CN207030938U - A kind of high-risk fluid fillers robot - Google Patents
A kind of high-risk fluid fillers robot Download PDFInfo
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- CN207030938U CN207030938U CN201720842258.5U CN201720842258U CN207030938U CN 207030938 U CN207030938 U CN 207030938U CN 201720842258 U CN201720842258 U CN 201720842258U CN 207030938 U CN207030938 U CN 207030938U
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Abstract
A kind of high-risk fluid fillers robot, including column, and it is arranged on the robot assemblies of column side, the flapping articulation that driving robot assemblies rotate in the horizontal direction is provided between column and robot assemblies, robot assemblies include the mechanical arm that more piece is sequentially connected, and it is arranged between adjacent machine arm to drive the drag articulation that often section mechanical arm vertically rotates, mechanical arm is for connecting each articulation nodes and conveying the oil filling riser of liquid medium, mechanical arm positioned at robot assemblies end is the mechanical arm for opening and closing oil truck lid, the manipulator for compressing and unscrewing oil truck lid is fixed with mechanical arm, and the angle of manipulator and mechanical arm is in predetermined angle, manipulator is provided with the camera for being used for that oil truck lid to be found and positioned.The utility model replaces manually filling oil truck progress liquid using Automatic Control, not only increases productivity effect, alleviates labor intensity, and prevents artificial security incident to occur.
Description
Technical field
It the utility model is related to petrochemical industry equipment manufacturing field, and in particular to one kind is used in petroleum chemical industry to oil
The high-risk fluid fillers robot that tank car is filled.
Background technology
Prior art, the product of in the market robot is more, application substantially automobile making assembling, welding, spraying,
The fields such as food and drink, medical treatment, but it is applied to the fluid fillers of petrochemical enterprise also in blank.
At present, the fluid fillers of petrochemical enterprise are typically using manually mode is filled, and not only operation intensity is big for it, dangerous
Property it is high, and cause enterprise's production cost height, inefficiencies, security poor, therefore, it can not meet the high speed of today's society
Development.
Utility model content
The utility model is in order to solve above-mentioned technical problem existing for prior art, there is provided one kind can be replaced manually to oil
Tank car carries out the high-risk fluid fillers robot that liquid fills.
To achieve the above object, the utility model provides a kind of high-risk fluid fillers robot, including column, Yi Jishe
Put in column side and the robot assemblies that can be rotated horizontally, driving machinery is provided between the column and robot assemblies
The flapping articulation that arm component rotates in the horizontal direction, the robot assemblies include the mechanical arm that more piece is sequentially connected, Yi Jishe
Put to drive the drag articulation that often section mechanical arm vertically rotates between adjacent machine arm, the mechanical arm is for even
Connect each articulation nodes and convey the oil filling riser of liquid medium, the mechanical arm positioned at robot assemblies end is for opening and closing oil
The mechanical arm of tank car lid, the manipulator for compressing and unscrewing oil truck lid is fixed with the mechanical arm, and
The angle of the manipulator and the mechanical arm is in predetermined angle, and the manipulator, which is provided with, to be used to carry out oil truck lid
The camera found and positioned.
As further preferred technical scheme of the present utility model, the mechanical arm is used to connect flapping articulation or vertical pass
The end of section is fixedly installed elbow, between adjacent two mechanical arms, and is set between mechanical arm and column by its fixation
Elbow is equipped with to be rotatedly connected.
As further preferred technical scheme of the present utility model, the joint number of the mechanical arm is three sections.
As further preferred technical scheme of the present utility model, the drag articulation includes the be fixed on mechanical arm
One motor, the reductor being connected on the first motor, the driving wheel being arranged in the rotating shaft of the reductor, and be fixed on
Driven pulley on the adjacent another mechanical arm of the mechanical arm, swivel joint, first horse are provided between adjacent two mechanical arm
The axial line reached is horizontally disposed, and the driving wheel is meshed with driven pulley, by the rotation of the first motor to realize that two is adjacent
Vertical rotary between mechanical arm.
As further preferred technical scheme of the present utility model, the manipulator includes linking arm, light source, the second motor
With machine pawl, the linking arm is fixedly connected on the side of mechanical arm, the end that linking arm is fixed on by the second motor
Portion, the mechanical hand is 7 word structures, and machine pawl is U-shaped, and the second motor is used to drive mechanical hand to rotate, to realize locking oil
Tank car lid, the light source are arranged on linking arm and positioned at the front side of camera, for camera light filling and night illumination.
