a transmission belt is tensioned between the driving wheel and the driven wheel; the second linear driving piece is fixed on the driven wheel; the two clamping bars are arranged symmetrically about the axis of the driven wheel.

Through adopting above-mentioned technical scheme, rotatory driving piece drive action wheel dead axle rotates and drives from the driving wheel rotation through the drive belt, and second linear driving piece drives the rotation of clamp bar dead axle then under the drive effect from the driving wheel.

Optionally, the oil gun gripping mechanism comprises an oil gun and a second clamping jaw arranged on the frame block, and two clamping heads of the second clamping jaw are respectively and fixedly connected with a clamping block; the oil gun is fixedly connected with an installation block, and one side of the installation block is provided with a grabbing strip which can enter between the two clamping blocks.

Through adopting above-mentioned technical scheme, when needs are held and are held the oil gun, make the oil gun hold and hold mechanism and remove to oil gun position department to make two fixture blocks remove to the both sides of holding and holding the strip, start the second clamping jaw and make two fixture blocks move to the direction that is close to each other and press from both sides tightly between the two until will holding and holding the strip, realized holding and holding to the oil gun.

Optionally, the oil gun comprises a trigger arranged on the side of the mounting block away from the grip strip; and a third linear driving piece is arranged on one clamping block, and a trigger pressing block is arranged at one end, far away from the clamping block, of the third linear driving piece and is used for driving the trigger pressing block to move close to or far away from the second clamping jaw.

By adopting the technical scheme, in the process that the two clamping blocks move towards the direction close to each other, one clamping block drives the third linear driving piece and the trigger pressing block to move towards the direction close to the oil gun, and when the grasping strip is clamped between the two clamping blocks, the trigger pressing block moves to one side of the trigger along with the grasping strip; when needs realized the automatic oiling, the arm drives the oil gun and removes to oil tank hydraulic fluid port position department and makes the rifle head of oil gun insert to inside the oil tank, starts the third linear driving piece after that so that the trigger presses the trigger that the briquetting pressed to be located one side to realize the play oil of oil gun, and then realized the automatic oiling operation.

The application provides a refuel robot adopts following technical scheme:

an oiling robot comprises a mechanical arm and an oiling robot tail end assembly, wherein a rack block is fixed at the tail end of the mechanical arm.

By adopting the technical scheme, after the vehicle runs to one side of the refueling robot, the mechanical arm drives the outer cover opening and closing mechanism to move to the position of the vehicle oil tank, and the outer cover opening and closing mechanism automatically opens the outer cover of the oil tank; after the outer cover of the oil tank is opened, the mechanical arm drives the inner cover screwing mechanism to move to the position of the inner cover of the oil tank, and the inner cover screwing mechanism automatically unscrews the inner cover of the oil tank and grips the inner cover of the oil tank to move away from the oil port of the oil tank; finally, the mechanical arm drives the oil gun grasping mechanism to move to the position of the oil port of the oil tank, the gun head of the oil gun is inserted into the oil port of the oil tank, and the oil gun is started to fill oil into the oil tank, so that the oil filling operation is completed; the operation in the whole refueling process does not need special staff to participate, and the investment of staff in a gas station is reduced.

Optionally, the oil gun further comprises a support plate, and the oil gun is provided with a plurality of oil sources which are respectively communicated with different oil sources; an L-shaped overlapping sheet capable of being overlapped on the support plate is fixed on one side of the mounting block, which is far away from the holding strip; the bracket plate is fixed with a plurality of groups of hanging pins which are arranged in pairs, and two surfaces of the mounting block which are vertical to the surface where the holding strip is arranged are fixed with hanging rings which are lapped on the corresponding hanging pins.

By adopting the technical scheme, the addition of different kinds of oil can be met; when the oil gun needs to be replaced, the lap joint pieces on the oil gun held by the oil gun holding mechanism are overlapped on the support plate, and meanwhile, the hanging rings are hung on the hanging pins, so that the oil gun is limited, then the oil gun holding mechanism is moved to the position of the needed oil gun through the mechanical arm, two clamping blocks are moved to the two sides of the holding strip corresponding to the oil gun, the holding operation of the follow-up oil gun holding mechanism is completed, and the automatic gun replacing operation is achieved.

