CN114057147A

CN114057147A - Intelligent control oiling device

Info

Publication number: CN114057147A
Application number: CN202111460310.8A
Authority: CN
Inventors: 陈茜; 王一凡; 张刚
Original assignee: Aerospace Cloud Machine Beijing Technology Co ltd
Current assignee: Aerospace Cloud Machine Beijing Technology Co ltd
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-02-18
Also published as: CN114789986A

Abstract

The invention relates to the technical field of intelligent control, and provides an intelligent control oiling device.A pressing and screwing device is arranged to comprise a gas claw device and an auxiliary sucker device, and the end parts of the pressing and screwing device, which are in contact with an oiling box cover, are provided with elastic elements, so that deformation caused by overlarge force can be avoided when the outer cover of an oil box is opened, the opened outer cover is adsorbed and positioned by the sucker device, the auxiliary gas claw further opens the inner cover, and the task is completed in a coordinated and matched manner; the control device optimizes the optimal route to control the driving device to move, drives the screwing device to accurately open and close the oil tank cover, and enables the oil gun to accurately oil; through gas claw device even has explosion-proof equipment, has effectively avoided the dangerous emergence of filling station, has thoroughly solved the very big extravagant defect of filling station's manpower, has effectively reduced test cost.

Description

Intelligent control oiling device

Technical Field

The invention relates to the technical field of intelligent control, in particular to an intelligent control oiling device.

Background

The current intelligent robot field obtains unprecedented development, and the machine replaces the manpower to accomplish simple, repeated work and has gradually popularized in each trade, nevertheless still adopts artifical 24 hours low efficiency mode of watching all day in the car field of refueling, is the very big waste to the manpower. At present, an intelligent oiling robot has the defects of complex structure, single function, extremely stiff actions of opening, closing and plugging an oil gun of an outer cover and an inner cover of an oiling box, incapability of making action plans of differences aiming at various vehicle types, and the most common problems of the intelligent oiling robot are as follows: the outer cover of the oil tank of the automobile cannot be opened, the outer cover is deformed due to overlarge pressure for extruding the outer cover of the oil tank, the ridge beam cannot be held when the inner cover cannot be identified, and the inner cover is interfered when being put back; the oil supply pipe has large self weight, the dragging force to the oil gun in the actuating process of the oil gun is far beyond expectation, the position of the oil gun pipe is easy to deviate, and the oil gun pipe can interfere with an oil tank during gun insertion and cannot be inserted due to small deviation of the position of the oil gun pipe because the size of an oil tank port is small; the oil gun has no quick-release function, and once an unexpected situation occurs, a refueling person cannot quickly detach the oil gun to take over the refueling process in a short time; and the filling station is as inflammable and explosive place, and current intelligent oiling robot does not have explosion-proof design, has serious potential safety hazard at the during operation.

Disclosure of Invention

The invention aims to overcome the defects and provides an intelligent control oiling device.A pressing and screwing device comprises an air claw device and an auxiliary sucker device, the air claw device comprises an elastic unit which plays a role in buffering along the linear moving direction, air claws which are arranged in parallel and have gaps and an adjusting unit which adjusts the distance between the air claws, and the end parts of the air claws are provided with elastic elements, so that the deformation caused by overlarge force can be avoided when the outer cover of an oil tank is opened; the control device optimizes the optimal route to control the driving device to move, drives the screwing device to accurately open and close the oil tank cover, and enables the oil gun to accurately oil; through gas claw device even has explosion-proof equipment, has effectively avoided the dangerous emergence of filling station, has thoroughly solved the very big extravagant defect of filling station's manpower, the cost is reduced.

The specific technical scheme provided by the invention is as follows:

an intelligent control filling device, includes continuous intelligent arm, includes:

the pressing and screwing device is used for opening and closing the oil filling box cover body;

the refueling device is used for filling fuel into a refueling tank port and comprises a refueling gun;

the camera device is used for acquiring the accurate positions of the oil filling tank cover body and the oil filling tank opening and comprises a camera;

the driving device is connected with the oil gun unit, is used for driving the oil gun to fill oil and comprises a cylinder unit;

the control device is used for controlling the driving device, the pressing and screwing device, the camera device and the refueling device to execute corresponding actions and comprises a server which is placed in a refueling station and contains a control program;

the pressing and twisting device, the camera device and the oiling device are fixedly integrated with the driving device and can move under the driving of the intelligent mechanical arm.

In some embodiments, the pressing device comprises a pneumatic claw device for executing actions and a suction disc device for assisting actions, and the pneumatic claw device is connected with an explosion-proof device.

