CN113894802A - S-shaped arm oiling robot - Google Patents
S-shaped arm oiling robot Download PDFInfo
- Publication number
- CN113894802A CN113894802A CN202010573353.6A CN202010573353A CN113894802A CN 113894802 A CN113894802 A CN 113894802A CN 202010573353 A CN202010573353 A CN 202010573353A CN 113894802 A CN113894802 A CN 113894802A
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- snake
- oil
- clamping
- arm
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/38—Arrangements of hoses, e.g. operative connection with pump motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/42—Filling nozzles
Abstract
The invention relates to automatic energy supply equipment, in particular to a snakelike arm oiling robot. The system comprises a snakelike arm robot, an end effector, an oil supply system, an oil pipe and an oil gun; the snakelike arm robot is arranged on the oil supply system, and the end effector is arranged at the execution tail end of the snakelike arm robot; the oil gun is arranged on the end effector; one end of the oil pipe is connected with the oil supply system, and the other end of the oil pipe penetrates through the snake-shaped arm robot and is connected with the oil gun. The invention has the advantages of small floor area, small occupied space, compact structure, built-in oil circuit and high efficiency, integrates the traditional oiling machine and the snakelike arm robot into a whole, and has strong comprehensive applicability.
Description
Technical Field
The invention relates to automatic energy supply equipment, in particular to a snakelike arm oiling robot.
Background
In the field of automatic energy supply, articulated refuelling robots (industrial robots) are a common solution. However, the industrial robot which needs to have an explosion-proof function has the technical defects of large occupied area, large occupied space and low efficiency (a way of grabbing an oil gun) due to the fact that the industrial robot is large in structural size, heavy in overall weight and low in load capacity. The existing industrial robot can only stay in the experimental principle prototype verification stage in the solution aspect, and cannot be really applied to the field of actual energy supply (gas stations).
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a serpentine arm oiling robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a snakelike arm oiling robot comprises a snakelike arm robot, an end effector, an oil supply system, an oil pipe and an oil gun;
the snakelike arm robot is arranged on the oil supply system, and the end effector is arranged at the execution tail end of the snakelike arm robot;
the oil gun is arranged on the end effector;
one end of the oil pipe is connected with the oil supply system, and the other end of the oil pipe penetrates through the snake-shaped arm robot and is connected with the oil gun.
The snakelike arm robot comprises a snakelike arm robot body, a driving unit and a plurality of traction steel wire ropes; the driving unit is arranged on the oil supply system; one end of the snake-shaped arm robot body is connected with the driving unit, and the other end of the snake-shaped arm robot body is connected with the end effector;
one end of each of the plurality of traction steel wire ropes is connected with the driving unit, and the other end of each of the plurality of traction steel wire ropes is accommodated in the snake-shaped arm robot body and connected with each joint of the snake-shaped arm robot body;
the driving unit drives the snake-shaped arm robot body to perform bending action through a traction steel wire rope.
The snake-shaped arm robot body comprises a rigid fixed arm, a flexible arm long section, a flexible arm short section and a flexible arm tail section which are sequentially hinged, wherein the rigid fixed arm is connected with the driving unit, and the flexible arm tail section is connected with the end effector;
each joint of the snake-shaped arm robot body is connected with three traction steel wire ropes which are uniformly distributed along the circumferential direction.
The driving unit comprises a driving unit frame and a plurality of linear driving mechanisms which are arranged in the driving unit frame and are respectively connected with the traction steel wire ropes, and the linear driving mechanisms drive the snake-shaped arm robot body to bend through the traction steel wire ropes.
The end effector comprises a connecting block, and an oil gun clamping mechanism and a steering mechanism which are arranged on the connecting block, wherein the steering mechanism is provided with an oil tank outer cover opening and closing mechanism and an oil tank inner cover opening and closing mechanism, and the steering mechanism is used for switching the positions of the oil tank outer cover opening and closing mechanism and the oil tank inner cover opening and closing mechanism;
the oil gun clamping mechanism is connected with the execution tail end of the snakelike arm robot and used for clamping the oil gun.