Optionally, a vision system for identifying the positions of the outer cover of the oil tank, the inner cover of the oil tank and the oil port of the oil tank and controlling the tail end of the mechanical arm to move to a specified position is arranged on the frame block, the vision system is electrically connected with a control module, and the control module is electrically connected with the mechanical arm.

By adopting the technical scheme, the visual system automatically identifies the positions of the outer cover of the oil tank, the inner cover of the oil tank and the oil port of the oil tank of the vehicle, and conveys the position coordinates of the outer cover of the oil tank, the inner cover of the oil tank and the oil port of the oil tank to the control module, and the control module carries out operation processing on the position coordinate data and calculates the motion trail of the tail end of the mechanical arm, so as to control the motion of the corresponding joint of the mechanical arm.

In summary, the present application has the following technical effects: the automatic oiling device is provided with an outer cover opening and closing mechanism, an inner cover screwing mechanism and an oil gun gripping mechanism, and is sequentially matched with a mechanical arm to realize the opening or the buckling of an inner cover of an oil tank, the screwing of the inner cover of the oil tank and the clamping and the automatic trigger pulling of an oil gun so as to realize the automatic oiling; the operation in the whole refueling process and after the refueling is finished does not need special staff, and the staff investment of the gas station is reduced.

Drawings

Fig. 1 is a schematic overall structure diagram of a fueling robot located inside an operation room in the embodiment of the present application;

FIG. 2 is an overall block diagram of a fueling robot end assembly in an embodiment of the present application;

FIG. 3 is a schematic view of the entire structure of an opening and closing mechanism of the outer cover in the embodiment of the present application;

FIG. 4 is a schematic view of the entire structure of the cover opening and closing mechanism on the other side in the embodiment of the present application;

fig. 5 is a schematic view of the entire structure of the inner cap screwing mechanism in the embodiment of the present application;

FIG. 6 is a schematic view showing the overall structure of an oil gun gripping mechanism in an embodiment of the present application;

FIG. 7 is a schematic view of the mounting structure between the mounting plate and the oil gun in the embodiment of the present application, the view being on the side of the mounting plate facing away from the robot arm;

FIG. 8 is a schematic view of the mounting structure between the mounting plate and the oil gun in the embodiment of the present application, the view being on the side of the mounting plate near the robot arm;

fig. 9 is a schematic view of the overall structure of the oil gun gripping mechanism on the other side in the embodiment of the present application.

In the figure, 1, a mechanical arm; 2. a frame block; 3. an outer cover opening and closing mechanism; 31. a vacuum chuck; 32. an air pumping cylinder; 33. a joint bar; 34. a first pneumatic telescoping cylinder; 35. hinging a shaft; 36. a joint barrel; 361. a hole of abdication; 362. limiting a via hole; 37. resetting the elastic sheet; 4. an inner cap screwing mechanism; 41. a first jaw; 42. a second pneumatic telescoping cylinder; 43. a clamping lever; 44. cushion blocks; 45. a rotating assembly; 451. a driving wheel; 452. a driven wheel; 453. a transmission belt; 10. a pneumatic motor; 5. an oil gun grasping mechanism; 51. a second jaw; 52. a clamping block; 53. a third pneumatic telescoping cylinder; 54. a trigger pressing block; 6. an oil gun; 61. a trigger; 62. mounting blocks; 621. a grip strip; 622. hanging and connecting rings; 623. a lap joint sheet; 7. an operation chamber; 8. a mounting plate; 81. a clamping groove; 82. a clamping and connecting plate; 83. a hitch pin; 84. a supporting seat; 9. a vision system.

Detailed Description

The present application is described in further detail below with reference to the attached drawings.