As further preferred technical scheme of the present utility model, first motor and the second motor are servo horse
Reach.
As further preferred technical scheme of the present utility model, the high-risk fluid fillers robot also includes control system
System, the control system are electrical connected with the first motor, the second motor, camera and light source respectively.
High-risk fluid fillers robot of the present utility model can reach following beneficial effect：
1) replace manually filling oil truck progress liquid using Automatic Control, not only increase productivity effect, mitigate
Labor intensity, and prevent the generation of artificial security incident；
2) non-contact vision location technology is used, so as to ensure that the precision of positioning, and for observer with being observed
Person is all without any damage is produced, so as to improve the reliable of system；
3) camera has wider spectral response range, such as using infrared survey invisible to the human eye, extends people
The visual range of eye；
4) long-time stable works, and the mankind are difficult to for a long time observe same target, and machine vision can then be grown
Temporally measure, analyze and the advantages that identification mission；
5) structure that the robot assemblies of multi-joint and mechanical hand are combined, motion is flexible, easy to use.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation for the example that the high-risk fluid fillers robot of the utility model provides；
Fig. 2 is the structural representation of the drag articulation of the high-risk fluid fillers robot of the utility model；
Fig. 3 is the structural representation of the manipulator of the high-risk fluid fillers robot of the utility model.
In figure：1st, vertical rod, 2, flapping articulation, 3, mechanical arm, 4, drag articulation, 41, driven pulley, 42, swivel joint, 43,
Driving wheel, 44, reductor, the 45, first motor, 5, mechanical arm, 6, mechanical arm, 61, camera, 62, light source, 63, connection
Arm, the 64, second motor, 65, machine pawl.
The utility model purpose is realized, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described further.In preferred embodiment
Cited such as " on ", " under ", "left", "right", only " centre " and " one " term, understanding for ease of narration, and be not used to
The enforceable scope of the utility model is limited, its relativeness is altered or modified, in the case where changing technology contents without essence, when also
It is considered as the enforceable category of the utility model.
Fig. 1 is the structural representation for the example that the high-risk fluid fillers robot of the utility model provides, and Fig. 2 is this practicality
The structural representation of the drag articulation of new high-risk fluid fillers robot, Fig. 3 are the high-risk fluid fillers machine of the utility model
The structural representation of the manipulator of people, as shown in Figure 1 to Figure 3, high-risk fluid fillers robot include column, and are arranged on vertical
Post side and the component of mechanical arm 3 that can be rotated horizontally, driving mechanical arm 3 is provided between the component of column and mechanical arm 3
The flapping articulation 2 that component rotates in the horizontal direction, the component of mechanical arm 3 include the mechanical arm 3, Yi Jishe that more piece is sequentially connected
Put to drive the drag articulation 4 that often section mechanical arm 3 vertically rotates between adjacent machine arm 3, the mechanical arm 3 is use
In the oil filling riser for connecting each articulation nodes and conveying liquid medium, the mechanical arm 3 positioned at the element end of mechanical arm 3 be for opening and
The mechanical arm 5 of oil truck lid is closed, the machine for compressing and unscrewing oil truck lid is fixed with the mechanical arm 5
Tool hand 6, and the angle of the manipulator 6 and the mechanical arm 5 is in predetermined angle, the manipulator 6, which is provided with, to be used for oil
The camera 61 that tank car lid is found and positioned.The predetermined angle can be set by designer according to real needs, such as
It can be 60 degree, 90 degree etc..
In specific implementation, the mechanical arm 3 be used to connecting flapping articulation 2 or drag articulation 4 end be fixedly installed it is curved
Head, between adjacent two mechanical arms 3, and elbow is fixedly installed by it between mechanical arm 3 and column and is rotatedly connected.