In some embodiments, the air gripper device comprises a driving motor and an air gripper unit driven by the driving motor and capable of generating rotary motion, wherein the air gripper unit comprises an elastic unit with a buffering function along a linear moving direction and an air gripper capable of clamping and loosening under pneumatic control.

In some embodiments, the resilient unit comprises a compression spring; the adjustable pneumatic gripper is characterized in that an adjusting unit is installed at one end of each pneumatic gripper, each adjusting unit comprises an adjusting groove, the two pneumatic grippers arranged in parallel move along the adjusting grooves to adjust the distance, and elastic elements are installed at the end parts of the pneumatic grippers.

In some embodiments, the explosion-proof device includes a vent tube connected to the drive motor housing and having air therein that applies positive pressure to the interior of the drive motor.

In some embodiments, the sucking disc device comprises a pneumatic sliding table and a sucking disc unit driven by the pneumatic sliding table, the sucking disc unit and the oil gun unit all face to one direction, wherein the air claw unit is parallel to the axis of the sucking disc unit, and the sucking disc unit is provided with an elastic sucking disc matched with the oil filling box cover body.

In some embodiments, the driving device comprises a cylinder unit for driving the refueling device and a connecting unit connected with the cylinder unit; the air cylinder unit comprises a primary air cylinder and a secondary air cylinder which are arranged in an up-down connection mode, and the connecting unit comprises a fixed connecting unit fixed relative to the position of the air cylinder unit and a shifting connecting unit moving relative to the position of the air cylinder unit; the fixed connection unit is connected with the pressing and twisting device and the intelligent mechanical arm, and the displacement connection unit is connected with the oiling device.

In some embodiments, the displacement connection unit comprises an elastic element comprising a spring, which can contract to cushion pressure under the pressure of the refueling device.

In some embodiments, the refueling apparatus includes a refueling gun, the refueling gun refueling position control device, and the quick-release fuel gun unit; the position control device comprises a trigger cylinder and an oil gun fixing plate, wherein the two ends of the oil gun fixing plate are respectively connected with the trigger cylinder and the secondary cylinder.

In some embodiments, the control device includes an obtaining module, a calculating module, and an executing module, where the obtaining module is configured to obtain position information of the refueling tank cover and the refueling tank opening collected by the camera, the calculating module calculates an optimized route according to the position information, and the executing module drives the driving device, the pressing and screwing device, and the refueling device to execute corresponding actions according to calculation results, so as to complete an intelligent refueling process.

The beneficial effects are that:

the invention provides an intelligent control oiling device, which is characterized in that a pressing and screwing device comprises a gas claw device and an auxiliary sucker device, the gas claw device comprises an elastic unit with a buffering effect along the linear moving direction, gas claws with gaps and arranged in parallel and an adjusting unit for adjusting the distance between the gas claws, and the end parts of the gas claws are provided with elastic elements, so that the deformation caused by overlarge force can be avoided when an outer cover of an oil tank is opened; the control device optimizes the optimal route to control the driving device to move, drives the screwing device to accurately open and close the oil tank cover, and enables the oil gun to accurately oil; through gas claw device even has explosion-proof equipment, has effectively avoided the dangerous emergence of filling station, has thoroughly solved the very big extravagant defect of filling station's manpower, has effectively reduced test cost.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application.

In the drawings:

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a gas claw device according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an embodiment of an image capturing apparatus according to the present invention;

FIG. 4 is a schematic structural diagram of a suction cup device according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a pneumatic slide table of the suction cup device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a driving device according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a refueling device according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a technical solution of the driving device and the refueling device according to the embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a primary driving scheme of the cylinder according to the embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a two-stage driving of the cylinder according to the embodiment of the present invention;

FIG. 11 is a schematic structural view of the oil tank cover of the embodiment of the invention when the oil tank cover is opened.

Wherein:

a pressing and twisting device 1; a gas claw device 11; a drive motor 110; a motor protruding shaft 111; a gas claw connecting plate 112; a spring 113; a guide shaft 114; gas claw base plate 115; a pneumatic gripper 116; an air-claw vent hole 1161; an adjustment element 117; a finger rubber sleeve 118; a breather pipe 119; a suction cup device 12; a slide table connecting plate 120; a pneumatic slide table 121; a suction cup holder 122; a suction cup unit 123; a piston 124; air supply and return holes 125; a resilient suction cup 126; sled 127; a drive device 2; a primary cylinder 21; a primary cylinder shaft 211; a primary cylinder connecting plate 22; a secondary cylinder mounting plate 23; a secondary cylinder 24; a secondary cylinder shaft 241; a cylinder oil gun connection plate 25; a spring 26; a guide shaft 27; a push plate 28; an image pickup device 3; a camera 31; a camera connection board 32; a camera mount 33; a mechanical arm 4; an oiling device 5; a fuel gun 51; oil gun fixing plate A52; oil gun fixing plate B53; a pressing plate 54; a trigger cylinder 55; an oil gun trigger 56; an oil tank cap 6; an outer cover 61; an inner lid 62; the inner cover ridge 621.