Referring to fig. 1 and 2, the present application provides a fueling robot, including a mechanical arm 1 and a fueling robot end assembly disposed at an end of the mechanical arm 1, where the mechanical arm 1 may be a four-axis, five-axis or six-axis type mechanical arm 1, and certainly, a mechanical arm 1 with more or fewer joints may also be used, so as to be able to accurately position the end of the mechanical arm 1 at any point in space, and in this embodiment, a six-axis type mechanical arm 1 is used; an operation chamber 7 is covered outside the oiling robot, two opposite side surfaces of the operation chamber 7 are arranged in an open mode, a support plate 8 is fixed on the inner wall of one side of the operation chamber 7, and a plurality of oil guns 6 which are respectively communicated with different oil sources are arranged on the support plate 8; specifically, the tail end assembly of the oiling robot comprises an outer cover opening and closing mechanism 3 for opening or buckling an outer cover of an oil tank, an inner cover screwing mechanism 4 for screwing the inner cover of the oil tank and an oil gun gripping mechanism 5 for gripping a single oil gun 6, wherein a rack block 2 is fixed at the tail end of a mechanical arm 1, and the outer cover opening and closing mechanism 3, the inner cover screwing mechanism 4 and the oil gun gripping mechanism 5 are all arranged on the rack block 2; in addition, a vision system 9 is arranged on the frame block 2, the vision system 9 is electrically connected with a control module for controlling the precise action of the mechanical arm 1, and the control module is electrically connected with the mechanical arm 1.

The visual system 9 automatically identifies the positions of an outer cover of an oil tank, an inner cover of the oil tank and an oil port of the oil tank and generates corresponding space position coordinate data, the control module receives and processes the space position coordinate data, the motion track of the tail end of the mechanical arm 1 is calculated in the process, an action command of a corresponding joint of the mechanical arm 1 is generated, and the mechanical arm 1 responds to the action command to further realize action control of the mechanical arm 1; the above process is a common technical means in the related art, and the principle is not described herein again.

After the vehicle runs to one side of the operation chamber 7, the vision system 9 identifies the position of the outer cover of the oil tank, the control module controls the action of the mechanical arm 1, the tail end of the mechanical arm 1 drives the outer cover opening and closing mechanism 3 to move to the position of the outer cover of the oil tank, and the outer cover opening and closing mechanism 3 automatically opens the outer cover of the oil tank; after the oil tank outer cover is opened, the visual system 9 identifies the position of an oil tank inner cover, the control module controls the mechanical arm 1 to act, the tail end of the mechanical arm 1 drives the inner cover screwing mechanism 4 to move to the position of the oil tank inner cover, and the inner cover screwing mechanism 4 automatically screws down the oil tank inner cover and grasps the oil tank inner cover to move away from an oil port of the oil tank; control module control arm 1 moves near 8 and grasps corresponding oil gun 6 according to required fluid kind, and visual system 9 discerns the position of oil tank hydraulic fluid port, and control module control arm 1 moves, and 1 end drive oil gun of arm grabs and grasps mechanism 5 and remove to oil tank hydraulic fluid port position department, inserts the rifle head of oil gun 6 to inside the oil tank hydraulic fluid port automatically to automatic start oil gun 6 refuels to the oil tank is inside, has accomplished the operation of refueling to this.

After oiling operation is finished, the mechanical arm 1 drives the oil gun holding mechanism 5 to move away from the oil tank and drives the inner cap screwing mechanism 4 to move to the position of an oil port of the oil tank, the inner cap screwing mechanism 4 screws and installs the held inner cap of the oil tank on the oil tank, the mechanical arm 1 drives the inner cap screwing mechanism 4 to move away from the position of the oil tank and drives the outer cap opening and closing mechanism 3 to move to the position of an outer cap of the oil tank, and the outer cap opening and closing mechanism 3 automatically closes the outer cap of the oil tank; the operation in the whole refueling process and after the refueling is finished does not need special staff, and the staff investment of the gas station is reduced.