The oil tank outer cover switching mechanism comprises a vacuum sucker, a mechanical touch probe, a shell I, a pushing cylinder, a switching mechanism and a sucker connecting rod, wherein the shell I is connected with the steering mechanism, and the mechanical touch probe and the sucker connecting rod are arranged in parallel and are both connected with the shell I in a sliding manner;
the pushing cylinder is arranged in the shell I, and the output end of the pushing cylinder is connected with one end of the sucker connecting rod; the vacuum sucker is connected with the other end of the sucker connecting rod and is positioned on the outer side of the shell I;
the switching mechanism is arranged in the shell I and is connected with the mechanical touch probe and the sucker connecting rod; the switching mechanism is used for driving the mechanical touch probe to stretch and retract, and the stretching direction is opposite to that of the sucker connecting rod.
The switching mechanism comprises a rotating shaft and a swing rod, wherein the swing rod is installed in the shell I through the rotating shaft and is positioned between the mechanical touch probe and the sucker connecting rod;
the two ends of the swing rod are provided with sliding grooves, and the mechanical touch probe and the sucker connecting rod are respectively in sliding connection with the sliding grooves at the two ends of the swing rod.
The inner cover mechanism of the switch oil tank comprises an explosion-proof torque motor, a clamping cylinder, a gear transmission mechanism, an angle flexible adjusting mechanism, a clamping jaw, a traction rope, a rotating sleeve and a shell II, wherein one end of the shell II is connected with the steering mechanism, and the rotating sleeve is rotatably arranged at the other end of the shell II; the clamping jaw is connected with the rotating sleeve through an angle flexible adjusting mechanism;
the explosion-proof torque motor and the clamping cylinder are arranged in the shell II, and the explosion-proof torque motor is connected with the rotating sleeve through a gear transmission mechanism;
the traction rope penetrates through the rotating sleeve, and two ends of the traction rope are respectively connected with the clamping cylinder and the clamping jaw; the clamping cylinder drives the clamping jaws to open or close through the traction rope.
The oil gun clamping mechanism comprises a clamping base, a clamping unit and a hooking unit;
the clamping base is connected with the connecting block, the clamping unit is arranged on the clamping base, and the hooking unit is arranged on the clamping unit;
the hooking and holding unit comprises a hooking and holding cylinder and a switch bolt, and the switch bolt is arranged at the output end of the hooking and holding cylinder; the hooking cylinder drives the switch bolt to stretch and retract, so that a trigger of the oil gun is pulled.
The snakelike arm oiling robot further comprises a visual identification positioning system and an electric control system; the visual recognition positioning system is used for recognizing the position postures of the vehicle fuel tank cap and the fuel port and outputting the position postures; and the electric control system is used for receiving the position and attitude information of the oil tank cover and the oil port of the vehicle output by the vision recognition and positioning system and controlling the snakelike arm robot to refuel according to the position and attitude information.
The invention has the advantages and beneficial effects that:
the snake-shaped arm refueling robot provided by the invention is suitable for a series of operations such as automatic fuel tank cap opening, refueling and the like for refueling vehicles under the arrangement of the traditional refueling station. The invention has the advantages of small floor area, small occupied space, compact structure, built-in oil circuit and high efficiency, integrates the traditional oiling machine and the snakelike arm robot into a whole, and has strong comprehensive applicability.