In specific implementation, the joint number of the mechanical arm 3 is three sections, certainly according to actual production demand, the joint number of mechanical arm 3
Other quantity is can also be, such as two sections or four sections.The drag articulation 4 includes the first motor 45, the company being fixed on mechanical arm 3
The reductor 44 being connected on the first motor 45, the driving wheel 43 being arranged in the rotating shaft of the reductor 44, and be fixed on
Driven pulley 41 on the adjacent another mechanical arm 3 of the mechanical arm 3, swivel joint 42, institute are provided between adjacent two mechanical arm 3
The axial line for stating the first motor 45 is horizontally disposed, and the driving wheel 43 is meshed with driven pulley 41, passes through the first motor 45
Rotate to realize the vertical rotary between two adjacent mechanical arms 3.
In specific implementation, the manipulator 6 includes linking arm 63, light source 62, the second motor 64 and machine pawl 65, the company
The side that arm 63 is fixedly connected on mechanical arm 5 is connect, the machine pawl 65 is fixed on the end of linking arm 63 by the second motor 64
Portion, the mechanical hand is 7 word structures, and machine pawl 65 is U-shaped, and the second motor 64 is used to drive mechanical hand to rotate, to realize lock
Tight oil truck lid, the light source 62 are arranged on linking arm 63 and positioned at the front side of camera 61, for the light filling of camera 61
And night illumination.
In specific implementation, the motor 64 of the first motor 45 and second is servo motor, using advanced servo motor
And associated drives technology, the stability and reliability of the component movement of mechanical arm 3 are ensure that, compared to hydraulic-driven, also saves and sets
Meter and production cost.
In specific implementation, the high-risk fluid fillers robot also includes control system, and the control system is respectively with
One motor 45, the second motor 64, camera 61 and light source 62 are electrical connected.
In order to allow those skilled in the art to more fully understand and realize the technical solution of the utility model, this is explained in detail below
The operation principle of embodiment, below all examples by three section mechanical arms 3 exemplified by.
Open the operation for filling lid：
1) control system is connected to instruction of uncapping, and first controlled level joint 2 rotates towards predetermined direction, drives whole mechanical arm 3
Component level is in rotary moving, mechanical arm 5 is filled a mouthful position movement towards oil truck；
2) it will be automatically stopped when mechanical arm 5 reaches precalculated position, and think that follow-up work will be prepared；
3) next control system starts the first motor 45 on drag articulation 4, makes the rotation 90 counterclockwise of mechanical arm 5
Degree, while drag articulation 4 coordinates adjustment height, makes manipulator 6 vertically downward, and fill lid to oil truck by camera 61
Imaged, positioned, locking bar in lid is filled to find oil truck；
4) after finding the locking bar that oil truck is filled in lid, the second motor of control system control 64 is rotated by 90 ° counterclockwise, its
Rotating band movement machine pawl 65 rotates, and to unclamp locking bar, now oil truck fills lid loosening；
5) and then control system controls the first motor 45 of drag articulation 4 to rotate, and mechanical hand is rotated clockwise 90
Degree, allows robotic arm vertically downward, the lid arm that oil truck fills mouth is searched out under the control of the vision positioning of camera 61.
6) controlled level joint 2 is rotated by 90 ° by control system to arm direction is received, and robotic arm promotes oil truck to fill mouth
Lid arm, now oil truck fill lid and be opened.
Charging operation：
Oil truck is filled after lid is opened, and control system will make the component of mechanical arm 3 to filling mouth side by flapping articulation 2
To mobile 90 degree, then in the case where the drag articulation 4 in each joint coordinates, by switch fill lid arm insert fill it is intraoral, with to stone
Fluid chemical in oily chemical industry is filled.
Close lid action：
1) after the completion of filling, i.e., robot of the present utility model is obtained after closing lid instruction, control system control connection machine
The drag articulation 4 of tool arm 5 rotates, and lifts mechanical arm 5, then by camera positioning after, promote oil truck to fill the lid of mouth
Arm is filled with mouth closing；
2) and then the control system of robot controls other drag articulations 4, and robotic arm is rotated by 90 ° counterclockwise, makes machine
Down, locking bar is found in then the positioning by camera 61 to device pawl 65；
3) the second motor 64 rotates, and makes mechanical claw that oil truck to be filled to the locking bar dextrorotation of lid and turn 90 degrees, now
Fill mouth to compress with lid, complete closing process.
Reset withdrawal action：
1) close after oil truck fills lid, control system control drag articulation 4, robotic arm is turned clockwise 90
Degree, returns to home position, even if robotic arm is down, mechanical claw is facing forward.