Specifically, referring to fig. 1 and 3, the tail end of the mechanical arm 1 is fixedly connected with one surface of the rack block 2; the outer cover opening and closing mechanism 3 is arranged on the surface, adjacent to the surface provided with the mechanical arm 1, of the frame block 2 and comprises a vacuum suction cup 31 and an air suction cylinder 32 which are communicated with each other, wherein the air suction cylinder 32 adopts a three-way joint, the vacuum suction cup 31 is connected with one end of a main pipeline of the air suction cylinder 32, the other end of the main pipeline of the air suction cylinder 32 is arranged in a sealing way, a branch pipe of the air suction cylinder 32 is communicated with a vacuum device, and the vacuum device can adopt a vacuum generator or a vacuum pump; one end of the air pumping cylinder 32, which is far away from the vacuum chuck 31, is fixedly connected with a joint rod 33, and the joint rod 33 and the air pumping cylinder 32 can be fixedly connected in a threaded connection or welding manner, so as to realize the fixed connection of the two; the frame block 2 is provided with a first linear driving piece for driving the joint rod 33 to reciprocate along the axis direction of the first linear driving piece, and the first linear driving piece is arranged at one end of the joint rod 33, which is far away from the air extracting cylinder 32; wherein, the first linear driving piece can adopt pneumatic telescopic cylinder, pneumatic cylinder or linear electric motor to can realize linear drive as the standard, in this embodiment, first linear driving piece adopts first pneumatic telescopic cylinder 34, and the cylinder body of first pneumatic telescopic cylinder 34 is fixed on frame piece 2.

After the mechanical arm 1 drives the outer cover opening and closing mechanism 3 to move to the position of the outer cover of the oil tank, the axis of the joint rod 33 is perpendicular to the outer cover of the oil tank, then the first pneumatic telescopic cylinder 34 is started to enable the joint rod 33 to drive the vacuum suction cup 31 to continuously move towards the direction close to the outer cover of the oil tank until the vacuum suction cup 31 is attached to the outer cover of the oil tank, and then the vacuum equipment is started and the vacuum suction cup 31 is attached to and adsorbed on the outer cover of the oil tank through the first pneumatic telescopic cylinder 34; then, the first pneumatic telescopic cylinder 34 is reversely started and the joint rod 33 drives the suction disc to pull and lift the outer cover of the oil tank in cooperation with the action of the mechanical arm 1, so that the automatic lifting operation of the outer cover of the oil tank is realized.

Referring to fig. 3 and 4, in the process, the outer cover of the oil tank and the vehicle body rotate relatively in a fixed axis, and the joint rod 33 also performs corresponding planar motion, that is, the included angle between the joint rod 33 and the surface of the vehicle body changes constantly, so that if the corresponding motion of the joint rod 33 is completed directly through the cooperation of the mechanical arm 1, the stroke of the mechanical arm 1 is large, and the joint rod 33 is easily broken and damaged due to radial load or torque; for this purpose, a hinge shaft 35 is fixedly penetrated through the peripheral surface of the joint rod 33, and the axis of the hinge shaft 35 is vertical to the axis of the joint rod 33; a joint barrel 36 with a hollow inner part is arranged between the joint rod 33 and the first pneumatic telescopic cylinder 34, the joint barrel 36 is coaxially and fixedly connected with a telescopic rod of the first pneumatic telescopic cylinder 34, the joint rod 33 penetrates through the end face, far away from the first pneumatic telescopic cylinder 34, of the joint barrel 36 and penetrates into the joint barrel 36, a hinge shaft 35 is positioned inside the joint barrel 36 and is inserted into the barrel wall of the joint barrel 36 along the radial direction of the joint barrel 36, the hinge shaft 35 is rotatably connected with the barrel wall of the joint barrel 36, and therefore the hinge connection between the joint rod 33 and the joint barrel 36 is achieved, namely the flexible connection is formed between the joint rod 33 and the first pneumatic telescopic cylinder 34.

