CN114228481A - Mechanical claw control method for opening fuel tank cover of automobile fuel port - Google Patents
Mechanical claw control method for opening fuel tank cover of automobile fuel port Download PDFInfo
- Publication number
- CN114228481A CN114228481A CN202210023214.5A CN202210023214A CN114228481A CN 114228481 A CN114228481 A CN 114228481A CN 202210023214 A CN202210023214 A CN 202210023214A CN 114228481 A CN114228481 A CN 114228481A
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- China
- Prior art keywords
- fuel
- motor
- fuel tank
- mechanical claw
- filling
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000446 fuel Substances 0.000 title claims abstract description 69
- 210000000078 claw Anatomy 0.000 title claims abstract description 67
- 239000002828 fuel tank Substances 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009471 action Effects 0.000 claims description 9
- 239000000945 filler Substances 0.000 claims 8
- 230000003578 releasing effect Effects 0.000 claims 1
- 239000003921 oil Substances 0.000 description 34
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K15/00—Arrangement in connection with fuel supply of combustion engines or other fuel consuming energy converters, e.g. fuel cells; Mounting or construction of fuel tanks
- B60K15/03—Fuel tanks
- B60K15/04—Tank inlets
- B60K15/05—Inlet covers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K15/00—Arrangement in connection with fuel supply of combustion engines or other fuel consuming energy converters, e.g. fuel cells; Mounting or construction of fuel tanks
- B60K15/03—Fuel tanks
- B60K15/04—Tank inlets
- B60K15/05—Inlet covers
- B60K2015/0515—Arrangements for closing or opening of inlet cover
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K15/00—Arrangement in connection with fuel supply of combustion engines or other fuel consuming energy converters, e.g. fuel cells; Mounting or construction of fuel tanks
- B60K15/03—Fuel tanks
- B60K15/04—Tank inlets
- B60K15/05—Inlet covers
- B60K2015/0515—Arrangements for closing or opening of inlet cover
- B60K2015/0538—Arrangements for closing or opening of inlet cover with open or close mechanism automatically actuated
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Cooling, Air Intake And Gas Exhaust, And Fuel Tank Arrangements In Propulsion Units (AREA)
Abstract
The invention discloses a mechanical claw control method for opening an oil tank cover of an automobile fuel port, which comprises the following steps: the central controller is used for controlling a plurality of motors, the motors carry out state adjustment on the mechanical claw at different nodes, the push rod is extended to extend the mechanical claw to the position above the fuel tank cover through motor control, the mechanical claw grabs the fuel tank cover to rotate, the fuel tank cover is unscrewed, the fuel filling opening is exposed, the fuel filling pipe is inserted into the fuel filling opening to carry out fuel filling, after the filling is finished, the fuel filling pipe is withdrawn, the mechanical claw is placed back to the fuel tank cover and screws up the fuel tank cover, the push rod is withdrawn, and the automatic filling of fuel is finished. The invention solves the problem that the existing automobile can not automatically fill fuel through a mechanical claw.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a mechanical claw control method for opening an oil tank cover of an automobile fuel port.
Background
The existing industrial mechanical claw control method is mainly based on an electric control device for control, a mechanical claw generally comprises a clamping jaw, a servo motor, a force sensor and the like, and the operation process of the mechanical claw is mainly realized by controlling the motor and the sensor.
Firstly, a specially-made mechanical claw for opening an automobile fuel oil tank cover is rarely available at present in China, the prior technical scheme is only simple for controlling a clamping jaw for an industrial mechanical claw, and the operation principle of the integral structure of the mechanical claw is not designed. Be difficult to satisfy the actual car and refuel the in-process, open automatically that the fuel lid carries out fuel filling, refuel efficiency is lower to there is personnel operation safety risk.
Disclosure of Invention
Therefore, the invention provides a mechanical claw control method for opening an oil tank cover of an automobile fuel port, which aims to solve the problem that the existing automobile cannot automatically fill fuel through a mechanical claw.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention discloses a mechanical claw control method for opening an oil tank cover of an automobile fuel port, which comprises the following steps:
the central controller is used for controlling a plurality of motors, the motors carry out state adjustment on the mechanical claw at different nodes, the push rod is extended to extend the mechanical claw to the position above the fuel tank cover through motor control, the mechanical claw grabs the fuel tank cover to rotate, the fuel tank cover is unscrewed, the fuel filling opening is exposed, the fuel filling pipe is inserted into the fuel filling opening to carry out fuel filling, after the filling is finished, the fuel filling pipe is withdrawn, the mechanical claw is placed back to the fuel tank cover and screws up the fuel tank cover, the push rod is withdrawn, and the automatic filling of fuel is finished.