Drawings
FIG. 1 is a schematic structural view of a serpentine arm fueling robot of the present invention;
FIG. 2 is an isometric view of a serpentine arm robot of the present invention;
FIG. 3 is an enlarged view taken at I in FIG. 2;
FIG. 4 is one of the isometric views of an end effector of the present invention;
FIG. 5 is a second isometric view of an end effector of the present invention;
FIG. 6 is a schematic structural diagram of an outer cover mechanism of the fuel tank of the present invention;
FIG. 7 is a schematic structural diagram of an inner cover mechanism of an oil tank of the invention;
FIG. 8 is an isometric view of a clamping oil gun mechanism of the present invention;
fig. 9 is a schematic view of the oil supply system of the present invention.
In the figure: 1 is a snake-shaped arm robot, 11 is a snake-shaped arm robot body, 111 is a rigid fixed arm, 112 is a flexible arm long section, 113 is a flexible arm short section, 114 is a flexible arm tail section, 115 is a Hooke's joint cross axle, 12 is a driving unit, 121 is a driving unit frame, 122 is a driving fixed block, 123 is a linear guide rail, 124 is a coupler, 125 is a speed reducer, 126 is a motor, 127 is a steel wire rope fixed end, 13 is a traction steel wire rope, 2 is an end effector, 21 is a mechanism for opening and closing an outer cover of an oil tank, 211 is a vacuum chuck, 212 is a mechanical touch probe, 213 is a shell I, 214 is a sensor, 215 is a pushing cylinder, 216 is a rotating shaft, 217 is a swing rod, 218 is a chuck connecting rod, 22 is a mechanism for opening and closing an inner cover of the oil tank, 221 is an explosion-proof torque motor, 222 is a coupler, 223 is a clamping cylinder, 224 is a pinion, 225 is a bull gear, 226 is an angle flexible adjusting mechanism, 227 is a clamping jaw, 228 is a steel wire rope, 229 is a fixing part, 2210 is a sleeve I, 2211 is a sleeve II, 2212 is a rotating sleeve, 2213 is a shell II, 23 is an oil gun clamping mechanism, 231 is a clamping unit, 2311 is an oil gun clamping cylinder, 2312 is an oil gun clamping jaw, 232 is a hooking unit, 2321 is a hooking cylinder, 2322 is a switch bolt, 233 is a clamping base, 24 is a connecting block, 25 is a steering mechanism, 251 is a steering base, 252 is a steering cylinder, 26 is a connecting flange, 3 is a visual identification positioning system, 31 is a binocular camera, 32 is a camera support, 4 is an electric control system, 5 is an oil supply system, 51 is an outer cover, 52 is a motor, 53 is an oil pump, 54 is a solenoid valve, 55 is a flow meter, 56 is a breaking valve, 6 is an oil pipe, 7 is an oil gun, and 8 is an intelligent interaction system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the snake-shaped arm oiling robot provided by the invention comprises a snake-shaped arm robot 1, an end effector 2, an oil supply system 5, an oil pipe 6 and an oil gun 7; the snake-shaped arm robot 1 is arranged on the oil supply system 5, and the end effector 2 is arranged at the executing end of the snake-shaped arm robot 1; the oil gun 7 is arranged on the end effector 2; one end of the oil pipe 6 is connected with the oil supply system 5, and the other end passes through the snake-shaped arm robot 1 and is connected with the oil gun 7.
In the embodiment of the invention, the snakelike arm oiling robot further comprises a visual identification positioning system 3, an electric control system 4 and an intelligent interaction system 8; the visual recognition positioning system 3 is used for recognizing the position and the posture of the vehicle fuel tank cover and the fuel port and outputting the position and the posture; the electronic control system 4 is used for receiving the position and attitude information of the fuel tank cap and the fuel port of the vehicle output by the vision recognition and positioning system 3 and controlling the snakelike arm robot 1 to refuel according to the position and attitude information.
Specifically, the vision recognition positioning system 3 includes a binocular camera and a camera mount on which the binocular camera is mounted.