In addition, one side of the joint barrel 36 is provided with a yielding hole 361, and the yielding hole 361 penetrates through the end face of one end of the joint barrel 36 close to the joint rod 33 and is provided for the circumferential surface of the joint rod 33 to pass through; the other side of the joint barrel 36 is provided with a limiting through hole 362 opposite to the abdicating hole 361, the limiting through hole 362 does not penetrate through the end face of one end of the joint barrel 36 close to the joint rod 33, the abdicating hole 361 and the limiting through hole 362 are provided for the joint rod 33 to rotate around the axis of the hinge shaft 35 in the joint barrel 36 in a fixed axis manner, and meanwhile, the limiting through hole 362 does not penetrate through the end face of the joint barrel 36 so as to prevent the joint rod 33 from rotating reversely; furthermore, in order to realize automatic reset of the joint rod 33, a U-shaped reset spring 37 is arranged on one side of the joint cylinder 36, which is provided with the abdicating hole 361, the U-shaped opening of the reset spring 37 faces the peripheral surface of the joint cylinder 36, one end of the reset spring 37 is fixed on one side of the joint cylinder 36 away from the joint rod 33, and the other end is fixed on the joint rod 33; when the reset spring 37 is in a normal state, i.e. is not elastically deformed, the joint cylinder 36 and the joint rod 33 are in a coaxial state.

When the vacuum suction disc 31 pulls the outer cover of the oil tank, the joint rod 33 rotates around the hinge shaft 35 in a fixed axis mode, and meanwhile the width of the U-shaped opening of the reset elastic sheet 37 is expanded and the trend of returning to the normal state exists; after the outer cover of the oil tank is opened, the vacuum equipment is closed to enable the vacuum suction cup 31 to loosen the outer cover of the oil tank, the first pneumatic telescopic cylinder 34 is started reversely to enable the vacuum suction cup 31 to be far away from the outer cover of the oil tank, the resetting elastic sheet 37 is restored to the normal state in the process, the joint rod 33 is pushed to be in a state coaxial with the joint barrel 36, and automatic resetting of the joint rod 33 is achieved.

Further, referring to fig. 1 and 5, the inner lid screwing mechanism 4 is disposed on a side of the rack block 2 facing away from the end of the robot arm 1; the inner cover screwing mechanism 4 comprises a rotating assembly 45 arranged on the rack block 2, a rotary driving piece fixed on the rack block 2 and providing rotary power for the rotating assembly 45, a second linear driving piece arranged on the rotating assembly 45, and a first clamping jaw 41 arranged on the second linear driving piece, wherein the second linear driving piece drives the first clamping jaw 41 to move towards or away from the rack block 2; clamping rods 43 are bolted or welded on the two clamping heads of the first clamping jaw 41, the ends of the two clamping rods 43 close to the first clamping jaw 41 are parallel to each other, and the ends of the two clamping rods 43 far away from the first clamping jaw 41 are inclined close to each other along the direction from close to far away from the first clamping jaw 41; a cushion block 44 is arranged at one end of each clamping rod 43 far away from the first clamping jaw 41, the cushion block 44 can be made of rubber, plastic or wood, and the like, the cushion block 44 can be fixed on the clamping rods 43 in a gluing or bolting mode, the cushion block 44 is arranged at one side of the two clamping rods 43 close to each other, and the cushion block 44 extends towards two sides of the clamping rods 43; wherein, the second linear driving piece can adopt pneumatic telescopic cylinder, pneumatic cylinder or linear electric motor to can realize linear drive as the standard, in this embodiment, the second linear driving piece adopts second pneumatic telescopic cylinder 42, and the cylinder body of second pneumatic telescopic cylinder 42 is fixed on frame piece 2.

After the inner cover screwing mechanism 4 moves to the position of the inner cover of the oil tank, the second pneumatic telescopic cylinder 42 drives the first clamping jaw 41 and the clamping rods 43 to move towards the direction close to the inner cover of the oil tank until the two clamping rods 43 are respectively positioned at two sides of the inner cover of the oil tank, the first clamping jaw 41 is started, the two clamping rods 43 are controlled to move towards the direction close to each other until the inner cover of the oil tank is clamped between the two clamping rods 43, the rotary driving piece is started to enable the two clamping rods 43 to rotate around the axis of the inner cover of the oil tank in a fixed shaft mode, in the process, the second pneumatic telescopic cylinder 42 slowly moves towards the direction far away from the oil tank to match the inner cover of the oil tank to be screwed down from the oil port of the oil tank, and then the inner cover of the oil tank is automatically screwed; the installation of the inner cover of the oil tank is the reverse process of the above process, and is not described in detail here.