Furthermore, the push rod is pushed out through the first motor, a vision sensor and a position sensor are installed on the push rod, the position of the oil tank cover is accurately located through the vision sensor and the position sensor, a mechanical claw is installed at the end part of the push rod, and after the position of the oil tank cover is located, the push rod pushes the mechanical claw to the upper side of the oil tank cover.
Furthermore, the gripper grips and loosens the action through the second motor, and when the gripper was located the fuel tank cap top, central controller controlled the second motor action, and the second motor drives the gripper and grips the fuel tank cap action.
Furthermore, the mechanical claw is connected with a third motor, the third motor drives the mechanical claw to rotate positively or negatively, after the second motor drives the mechanical claw to tightly grasp the fuel tank cap, the central controller controls the third motor to rotate negatively, and the third motor drives the mechanical claw to rotate to loosen the fuel tank cap.
Further, the mechanical claw is driven by a fourth motor to remove the oil tank cover and expose the fuel filling opening.
Furthermore, an oil filling pipe is arranged in the middle of the mechanical claw, the oil filling pipe is controlled to extend out through a fifth motor, and the fuel filling pipe is inserted into the mechanical claw for filling fuel.
Further, the central controller controls the oil filling pipe to fill fuel according to the capacity of the oil tank and the requirement of a user, and the fifth motor controls the oil filling pipe to retract after filling is completed, so that filling of fuel is completed.
Further, the fourth motor drives the mechanical arm to return to the position above the fuel filling opening, and the fuel tank cover is covered on the fuel filling opening.
Furthermore, the central control controls the third motor to rotate positively, and the third motor drives the mechanical claw to rotate so as to screw the oil tank cover tightly.
Furthermore, the central controller controls the second motor to act, the second motor drives the mechanical claw to loosen, the oil tank cover and the mechanical claw are separated, the push rod is retracted through the first motor, and automatic fuel filling is completed.
The invention has the following advantages:
the invention discloses a mechanical claw control method for opening an oil tank cover of an automobile fuel port, which is characterized in that the position of the oil tank cover is positioned through a position sensor and a vision sensor, a plurality of motors are mutually matched to drive a mechanical claw to act, the whole set of actions of automatically unscrewing the oil tank cover, filling fuel and then screwing the oil tank cover are realized, the filling of the fuel is completed, the efficiency is improved, manual operation is not needed, the risk is reduced, and the safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a flowchart of a method for controlling a gripper to open a fuel tank cap of a fuel port of an automobile according to an embodiment of the present invention;
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment discloses a mechanical claw control method for opening an oil tank cover of an automobile fuel port, which comprises the following steps:
the central controller is used for controlling a plurality of motors, the motors carry out state adjustment on the mechanical claw at different nodes, the push rod is extended to extend the mechanical claw to the position above the fuel tank cover through motor control, the mechanical claw grabs the fuel tank cover to rotate, the fuel tank cover is unscrewed, the fuel filling opening is exposed, the fuel filling pipe is inserted into the fuel filling opening to carry out fuel filling, after the filling is finished, the fuel filling pipe is withdrawn, the mechanical claw is placed back to the fuel tank cover and screws up the fuel tank cover, the push rod is withdrawn, and the automatic filling of fuel is finished.
The push rod is pushed out through the first motor, a vision sensor and a position sensor are installed on the push rod, the position of the oil tank cover is accurately located through the vision sensor and the position sensor, a mechanical claw is installed at the end part of the push rod, and the mechanical claw is pushed to the upper side of the oil tank cover by the push rod after the position of the oil tank cover is located.
The visual sensor collects images of the surrounding environment, extracts images of the fuel tank cover from the images of the environment, determines the position of the fuel tank cover, generates specific coordinate information, senses the position of the current mechanical claw through the position sensor, and adjusts the posture of the mechanical claw according to the coordinate information of the fuel tank cover collected by the visual sensor, so that the mechanical claw reaches the position of the fuel tank cover.
The gripper grips and loosens the action through the second motor, and when the gripper was located the fuel tank cap top, central controller controlled the second motor action, and the second motor drives the gripper and grips the fuel tank cap action. The second motor receives the control signal of central controller, and the pivot is connected to the output of second motor, connects flexible driving chain through the pivot, sets up flexible driving chain in every claw of gripper, through the action of second motor, can realize that the shrink of flexible driving chain gathers together or releases to realize that the gripper grasps the fuel tank cap or releases the fuel tank cap.
The mechanical claw is connected with a third motor, the third motor drives the mechanical claw to rotate forwards or backwards, after the second motor drives the mechanical claw to tightly grasp the oil tank cover, the central controller controls the third motor to rotate backwards, and the third motor drives the mechanical claw to rotate to unscrew the oil tank cover. The number of rotation turns of the third motor can be set in advance, and the number of turns of the oil tank cover of the vehicle can be judged according to the vehicle model to complete the complete unscrewing or screwing of the oil tank cover. The resistance sensor can also be connected with the output end of the third motor, the fuel tank cap can be completely unscrewed when the resistance sensor senses that the resistance completely disappears, and the fuel tank cap can be screwed when the resistance sensor senses that the resistance suddenly increases and exceeds a certain threshold value. The mechanical claw is driven by a fourth motor to remove the fuel tank cover and expose the fuel filling opening.