In the embodiment of the present invention, as shown in fig. 2, the serpentine arm robot 1 includes a serpentine arm robot body 11, a driving unit 12, and a plurality of traction wire ropes 13; the driving unit 12 is arranged on the oil supply system 5, one end of the snake-shaped arm robot body 11 is connected with the driving unit 12, and the other end is connected with the end effector 2; one end of each of the plurality of traction steel wire ropes 13 is connected with the driving unit 12, and the other end is accommodated in the snake-shaped arm robot body 11 and connected with each joint of the snake-shaped arm robot body 11; the drive unit 12 drives the serpentine arm robot body 11 to perform a bending operation by pulling the wire rope 13.
Specifically, as shown in fig. 2-3, the snake-shaped arm robot body 11 includes a rigid fixed arm 111, a flexible arm long section 112, a flexible arm short section 113, and a flexible arm end section 114, which are hinged in sequence, wherein the rigid fixed arm 111 is connected with the driving unit 12, both the flexible arm long section 112 and the flexible arm short section 113 can be multi-section, and the flexible arm end section 114 is connected with the end effector 2.
Specifically, each joint of the snake-shaped arm robot body 11 is provided with a hooke joint cross shaft 115, and two adjacent flexible arms are connected through the hooke joint cross shaft 115.
Furthermore, each joint of the serpentine arm robot body 11 is connected with three traction steel wire ropes 13 uniformly distributed along the circumferential direction, and the bending action of the joint is realized by the traction of the three traction steel wire ropes 13.
In the embodiment of the present invention, as shown in fig. 2, the driving unit 12 includes a driving unit frame 121 and a plurality of linear driving mechanisms disposed in the driving unit frame 121 and connected to the traction cables 13, respectively, and the linear driving mechanisms drive the serpentine arm robot body 11 to bend through the traction cables 13.
Specifically, the linear driving mechanism includes a linear guide rail 123, a screw nut driving mechanism and a steel wire rope fixing end 127, wherein the screw nut driving mechanism includes a screw, a nut, a coupler 124, a speed reducer 125 and a motor 126, wherein the motor 126 is connected with the speed reducer 125, the speed reducer 125 is connected with one end of the screw through the coupler 124, the other end of the screw is connected with the driving unit frame 121 through a driving fixing block 122, and the nut is in threaded connection with the screw to form a threaded pair. The steel wire rope fixing end 127 is connected with the linear guide rail 123 in a sliding mode, and meanwhile the steel wire rope fixing end 127 is connected with a nut; the motor 126 drives the lead screw to rotate, so that the steel wire rope fixing end 127 is driven by the nut to slide along the linear guide rail 123; the steel wire rope fixing end 127 is connected with a traction steel wire rope 13, so that the joint of the snake-shaped arm robot body 11 is pulled by the traction steel wire rope 13 to bend, and the snake-shaped arm robot body 11 executes corresponding functional actions.
In the embodiment of the invention, as shown in fig. 4-5, the end effector 2 comprises a connecting block 24, and an oil gun clamping mechanism 23 and a steering mechanism 25 which are arranged on the connecting block 24, wherein the steering mechanism 25 is provided with an oil tank outer cover opening and closing mechanism 21 and an oil tank inner cover opening and closing mechanism 22, and the steering mechanism 25 is used for switching the positions of the oil tank outer cover opening and closing mechanism 21 and the oil tank inner cover opening and closing mechanism 22; the oil gun clamping mechanism 23 is connected to the execution end of the snake-shaped arm robot 1 and used for clamping the oil gun 7.
As shown in fig. 5, the steering mechanism 25 includes a steering base 251 and a steering cylinder 252, wherein the steering base 251 is rotatably connected to the connecting block 24, the steering cylinder 252 is disposed in the connecting block 24, and an output end is connected to the steering base 251 to drive the steering base 251 to rotate. The switch oil tank outer cover mechanism 21 and the switch oil tank inner cover mechanism 22 are arranged on the steering base 251 and form an included angle of 90 degrees.