Specifically, the rotary driving part can adopt a hydraulic, pneumatic or electric motor, and the power output of the rotary driving can be realized; the rotating assembly 45 can adopt a belt pulley transmission mechanism, a chain wheel transmission mechanism or a gear transmission mechanism and the like so as to realize rotary transmission; in the present embodiment, the rotary driving member is a pneumatic motor 10 fixed on the frame block 2 by a cylinder, and the rotating assembly 45 is a belt transmission mechanism, further explained as the rotating assembly 45 includes a driving wheel 451 coaxially and fixedly connected with the output shaft of the pneumatic motor 10, a driven wheel 452 rotationally connected with the frame block 2, and a transmission belt 453 tensioned between the driving wheel 451 and the driven wheel 452; the cylinder body of the second pneumatic telescopic cylinder 42 is fixed to the driven wheel 452, the first holding jaw 41 is fixed to the telescopic rod of the second pneumatic telescopic cylinder 42, and the two clamping rods 43 are symmetrically arranged about the axis of the driven wheel 452.

Referring to fig. 1 and 6, the oil gun gripping mechanism 5 is located on a side surface of the housing block 2 facing away from the outer cover opening and closing mechanism 3; the oil gun gripping mechanism 5 comprises a second clamping jaw 51 fixed on the frame block 2, two clamping heads of the second clamping jaw 51 are respectively fixed with a clamping block 52, and the two first clamping blocks 52 can move towards or away from each other under the action of the second clamping jaw 51; a cuboid mounting block 62 is fixed on the oil gun 6, and a gripping strip 621 which can be inserted between the two clamping blocks 52 is convexly formed on one side of the mounting block 62; when the oil gun 6 is placed on the support plate 8, the grasping strips 621 are placed on one side, close to the mechanical arm 1, of the support plate 8, when the oil gun 6 needs to be grasped, the oil gun grasping mechanism 5 is moved to the position close to the support plate 8, the two clamping blocks 52 are moved to the two sides of the grasping strips 621 on the corresponding oil gun 6, the second clamping jaw 51 is started, the two clamping blocks 52 are moved towards the mutually approaching direction until the grasping strips 621 are clamped between the two clamping blocks 52, grasping of the oil gun 6 is further achieved, and then under the action of the mechanical arm 1, the gun head of the oil gun 6 is inserted into the oil port of the oil tank to complete gun operation of the oil gun 6.

Further, referring to fig. 1 and 7, two supporting seats 84 respectively disposed on two sides of the supporting plate 8 are fixed on one side of the inner wall of the operation chamber 7 close to the supporting plate 8, and the supporting seats 84 are bolted or welded to the inner wall of the operation chamber 7, so that a gap in the horizontal direction exists between the supporting plate 8 and the operation chamber 7.

Referring to fig. 7 and 8, in order to stably mount the oil gun 6 on the bracket plate 8, the bracket plate 8 is vertically arranged and extends in the horizontal direction, an L-shaped overlapping flap 623 is fixedly connected to one side of the mounting block 62, one end of the overlapping flap 623 is perpendicular to the surface of the mounting block 62 where the overlapping flap is located, and the other end of the overlapping flap 623 is parallel to the surface of the mounting block 62 and has a gap with the surface; a clamping groove 81 is formed through the top edge of the support plate 8, a clamping plate 82 fixed on the support plate 8 is arranged in the clamping groove 81, the clamping plate 82 is parallel to the support plate 8, the thickness of the clamping plate 82 is smaller than that of the support plate 8, the gap between the lapping plate 623 and the mounting block 62 is equal to or larger than that of the clamping plate 82, the gap between the lapping plate 623 and the mounting block 62 is equal to that of the clamping plate 82 in the embodiment, and the lapping plate 623 can be lapped on the clamping plate 82 and embedded into the clamping groove 81; in addition, a plurality of sets of hitching pins 83 arranged in pairs are fixed on one side of the supporting plate 8 close to the robot arm 1, the axes of the hitching pins 83 are perpendicular to the surface of the supporting plate 8, hitching rings 622 are fixed on two surfaces of the mounting block 62 perpendicular to the surface where the lapping plate 623 is located, and the hitching rings 622 can be hitched on the corresponding hitching pins 83.