2) and then flapping articulation 2 rotates, and withdraws robotic arm to home position, waits action next time.
Although the foregoing describing specific embodiment of the present utility model, those skilled in the art should manage
Solution, these are merely illustrative of, and various changes or modifications can be made to present embodiment, without departing from original of the present utility model
Reason and essence, the scope of protection of the utility model are only limited by the claims that follow.
Claims (7)
1. a kind of high-risk fluid fillers robot, it is characterised in that including column, and be arranged on column side and water-filling can be entered
The robot assemblies of flat rotation, it is provided with what driving robot assemblies rotated in the horizontal direction between the column and robot assemblies
Flapping articulation, the robot assemblies include the mechanical arm that more piece is sequentially connected, and are arranged between adjacent machine arm to drive
The drag articulation that dynamic often section mechanical arm vertically rotates, the mechanical arm are for connecting each articulation nodes and conveying liquid
The oil filling riser of medium, the mechanical arm positioned at robot assemblies end are the mechanical arm for opening and closing oil truck lid, institute
State the manipulator being fixed with mechanical arm for compressing and unscrewing oil truck lid, and the manipulator and the manipulator
The angle of arm is in predetermined angle, and the manipulator is provided with the camera for being used for that oil truck lid to be found and positioned.
2. according to the high-risk fluid fillers robot described in claim 1, it is characterised in that the mechanical arm is used to connect level
Joint or the end of drag articulation are fixedly installed elbow.
3. according to the high-risk fluid fillers robot described in claim 2, it is characterised in that the joint number of the mechanical arm is three
Section.
4. according to the high-risk fluid fillers robot described in claim 3, it is characterised in that the drag articulation includes being fixed on
The first motor on mechanical arm, the reductor being connected on the first motor, the driving wheel being arranged in the rotating shaft of the reductor,
And the driven pulley on another mechanical arm adjacent with the mechanical arm is fixed on, connect between adjacent two mechanical arm provided with rotation
Head, the axial line of first motor is horizontally disposed, and the driving wheel is meshed with driven pulley, passes through the rotation of the first motor
To realize the vertical rotary between two adjacent mechanical arms.
5. according to the high-risk fluid fillers robot described in claim 4, it is characterised in that the manipulator include linking arm,
Light source, the second motor and machine pawl, the linking arm is fixedly connected on the side of mechanical arm, described to be fixed by the second motor
In the end of linking arm, the mechanical hand is 7 word structures, and machine pawl is U-shaped, and the second motor is used to drive mechanical hand to rotate,
Oil truck lid is locked to realize, the light source is arranged on linking arm and positioned at the front side of camera, for camera light filling
And night illumination.
6. according to the high-risk fluid fillers robot described in claim 5, it is characterised in that first motor and the second motor
It is servo motor.
7. according to the high-risk fluid fillers robot described in claim 6, it is characterised in that the high-risk fluid fillers robot
Also include control system, the control system is electrical connected with the first motor, the second motor, camera and light source respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720842258.5U CN207030938U (en) | 2017-07-12 | 2017-07-12 | A kind of high-risk fluid fillers robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720842258.5U CN207030938U (en) | 2017-07-12 | 2017-07-12 | A kind of high-risk fluid fillers robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207030938U true CN207030938U (en) | 2018-02-23 |
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ID=61463765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720842258.5U Active CN207030938U (en) | 2017-07-12 | 2017-07-12 | A kind of high-risk fluid fillers robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207030938U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298424A (en) * | 2017-07-12 | 2017-10-27 | 深圳市奥图威尔科技有限公司 | A kind of high-risk fluid fillers robot |
| CN108751106A (en) * | 2018-05-16 | 2018-11-06 | 合肥亿福自动化科技有限公司 | A kind of robot automatic fuelling device |
-
2017
- 2017-07-12 CN CN201720842258.5U patent/CN207030938U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298424A (en) * | 2017-07-12 | 2017-10-27 | 深圳市奥图威尔科技有限公司 | A kind of high-risk fluid fillers robot |
| CN108751106A (en) * | 2018-05-16 | 2018-11-06 | 合肥亿福自动化科技有限公司 | A kind of robot automatic fuelling device |
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