In the embodiment of the present invention, as shown in fig. 6, the oil tank cover opening and closing mechanism 21 includes a vacuum chuck 211, a mechanical touch probe 212, a housing i 213, a push cylinder 215, a switching mechanism, and a chuck link 218, wherein the housing i 213 is connected to the steering mechanism 25, and the mechanical touch probe 212 and the chuck link 218 are disposed in parallel and are slidably connected to the housing i 213. The pushing cylinder 215 is arranged in the shell I213, and the output end of the pushing cylinder is connected with one end of the sucker connecting rod 218; the vacuum chuck 211 is elastically connected with the other end of the chuck connecting rod 218 and is positioned on the outer side of the shell I213; the push cylinder 215 drives the suction cup linkage 218 for telescoping action. The switching mechanism is arranged in the housing I213 and is connected with the mechanical touch probe 212 and the sucker connecting rod 218; the switching mechanism is used to drive the mechanical touch probe 212 to extend and retract, and the extending and retracting direction is opposite to the extending and retracting direction of the suction cup link 218. The mechanism 21 for opening and closing the outer cover of the oil tank senses the outer cover of the oil tank through the touch of the mechanical touch probe 212, and the outer cover is sucked and held through the vacuum suction cup 211 to perform the opening and closing actions of the cover.
In an embodiment of the present invention, the switching mechanism comprises a rotating shaft 216 and a swing link 217, wherein the swing link 217 is installed in the housing i 213 through the rotating shaft 216 and is located between the mechanical touch probe 212 and the suction cup link 218; the two ends of the swing rod 217 are provided with sliding grooves, and the mechanical touch probe 212 and the sucker connecting rod 218 are respectively in sliding connection with the sliding grooves at the two ends of the swing rod 217. When the pushing cylinder 215 drives the sucker rod 218 and the vacuum sucker 211 to extend forwards, the mechanical touch probe 212 is driven by the swing rod 217 to retract backwards; when the pushing cylinder 215 drives the sucker rod 218 and the vacuum sucker 211 to retract backward, the mechanical touch probe 212 is driven by the swing rod 217 to extend forward.
In the embodiment of the invention, as shown in fig. 7, the switch oil tank inner cover mechanism 22 comprises an explosion-proof torque motor 221, a clamping cylinder 223, a gear transmission mechanism, an angle flexible adjusting mechanism 226, a clamping jaw 227, a traction rope 228, a rotating sleeve 2212 and a shell ii 2213, wherein one end of the shell ii 2213 is connected with a steering base 251 of a steering mechanism 25, and the rotating sleeve 2212 is rotatably arranged at the other end of the shell ii 2213; the jaws 227 are connected to a rotating sleeve 2212 through an angular flexibility adjustment mechanism 226; the explosion-proof torque motor 221 and the clamping cylinder 223 are both arranged in the shell II 2213, and the explosion-proof torque motor 221 is connected with the rotating sleeve 2212 through a gear transmission mechanism; the pulling rope 228 passes through the rotating sleeve 2212, and both ends of the pulling rope are respectively connected with the clamping cylinder 223 and the clamping jaw 227, and the clamping cylinder 223 drives the clamping jaw 227 to open or close through the pulling rope 228.
Specifically, the gear transmission mechanism comprises a small gear 224 and a large gear 225, wherein the large gear 225 is fixed in the housing II 2213 through a fixing piece 229 and is connected with the rotating sleeve 2212; the pinion 224 is connected with an output shaft of the explosion-proof torque motor 221 through a coupling 222 and is meshed with the bull gear 225.
The explosion-proof torque motor 221 drives the rotating sleeve 2212 to rotate through a gear transmission mechanism, so as to drive the clamping jaw 227 to rotate.
Further, a sleeve I2210 and a sleeve II 2211 are sleeved on the outer side of the traction rope 228, one end of the sleeve I2210 is inserted into the fixing part 229, and the other end of the sleeve I2210 is inserted into the rotating sleeve 2212; the sleeve II 2211 is disposed between the angular compliance adjustment mechanism 226 and the clamping jaws 227, and the pull string 228 is free to move within the sleeve I2210 and the sleeve II 2211.