When the oil gun 6 needs to be replaced, the overlapping plate 623 of the oil gun 6 gripped by the oil gun gripping mechanism 5 is lapped on the bracket plate 8, the hooking ring 622 is hooked on the hooking pin 83, the second clamping jaw 51 is reversely started to enable the clamping block 52 to release the gripping strip 621, and then the gun unloading operation of the oil gun 6 is completed; then, the oil gun holding mechanism 5 is moved to the position of the oil gun 6 corresponding to the required oil through the mechanical arm 1, the two fixture blocks 52 are moved to the two sides of the holding strip 621 of the corresponding oil gun 6, the holding operation of the subsequent oil gun holding mechanism 5 is completed, and the automatic gun changing of the oil gun 6 is further realized.

Referring to fig. 6 and 9, the oil gun 6 includes a trigger 61, the trigger 61 being located on a side of the mounting block 62 facing away from the grip strip 621; in order to realize automatic pulling down of the trigger 61 to complete the oil filling operation, a third linear driving member is arranged on one of the two fixture blocks 52, the third linear driving member can adopt a pneumatic telescopic cylinder, a hydraulic cylinder or a linear motor so as to realize linear driving, in the embodiment, the third linear driving member adopts a third pneumatic telescopic cylinder 53, a cylinder body of the third pneumatic telescopic cylinder 53 is fixed on the fixture block 52, the extension direction of the telescopic rod of the third pneumatic telescopic cylinder 53 is perpendicular to the moving direction of the two fixture blocks 52 and extends towards the direction far away from the rack block 2, the end part of the telescopic rod of the third pneumatic telescopic cylinder 53 is bolted or welded with a trigger pressing block 54, the extension direction of the trigger pressing block 54 is perpendicular to the telescopic rod of the third pneumatic telescopic cylinder 53, the distance between the trigger pressing block 54 and the fixture block 52 is larger than the distance between the trigger 61 and the gripping strip 621 under the normal state, and the trigger pressing block 54 is moved to the side of the trigger 61 away from the mounting block 62 while the grip strip 621 is clamped between the two latch blocks 52.

After the gun operation is finished, the third pneumatic telescopic cylinder 53 is started to drive the trigger pressing block 54 to move towards the direction close to the second clamping jaw 51, and in the process, the trigger pressing block 54 presses the trigger 61 and starts the oil gun 6, so that automatic oiling is realized; after the oiling is completed, the third pneumatic telescopic cylinder 53 is started in the reverse direction until the trigger pressing block 54 releases the trigger 61.

The present embodiment is only for explaining the present application, and it is not limited to the present application, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present application.

Claims

1. The utility model provides a refuel terminal assembly of robot which characterized in that: the oil gun clamping device comprises a rack block (2), wherein an outer cover opening and closing mechanism (3) for opening or buckling an outer cover of an oil tank, an inner cover screwing mechanism (4) for screwing an inner cover of the oil tank and an oil gun clamping mechanism (5) for clamping an oil gun (6) are arranged on the rack block (2).

2. A fueling robot tip assembly as set forth in claim 1, wherein: the outer cover opening and closing mechanism (3) comprises a vacuum sucker (31), an air pumping cylinder (32) and vacuum equipment which are sequentially communicated, a relevant joint rod (33) is fixed on the air pumping cylinder (32), and a first linear driving piece used for driving the joint rod (33) to reciprocate along the axis direction of the first linear driving piece is arranged on the rack block (2).