An oil filling pipe is arranged in the middle of the mechanical claw, the oil filling pipe is controlled to extend out through a fifth motor, and the fifth motor is inserted into a fuel filling pipe to fill fuel. The output end of the fifth motor is connected with the spiral push rod, and when the spiral push rod rotates, longitudinal displacement is generated, so that the oil filling pipe is driven to extend out or retract. The central controller controls the oil filling pipe to fill fuel according to the capacity of the oil tank and the requirement of a user, and the fifth motor rotates reversely to control the oil filling pipe to retract after filling is completed, so that filling of fuel is completed. The amount of fuel that has to be refueled can be topped up or filled with a specified amount of fuel according to the user's demand. And the fourth motor drives the mechanical arm to return to the upper part of the fuel filling opening, and the fuel tank cover is covered on the fuel filling opening.
The third motor is controlled by the central control to rotate positively, the third motor drives the mechanical claw to rotate, the oil tank cover is screwed, when the third motor rotates for a fixed number of turns or senses that resistance suddenly increases beyond a set threshold value through the resistance sensor, the third motor does not rotate any more, and the oil tank cover is screwed down. After the fuel tank cap is screwed down, the central controller controls the second motor to act, the second motor drives the mechanical claw to loosen, the fuel tank cap and the mechanical claw are separated, the push rod is retracted through the first motor, and automatic filling of fuel is completed.
According to the mechanical claw control method for opening the fuel tank cap of the automobile fuel port, the position of the fuel tank cap is positioned through the position sensor and the vision sensor, the motors are matched with each other to drive the mechanical claw to move, automatic unscrewing of the fuel tank cap, fuel filling and tightening of the fuel tank cap are achieved, filling of fuel is completed, efficiency is improved, manual operation is not needed, risks are reduced, and safety is improved.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A mechanical claw control method for opening an oil tank cover of an automobile fuel port is characterized by comprising the following steps:
the central controller is used for controlling a plurality of motors, the motors carry out state adjustment on the mechanical claw at different nodes, the push rod is extended to extend the mechanical claw to the position above the fuel tank cover through motor control, the mechanical claw grabs the fuel tank cover to rotate, the fuel tank cover is unscrewed, the fuel filling opening is exposed, the fuel filling pipe is inserted into the fuel filling opening to carry out fuel filling, after the filling is finished, the fuel filling pipe is withdrawn, the mechanical claw is placed back to the fuel tank cover and screws up the fuel tank cover, the push rod is withdrawn, and the automatic filling of fuel is finished.
2. The method of claim 1, wherein the push rod is pushed out by the first motor, a vision sensor and a position sensor are installed on the push rod, the position of the fuel tank cap is accurately located by the vision sensor and the position sensor, a mechanical claw is installed at an end of the push rod, and the push rod pushes the mechanical claw above the fuel tank cap after the position of the fuel tank cap is located.
3. The method as claimed in claim 1, wherein the gripper performs the grasping and releasing actions by a second motor, and the central controller controls the second motor to operate when the gripper is located above the fuel tank cap, and the second motor drives the gripper to perform the fuel tank cap grasping action.
4. The method as claimed in claim 1, wherein the gripper is connected to a third motor, the third motor drives the gripper to rotate in a forward or reverse direction, and after the second motor drives the gripper to grip the fuel tank cap, the central controller controls the third motor to rotate in a reverse direction, and the third motor drives the gripper to rotate, thereby unscrewing the fuel tank cap.
5. The method of claim 1, wherein the gripper is actuated by a fourth motor to remove the fuel cap and expose the fuel filler port.
6. The method for controlling a gripper of a fuel tank cap for an automobile fuel port according to claim 1, wherein a filler pipe is provided in the middle of the gripper, and the extension of the filler pipe is controlled by a fifth motor and the filler pipe is inserted to perform refueling.
7. The method as claimed in claim 1, wherein the central controller controls the filler pipe to be filled according to the tank capacity and the user's demand, and the fifth motor controls the filler pipe to be withdrawn after the filling is completed, thereby completing the filling of the fuel.
8. The method of claim 5, wherein the fourth motor drives the mechanical arm back over the fuel filler neck to hold the fuel tank cap over the fuel filler neck.
9. The method for controlling the mechanical claw to open the fuel tank cap of the automobile fuel port according to claim 1, wherein the central control controls the third motor to rotate in a forward direction, and the mechanical claw is driven by the third motor to rotate so as to tighten the fuel tank cap.