In the mechanism 22 for opening and closing the inner lid of the oil tank, the clamping cylinder 223 drives the clamping jaws 227 to clamp the inner lid of the oil tank, and the explosion-proof torque motor 221 drives the pinion 224, the gearwheel 225 and the angle flexible adjusting mechanism 226 to enable the clamping jaws 227 to screw the inner lid in a state of clamping the inner lid of the oil tank, so that the inner lid of the oil tank is opened and closed.
In the embodiment of the present invention, as shown in fig. 8, the oil gun clamping mechanism 23 includes a clamping base 233, a clamping unit 231 and a hooking unit 232, the clamping base 233 is connected to the connecting block 24, the clamping unit 231 is disposed on the clamping base 233, and the hooking unit 232 is disposed on the clamping unit 231.
In this embodiment, the clamping unit 231 is prior art, and includes a clamping oil gun cylinder 2311 and an oil gun clamping jaw 2312 connected to the clamping oil gun cylinder 2311, and the clamping oil gun cylinder 2311 drives the oil gun clamping jaw 2312 to open or close.
In this embodiment, the hooking unit 232 includes a hooking cylinder 2321 and a switch bolt 2322, the hooking cylinder 2321 is disposed on the grease gun clamping jaw 2312, and the switch bolt 2322 is disposed at an output end of the hooking cylinder 2321; the hooking cylinder 2321 drives the switch bolt 2322 to extend and retract, thereby pulling the trigger of the oil gun 7.
The clamping oil gun mechanism 23 clamps the oil gun by the clamping oil gun cylinder 231, and drives the oil gun to perform an oil filling action by the hooking cylinder 232.
In the embodiment of the present invention, as shown in fig. 9, the oil supply system 5 includes an outer cover 51, and a motor 52, an oil pump 53, a solenoid valve 54, a flow meter 55 and a breaking valve 56 which are arranged in the outer cover 51, wherein the motor 52 is connected with the oil pump 53, the flow meter 55 and the breaking valve 56 are arranged at a fluid inlet of the oil pump 53, and the breaking valve 56 is connected with the oil pipe 6. The oil supply system 5 provides oil liquid delivery for the serpentine arm oiling robot when the oiling motion is executed, and the breaking valve 56 can cut off and protect oil liquid in emergency situations (such as when the vehicle accidentally pulls an oil gun).
The working principle of the invention is as follows:
when refueling the vehicle and berthhing to appointed refueling station, the position gesture of vehicle oil tank enclosing cover is discerned at first to vision discernment positioning system 3, receives snakelike arm robot 1 of gesture information and removes to vehicle oil tank enclosing cover and appoints the location, and snakelike arm robot 1 drives end effector 2 and opens the oil tank enclosing cover. The visual identification positioning system 3 identifies the position posture of the inner cover of the oil tank of the vehicle, and the snakelike arm robot 1 drives the end effector 2 to rotate and open the inner cover of the oil tank. The position gesture of vehicle hydraulic fluid port is discerned to vision identification positioning system 3, and snakelike arm robot 1 stretches into oil gun 7 oil tank port, and oil feeding system 5 carries out the operation of refueling, refuels and accomplishes back snakelike arm robot 1 and extracts oil gun 7. The snakelike arm robot 1 drives the end effector 2 to be put back to rotate the inner cover of the oil tank. Snakelike arm robot 1 drives end effector 2 and closes the oil tank enclosing cover, and snakelike arm robot 1 resets and accomplishes one time and refuels the operation. The drive unit 12 drives the snake-shaped arm robot 1 to stretch and retract and perform actions, the electric control system 4 is responsible for power supply and distribution and control functions, and the oil supply system 5 provides required oil on the basis of metering and filtering. The whole oiling process can be completed only by carrying out corresponding interactive operation with the intelligent interactive system 8 without getting off the vehicle by a driver in the whole oiling process.