Detailed Description

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The terms "first", "second", and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated; "plurality" means more than two; the description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.

Preferred embodiments of the present invention, with reference to fig. 1-11:

an intelligent control oiling device comprises a pressing and twisting device 1, a driving device 2, a camera device 3 and an oiling device 5.

The pressing and twisting device 1 comprises a pneumatic claw device 11 and a sucker device 12 and is used for opening and closing an outer cover of the oil tank and an inner cover of the oil tank.

The sucking disc device 12 and the camera device 3 are respectively positioned at two sides of the air claw device 11.

The pneumatic gripper device 11 includes a driving motor 110, a through hole is formed in a housing of the driving motor 110, the through hole is externally connected with a vent pipe 119, and a remote air pump (not shown in the figure) is always used to fill clean compressed air into the driving motor 110 through the vent pipe 119 during operation, so as to prevent external combustible gas from entering, thereby achieving the purpose of explosion prevention.

The driving motor 110 is connected with a motor extending shaft 111, and the other end of the motor extending shaft 111 is fixedly connected with a gas claw connecting plate 112, a guide shaft 114, a gas claw bottom plate 115, a gas claw 116 and a finger rubber sleeve 118 in sequence along the axial direction; two guide shafts 114 are arranged in parallel, a spring 113 is sleeved outside each guide shaft 114, the spring 113 is in a natural state at the moment, and when the air claw bottom plate 115 is pressed, the spring 113 is in a compressed state; the air gripper 116 is fixedly installed on the air gripper bottom plate 115 through bolts, the finger rubber sleeve 118 is wrapped at the end of the air gripper 116, the air gripper 116 is prevented from directly contacting with a vehicle to scratch vehicle paint, the air supply direction of the air gripper vent hole 1161 is controlled to adjust the opening and closing of the air gripper 116, and different distances between the opening and closing of the air gripper 116 are used for being matched with different vehicle types.

The tip of gas claw 116 passes through bolt fixed connection adjusting element 117, is equipped with the horizontal groove through adjusting element 117, and finger rubber sleeve 118 one end is placed in the horizontal groove, and finger rubber sleeve 118 parallel arrangement is two, firmly locks in the horizontal groove after adjusting interval L as required, different motorcycle types that different interval L opened with the adaptation.

After assembly, the pneumatic claw device 11 is driven by the driving motor 110 to rotate the motor outer shaft 111 to drive the pneumatic claw 116 and the finger rubber sleeve 118 to rotate so as to open and close the inner cover of the oil tank.

The pneumatic claw device 11 and the sucker device 12 are arranged in parallel; the suction cup device 12 comprises a pneumatic sliding table 121, wherein the pneumatic sliding table 121 is provided with a gas supply hole 125, a gas return hole 125, a piston 124 which drives the telescopic motion through the gas in the gas supply hole 125 and the gas in the gas return hole 125, and a sliding plate 127 fixedly connected with one end of the piston 124, the sliding plate 127 slides along the pneumatic sliding table 121 along with the movement of the piston 124, the sliding plate 127 is fixedly connected with a suction cup support 122, the other end of the suction cup support 122 is connected with a suction cup unit 123 through a screw, and the end part of the suction cup unit 123 is provided with an elastic suction cup 126; the pneumatic sliding table 121 is fixedly connected with the sliding table connecting plate 120, the sliding table connecting plate 120 is fixedly connected with the camera support 33 through bolts, and the camera support 33 is fixedly connected to the side face of the first-stage cylinder connecting plate 22 through bolts; one side of the first-stage cylinder connecting plate 22 is connected with a shell of a driving motor 110 of the air claw device 11, and the other end is fixedly connected with the mechanical arm 4.

Camera device 3 includes camera 31, through fastener fixed connection on camera connecting plate 32, connecting plate 32 and camera support 33 fixed connection, camera device 3 removes along with crimping device 1.