3. A fueling robot end assembly as set forth in claim 2, wherein: a hinge shaft (35) is fixed through the peripheral surface of the joint rod (33), the hinge shaft (35) extends towards two sides of the joint rod (33) and is rotatably connected with a related joint barrel (36), the joint rod (33) is inserted into the joint barrel (36) and can rotate around the axis of the hinge shaft (35) in the joint barrel (36), and the joint barrel (36) is arranged on the first linear driving piece; one side of the joint barrel (36) is provided with a yielding hole (361) for the peripheral surface of the joint rod (33) to pass through, and the yielding hole (361) penetrates through the end surface of the joint barrel (36) close to the joint rod (33) to be formed; one side of the joint cylinder (36) provided with the abdicating hole (361) is provided with a U-shaped reset spring (37) with an opening facing the joint cylinder (36), one end of the reset spring (37) is fixedly connected with the joint rod (33) and the other end is connected with the joint cylinder (36).

4. A fueling robot tip assembly as set forth in claim 1, wherein: the inner cover screwing mechanism (4) comprises a first clamping jaw (41) and a second linear driving piece for driving the first clamping jaw (41) to reciprocate, clamping rods (43) are respectively fixed on two clamping heads of the first clamping jaw (41), and the two clamping rods (43) are oppositely arranged; the rack block (2) is provided with a rotating component (45) for driving the first clamping jaw (41) to rotate in a fixed axis mode and a rotary driving part for providing power for the rotating component (45).

5. A fueling robot tip assembly as set forth in claim 4, wherein: the rotating assembly (45) comprises a driving wheel (451) coaxially fixed on an output shaft of the rotating driving part, a driven wheel (452) is rotatably connected to the rack block (2), and a transmission belt (453) is tensioned between the driving wheel (451) and the driven wheel (452); the second linear driving piece is fixed on the driven wheel (452); the two clamping levers (43) are arranged symmetrically with respect to the axis of the driven wheel (452).

6. A fueling robot tip assembly as set forth in claim 1, wherein: the oil gun gripping mechanism (5) comprises an oil gun (6) and a second clamping jaw (51) arranged on the frame block (2), and two clamping heads of the second clamping jaw (51) are fixedly connected with a clamping block (52) respectively; an installation block (62) is fixedly connected to the oil gun (6), and a gripping strip (621) capable of entering between the two fixture blocks (52) is arranged on one side of the installation block (62).

7. A fueling robot tip assembly as set forth in claim 6, wherein: the oil gun (6) comprises a trigger (61) arranged on one side of the mounting block (62) far away from the gripping strip (621); one clamping block (52) is provided with a third linear driving piece, and one end, far away from the clamping block (52), of the third linear driving piece is provided with a trigger pressing block (54) and used for driving the trigger pressing block (54) to move close to or far away from the second clamping jaw (51).

8. An oiling robot is characterized in that: comprising a robot arm (1) and a refueling robot end assembly according to claim 6 or 7, wherein the frame block (2) is fixed to the end of the robot arm (1).

9. The fueling robot of claim 8, wherein: the oil gun is characterized by also comprising a support plate (8), wherein the oil gun (6) is provided with a plurality of oil sources which are respectively communicated with different oil sources; an L-shaped lap joint sheet (623) capable of being lapped on the support plate (8) is fixed on one side of the mounting block (62) departing from the grasping strip (621); a plurality of groups of hanging pins (83) which are arranged in pairs are fixed on the bracket plate (8), and hanging rings (622) which are lapped on the corresponding hanging pins (83) are fixed on two surfaces of the mounting block (62) which are vertical to the surface where the holding strip (621) is positioned.

10. The fueling robot of claim 8, wherein: the machine frame block (2) is provided with a visual system (9) which is used for identifying the positions of an outer cover of an oil tank, an inner cover of the oil tank and an oil port of the oil tank and controlling the tail end of the mechanical arm (1) to move to a specified position, the visual system (9) is electrically connected with a control module, and the control module is electrically connected with the mechanical arm (1).