According to the invention, the oil gun is fixed on the end effector of the snake-shaped arm robot, and the snake-shaped arm robot does not need to grab the gun when performing oiling action. The oil pipe and the routing are arranged in the hollow structure of the snake-shaped arm joint, no redundant pipeline is exposed out of the robot body structure, the whole refueling process is flexible in action, and the operation is simple.
The snake-shaped arm refueling robot provided by the invention is suitable for a series of operations of automatically opening and closing a fuel tank cap, refueling and the like for a refueling vehicle under the arrangement of the traditional refueling station. The invention has the advantages of small floor area, small occupied space, compact structure, built-in oil way, integration of the oil gun and the robot and high working efficiency.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A snakelike arm oiling robot is characterized by comprising a snakelike arm robot (1), an end effector (2), an oil supply system (5), an oil pipe (6) and an oil gun (7);
the snake-shaped arm robot (1) is arranged on an oil supply system (5), and the end effector (2) is arranged at the execution tail end of the snake-shaped arm robot (1);
the oil gun (7) is arranged on the end effector (2);
one end of the oil pipe (6) is connected with the oil supply system (5), and the other end of the oil pipe penetrates through the snake-shaped arm robot (1) and is connected with the oil gun (7).
2. The snake arm refueling robot as claimed in claim 1, wherein the snake arm robot (1) comprises a snake arm robot body (11), a driving unit (12) and a plurality of traction wire ropes (13);
the driving unit (12) is arranged on the oil supply system (5);
one end of the snake-shaped arm robot body (11) is connected with the driving unit (12), and the other end of the snake-shaped arm robot body is connected with the end effector (2);
one end of each of the plurality of traction steel wire ropes (13) is connected with the driving unit (12), and the other end of each of the plurality of traction steel wire ropes is accommodated in the snake-shaped arm robot body (11) and is connected with each joint of the snake-shaped arm robot body (11);
the driving unit (12) drives the snake-shaped arm robot body (11) to perform bending action through a traction steel wire rope (13).
3. The snake-arm refueling robot as claimed in claim 2, wherein the snake-arm robot body (11) comprises a rigid fixed arm (111), a flexible arm long section (112), a flexible arm short section (113) and a flexible arm final section (114) which are sequentially hinged, wherein the rigid fixed arm (111) is connected with the driving unit (12), and the flexible arm final section (114) is connected with the end effector (2);
each joint of the snake-shaped arm robot body (11) is connected with three traction steel wire ropes (13) which are uniformly distributed along the circumferential direction.
4. The snake-arm refueling robot as claimed in claim 2, wherein the driving unit (12) comprises a driving unit frame (121) and a plurality of linear driving mechanisms disposed in the driving unit frame (121) and respectively connected to the traction cables (13), and the linear driving mechanisms drive the snake-arm robot body (11) to bend through the traction cables (13).
5. The S-shaped arm oiling robot as claimed in claim 1, wherein the end effector (2) comprises a connecting block (24) and a clamping oil gun mechanism (23) and a steering mechanism (25) which are arranged on the connecting block (24), wherein the steering mechanism (25) is provided with an outer cover mechanism (21) for opening and closing an oil tank and an inner cover mechanism (22) for opening and closing the oil tank, and the steering mechanism (25) is used for switching the position between the outer cover mechanism (21) for opening and closing the inner cover mechanism (22) for opening and closing the oil tank;
the clamping oil gun mechanism (23) is connected to the execution tail end of the snake-shaped arm robot (1) and used for clamping the oil gun (7).