The driving device 2 is positioned at the lower end of the driving motor 110, the driving device 2 comprises a first-stage cylinder 21 and a second-stage cylinder 24, a first-stage cylinder connecting plate 22 is fixedly arranged at the upper end of the first-stage cylinder 21, the end part of a first-stage cylinder shaft 211 arranged on the first-stage cylinder 21 is fixedly connected with a second-stage cylinder mounting plate 23, the second-stage cylinder mounting plate 23 is fixed on the second-stage cylinder 24, the first-stage cylinder shaft 211 extends out to drive the second-stage cylinder 24 to move, the end part of a second-stage cylinder shaft 241 arranged on the second-stage cylinder 24 is fixedly connected with a push plate 28, the push plate 28 is fixedly provided with a parallel guide shaft 27 along the axial direction, a spring 26 is sleeved outside the guide shaft 27, the other end of the guide shaft 27 is movably connected with a cylinder oil gun connecting plate 25, and the spring 26 is fixedly connected on the cylinder oil gun connecting plate 25; the cylinder oil gun connecting plate 25 is fixedly connected with an oil gun fixing plate arranged on the oiling device 5 through a fastener.

The oil filling device 5 is provided with an oil filling gun 51, and an oil gun fixing plate A52 and an oil gun fixing plate B53 which are fixedly connected with the oil filling gun 51 are connected onto the air cylinder oil gun connecting plate 25 through screws, so that on one hand, a worker can quickly detach the oil gun connecting plate when danger occurs, and on the other hand, the oil gun fixing plate A52 and the oil gun fixing plate B53 can play a role in fixing the oil filling gun 51 through triangular end parts which are arranged in parallel; the pressure plate 54 arranged on the oiling device 5 is fixedly connected with the trigger cylinder 55, and the pressure plate 54 is clamped on the oil gun trigger 56.

The oil tank cover 6 is provided with an inner cover 62 movably connected with an outer cover 61, and the inner cover 62 is provided with a convex inner cover ridge beam 621 used for clamping two finger rubber sleeves 118.

The pressing and twisting device 1, the driving device 2, the camera device 3 and the oiling device 5 are fixedly connected together, are connected with the mechanical arm 4, are driven by the mechanical arm 4 to move, and are controlled by a control device in a server in a gas station.

The specific working process is as follows:

after a refueling vehicle stops in a designated area, the position of the outer cover 61 of the fuel tank cap 6 is automatically recognized by the intelligent control refueling device through the camera 31 arranged on the camera device 3, a photo is transmitted back to a server in a refueling station for processing, the space distance from the finger rubber sleeve 118 to the outer cover 61 is calculated by a calculation module after an acquisition module of the control device in the server acquires data, and an execution module drives the mechanical arm 4 to drive the compression device 1 to move forward to be close to the outer cover 61 and extrude the outer cover 61 according to a calculation result, so that the outer cover 61 is unlocked and bounced.

After the outer cover 61 is bounced open, the mechanical arm 4 drives the screwing device 1 to move, the sucker device 12 is moved to a proper area of the attachment of the outer cover 61, the piston 124 of the program control pneumatic sliding table 121 extends outwards to drive the elastic sucker 126 to act together, the rubber plane of the elastic sucker 126 is attached to the surface of the outer cover 61, the program control elastic sucker 126 generates vacuum to completely suck the outer cover 61 through pressure, the mechanical arm 4 drives the elastic sucker 126 to act together with the outer cover 61, and after the outer cover 61 is actuated to an opening position, the program control elastic sucker 126 releases the outer cover to be separated from the outer cover, so that the opening operation of the outer cover is completed.

The position of the inner cover 62 of the oil tank cover 6 is automatically identified through a camera 31 arranged on the camera device 3, a photo is transmitted back to a server in a gas station for processing, the program control mechanical arm 4 drives the pressing and screwing device 1 to move, the air claw 116 is moved to the end surface of the inner cover 62, the program control is used for controlling the distance between two finger rubber sleeves 118 to be inserted into the two sides of the inner cover ridge beam 621, the program control is used for inflating air in the air claw vent hole 1161 in the positive direction, the finger rubber sleeves 118 are closed, the inner cover ridge beam 621 is clamped, the driving motor 110 controls the motor outer extending shaft 111 to rotate, the finger rubber sleeves 118 are driven to rotate to a set angle, the inner cover 62 is screwed down, the oil filling port is exposed, and the program control mechanical arm 4 is used for moving the pressing and screwing device 1 away.