10. The method as claimed in claim 1, wherein the central controller controls the second motor to operate, the second motor drives the gripper to release, the cap is separated from the gripper, and the push rod is withdrawn by the first motor to complete the automatic filling of the fuel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210023214.5A CN114228481A (en) | 2022-01-10 | 2022-01-10 | Mechanical claw control method for opening fuel tank cover of automobile fuel port |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210023214.5A CN114228481A (en) | 2022-01-10 | 2022-01-10 | Mechanical claw control method for opening fuel tank cover of automobile fuel port |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114228481A true CN114228481A (en) | 2022-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210023214.5A Pending CN114228481A (en) | 2022-01-10 | 2022-01-10 | Mechanical claw control method for opening fuel tank cover of automobile fuel port |
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| CN (1) | CN114228481A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102678009A (en) * | 2012-05-29 | 2012-09-19 | 浙江吉利汽车研究院有限公司杭州分公司 | Intelligent oil tank cover control device and control method thereof |
| CN105384133A (en) * | 2015-11-25 | 2016-03-09 | 浙江吉利汽车研究院有限公司 | Intelligent autonomous oil filling device and control method |
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| CN105956775A (en) * | 2016-05-03 | 2016-09-21 | 山东国兴智能科技有限公司 | Automatic unmanned gas station automatic oiling, monitoring and management system, and corresponding method |
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| CN108657141A (en) * | 2018-07-11 | 2018-10-16 | 苏州日煊数字科技有限公司 | A kind of automation oiling method based on artificial intelligence |
| CN110388317A (en) * | 2019-08-15 | 2019-10-29 | 中国人民解放军96901部队26分队 | An integrated oil pump and its refueling truck |
| CN111501891A (en) * | 2020-05-12 | 2020-08-07 | 三一重机有限公司 | Fuel oil filling method and device based on automatic excavator |
| CN111646420A (en) * | 2020-05-25 | 2020-09-11 | 无锡八英里电子科技有限公司 | Intelligent refueling method based on artificial intelligence |
| CN112299359A (en) * | 2020-10-27 | 2021-02-02 | 江阴市富仁高科股份有限公司 | Full-automatic oiling robot with double-arm structure |
| CN112777555A (en) * | 2021-03-23 | 2021-05-11 | 江苏华谊广告设备科技有限公司 | Intelligent oiling device and method |
| CN112978666A (en) * | 2021-03-15 | 2021-06-18 | 姚先龙 | Automatic oiling machine of filling station |
| CN113428826A (en) * | 2021-07-27 | 2021-09-24 | 深圳市康道智能股份有限公司 | Refueling robot, control method, system and storage medium |
| CN113562682A (en) * | 2021-07-27 | 2021-10-29 | 深圳市康道智能股份有限公司 | Composite paw of oiling robot |
-
2022
- 2022-01-10 CN CN202210023214.5A patent/CN114228481A/en active Pending
Patent Citations (15)
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| CN102678009A (en) * | 2012-05-29 | 2012-09-19 | 浙江吉利汽车研究院有限公司杭州分公司 | Intelligent oil tank cover control device and control method thereof |
| CN105384133A (en) * | 2015-11-25 | 2016-03-09 | 浙江吉利汽车研究院有限公司 | Intelligent autonomous oil filling device and control method |
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| CN108657141A (en) * | 2018-07-11 | 2018-10-16 | 苏州日煊数字科技有限公司 | A kind of automation oiling method based on artificial intelligence |
| CN110388317A (en) * | 2019-08-15 | 2019-10-29 | 中国人民解放军96901部队26分队 | An integrated oil pump and its refueling truck |
| CN111501891A (en) * | 2020-05-12 | 2020-08-07 | 三一重机有限公司 | Fuel oil filling method and device based on automatic excavator |
| CN111646420A (en) * | 2020-05-25 | 2020-09-11 | 无锡八英里电子科技有限公司 | Intelligent refueling method based on artificial intelligence |
| CN112299359A (en) * | 2020-10-27 | 2021-02-02 | 江阴市富仁高科股份有限公司 | Full-automatic oiling robot with double-arm structure |
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| CN112777555A (en) * | 2021-03-23 | 2021-05-11 | 江苏华谊广告设备科技有限公司 | Intelligent oiling device and method |
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Inventor after: Shao Rufeng Inventor after: Zhang Bailin Inventor after: Song Miao Inventor after: Guo Ying Inventor after: Jiang Shaohui Inventor after: Gao Zhanjun Inventor after: Hu Hengping Inventor after: Chen Yan Inventor before: Shao Rufeng Inventor before: Zhang Bolin Inventor before: Song Miao Inventor before: Guo Ying Inventor before: Jiang Shaohui Inventor before: Gao Zhanjun Inventor before: Hu Hengping Inventor before: Chen Yan |