6. The snake arm oiling robot of claim 5, wherein the switch oil tank outer cover mechanism (21) comprises a vacuum suction cup (211), a mechanical touch probe (212), a housing I (213), a pushing cylinder (215), a switching mechanism and a suction cup connecting rod (218), wherein the housing I (213) is connected with the steering mechanism (25), the mechanical touch probe (212) and the suction cup connecting rod (218) are arranged in parallel and are both connected with the housing I (213) in a sliding way;
the pushing cylinder (215) is arranged in the shell I (213), and the output end of the pushing cylinder is connected with one end of the sucker connecting rod (218); the vacuum suction cup (211) is connected with the other end of the suction cup connecting rod (218) and is positioned outside the shell I (213);
the switching mechanism is arranged in the shell I (213) and is connected with the mechanical touch probe (212) and the sucker connecting rod (218); the switching mechanism is used for driving the mechanical touch probe (212) to stretch and retract, and the stretching direction is opposite to that of the sucker connecting rod (218).
7. The serpentine arm oiling robot according to claim 6, wherein the switching mechanism comprises a rotating shaft (216) and a swing link (217), wherein the swing link (217) is mounted inside the housing I (213) through the rotating shaft (216) and is located between the mechanical touch probe (212) and the sucker link (218);
the two ends of the swing rod (217) are provided with sliding grooves, and the mechanical touch probe (212) and the sucker connecting rod (218) are respectively in sliding connection with the sliding grooves at the two ends of the swing rod (217).
8. The serpentine arm oiling robot according to claim 5, wherein the switch oil tank inner cover mechanism (22) comprises an explosion-proof torque motor (221), a clamping cylinder (223), a gear transmission mechanism, an angle flexible adjusting mechanism (226), a clamping jaw (227), a traction rope (228), a rotating sleeve (2212) and a housing II (2213), wherein one end of the housing II (2213) is connected with the steering mechanism (25), and the rotating sleeve (2212) is rotatably arranged at the other end of the housing II (2213); the clamping jaw (227) is connected with the rotating sleeve (2212) through an angle flexible adjusting mechanism (226);
the explosion-proof torque motor (221) and the clamping cylinder (223) are arranged in the shell II (2213), and the explosion-proof torque motor (221) is connected with the rotating sleeve (2212) through a gear transmission mechanism;
the traction rope (228) penetrates through the rotating sleeve (2212), and two ends of the traction rope are respectively connected with the clamping cylinder (223) and the clamping jaw (227); the clamping cylinder (223) drives the clamping jaws (227) to open or close through the traction rope (228).
9. The serpentine arm refueling robot as claimed in claim 5, wherein the clamping grease gun mechanism (23) includes a clamping base (233), a clamping unit (231), and a hooking unit (232);
the clamping base (233) is connected with the connecting block (24), the clamping unit (231) is arranged on the clamping base (233), and the hooking unit (232) is arranged on the clamping unit (231);
the hooking unit (232) comprises a hooking cylinder (2321) and a switch bolt (2322), and the switch bolt (2322) is arranged at the output end of the hooking cylinder (2321); the hooking cylinder (2321) drives the switch bolt (2322) to stretch and retract, so that a trigger of the oil gun (7) is pulled.
10. The serpentine arm oiling robot according to any of the claims 1-9, further comprising a visual recognition positioning system (3) and an electronic control system (4);
the visual recognition positioning system (3) is used for recognizing the position postures of the vehicle fuel tank cap and the fuel port and outputting the position postures;
and the electronic control system (4) is used for receiving the position and attitude information of the oil tank cover and the oil port of the vehicle output by the vision recognition and positioning system (3) and controlling the snakelike arm robot (1) to refuel according to the position and attitude information.
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| CN202010573353.6A CN113894802B (en) | 2020-06-22 | 2020-06-22 | Snake-shaped arm oiling robot |
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| CN202010573353.6A CN113894802B (en) | 2020-06-22 | 2020-06-22 | Snake-shaped arm oiling robot |
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| CN113894802B CN113894802B (en) | 2023-06-23 |
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