The mechanical arm 4 is controlled by a program to move the oiling device 5 to an oil tank oiling port, a first-stage cylinder shaft 211 of the first-stage cylinder 21 is controlled by the program to extend out to drive a second-stage cylinder mounting plate 23 and a second-stage cylinder 24 to move forwards together, an oiling gun 51 fixed below the first-stage cylinder 21 after the first-stage cylinder 21 extends out completely is also inserted into the oil tank port at the same time, as shown in fig. 9, the mechanical arm 4 adjusts the gun tube of the oiling gun 51 to be approximately vertical to the oil tank port again, and a second-stage cylinder shaft 241 of the second-stage cylinder 24 is controlled by the program to extend out to drive the oiling gun 51 to be inserted into the oil tank port completely, as shown in fig. 10. The oil gun 51 is inserted into the oil tank twice, the interference with the inner wall of the oil tank is smaller, the damage to vehicles is smaller, and the whole gun inserting process is smoother.

After the oil gun 51 is inserted, the program control trigger cylinder 55 actuates the cylinder to contract, the pressure plate 54 and the oil gun trigger 56 are driven to lift up together, the oil gun 51 starts to fill oil, when the oil tank is full, the program control trigger cylinder 55 extends out, the pressure plate 54 is driven to extend out, the oil gun trigger 56 automatically resets, and oil filling stops.

The program-controlled arm 4 moves the fuel gun 51 away, and the program-controlled arm 4 moves the screw device 1 to the vicinity of the fuel filler opening, and screws the inner lid 62 and covers the outer lid 61 under the program control.

The foregoing description shows and describes the preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.

Claims

1. The utility model provides an intelligent control filling device, includes continuous intelligent arm, its characterized in that: the method comprises the following steps:

2. The intelligent control refueling device as recited in claim 1, wherein: the pressing and twisting device comprises a pneumatic claw device for executing actions and a sucker device for playing an auxiliary role, and the pneumatic claw device is connected with an explosion-proof device.

3. The intelligent control refueling device as recited in claim 2, wherein: the pneumatic claw device comprises a driving motor and a pneumatic claw unit which is driven by the driving motor and can generate rotary motion, wherein the pneumatic claw unit comprises an elastic unit which plays a role in buffering along a linear moving direction and a pneumatic claw which can be clamped and loosened under pneumatic control.

4. The intelligent control refueling unit as recited in claim 3, wherein: the elastic unit comprises a compression spring; the adjustable pneumatic gripper is characterized in that an adjusting unit is installed at one end of each pneumatic gripper, each adjusting unit comprises an adjusting groove, the two pneumatic grippers arranged in parallel move along the adjusting grooves to adjust the distance, and elastic elements are installed at the end parts of the pneumatic grippers.

5. The intelligent control refueling unit as recited in claim 3, wherein: the explosion-proof device comprises a vent pipe, the vent pipe is connected with the shell of the driving motor, and air which applies positive pressure to the interior of the driving motor is arranged in the vent pipe.

6. The intelligent control refueling device as recited in claim 2, wherein: the sucking disc device includes pneumatic slip table and by pneumatic slip table driven sucking disc unit, the sucking disc unit reaches the oil gun unit all faces a direction, wherein, the gas claw unit with the axis of sucking disc unit is parallel to each other, the sucking disc unit be equipped with tank filler lid body assorted elastic chuck.

7. The intelligent control refueling device as recited in claim 1, wherein: the driving device comprises a cylinder unit for driving the oiling device and a connecting unit connected with the cylinder unit; the air cylinder unit comprises a primary air cylinder and a secondary air cylinder which are arranged in an up-down connection mode, and the connecting unit comprises a fixed connecting unit fixed relative to the position of the air cylinder unit and a shifting connecting unit moving relative to the position of the air cylinder unit; the fixed connection unit is connected with the pressing and twisting device and the intelligent mechanical arm, and the displacement connection unit is connected with the oiling device.

8. The intelligent control refueling unit as recited in claim 7, wherein: the displacement connection unit includes an elastic member including a spring, and the elastic member is retractable to buffer pressure under pressure of the fueling device.

9. The intelligent control refueling unit as recited in claim 8, wherein: the oiling device comprises an oiling gun, an oiling position control device of the oiling gun and a quick assembling and disassembling unit of the oiling gun; the position control device comprises a trigger cylinder and an oil gun fixing plate, wherein the two ends of the oil gun fixing plate are respectively connected with the trigger cylinder and the secondary cylinder.

10. The intelligent control refueling device as recited in claim 1, wherein: the control device comprises an acquisition module, a calculation module and an execution module, wherein the acquisition module is used for acquiring the position information of the refueling tank cover and the refueling tank opening collected by the camera, the calculation module calculates and optimizes a route according to the position information, and the execution module drives the driving device, the pressing and twisting device and the refueling device to execute corresponding actions according to a calculation result so as to complete an intelligent refueling process.