CN216069605U - Oil tank inner cover opening and closing device of oiling robot - Google Patents

Abstract

The utility model provides an oil tank inner cover opening and closing device of an oiling robot, which comprises an equipment body and a chuck, wherein the equipment body comprises a first driving unit and a second driving unit, the first driving unit is used for driving the chuck to rotate, and the second driving unit is used for opening or closing the chuck. The utility model has the beneficial effects that: the utility model realizes the function of opening or closing the oil tank cover in the automobile in a rotating way through the clamping head, and is suitable for various types of vehicles.

Description

Oil tank inner cover opening and closing device of oiling robot

Technical Field

The utility model relates to the technical field of electromechanics, in particular to an oil tank inner cover opening and closing device of an oiling robot.

Background

The tradition of filling station is refueled the car through artifical service and is refueled, follows the science and technology development progress, and people's standard of living improves also in recent years filling station and has played car automatic oiling technical development, has just had the sediment of filling station for vehicle automatic oiling technique, and it is only at the research and development experimental stage that general technology stops at present, can not realize that filling station drops into automatic oiling and uses.

The existing automatic oiling technology:

the existing technology can successfully realize the opening/closing of the oil tank cover in a single-style vehicle type, but has difficulty in realizing the opening/closing of the oil tank cover in a plurality of vehicle types.

SUMMERY OF THE UTILITY MODEL

The utility model provides an oil tank inner cover opening and closing device of an oiling robot, which comprises an equipment body and a chuck, wherein the equipment body comprises a first driving unit and a second driving unit, the first driving unit is used for driving the chuck to rotate, and the second driving unit is used for opening or closing the chuck.

As a further improvement of the present invention, the opening and closing device for the inner lid of the oil tank further includes a sleeve, and a pull rod, wherein the pull rod extends into the sleeve, a gap is formed between an outer surface of the pull rod and an inner surface of the sleeve, the first driving unit is configured to drive the sleeve to rotate, the chuck is mounted with the sleeve, the second driving unit is configured to drive the pull rod to move, and the chuck is opened or closed by the pull rod.

As a further improvement of the present invention, the first driving unit is a servo motor, and the servo motor is used for driving the sleeve to rotate.

As a further improvement of the present invention, the apparatus body further includes a second speed reducer, a third synchronous wheel, a fourth synchronous wheel, and a second synchronous belt, the output shaft of the servo motor is connected to the second speed reducer, the second speed reducer drives the third synchronous wheel to rotate, the second synchronous belt is sleeved on the outer surface of the third synchronous wheel and the outer surface of the fourth synchronous wheel, the fourth synchronous wheel and the third synchronous wheel are synchronously rotated by the second synchronous belt, the sleeve and the fourth synchronous wheel are mounted together, and the sleeve and the fourth synchronous wheel are synchronously rotated.

The utility model has the beneficial effects that: the utility model realizes the function of opening or closing the oil tank cover in the automobile in a rotating way through the clamping head, and is suitable for various types of vehicles.

Drawings

FIG. 1 is a schematic view of a robotic arm configuration;

FIG. 2 is a schematic view of a disassembled structure of an articular mold component;

FIG. 3 is a schematic structural diagram of a joint module;

FIG. 4 is a schematic cross-sectional view of a joint module;

FIG. 5 is an exploded view of the opening and closing device for the outer cover of the fuel tank;

FIG. 6 is a schematic view of the opening and closing device for the outer cover of the fuel tank, without the shield installed;

FIG. 7 is a schematic view of the opening and closing device for the outer lid of the fuel tank with the cover installed;

FIG. 8 is a sectional view of the opening and closing apparatus of the outer lid of the fuel tank;

FIG. 9 is a cross-sectional view of an oil gun gripping and oil control device;

FIG. 10 is a perspective view of an oil gun gripping and oil control device;

FIG. 11 is a schematic structural view of an oil gun grabbing, digging and oil controlling device;

FIG. 12 is a schematic view showing the construction of an inner lid opening and closing device for a fuel tank;

fig. 13 is a sectional view of the opening and closing device of the inner lid of the fuel tank;

FIG. 14 is an enlarged view at A of FIG. 13;

FIG. 15 is an exploded view of the opening and closing device for the inner lid of the fuel tank;

FIG. 16 is a schematic view of the open state structure of the chuck;

FIG. 17 is a schematic view of the closed state structure of the chuck;

FIG. 18 is a schematic perspective view of the chuck;

FIG. 19 is a schematic view of a composite finger configuration;

FIG. 20 is a schematic view of the refueling robot;

fig. 21 is a control method flowchart.

Detailed Description

The utility model discloses an oiling robot which comprises a mechanical arm 100, an oil tank outer cover opening and closing device 200, an oil gun grabbing, gun digging and oil controlling device 300 and an oil tank inner cover opening and closing device 400.

As shown in fig. 1, the robot arm 100 includes six joint modules, a first connecting arm 107 and a second connecting arm 108, the six joint modules have the same structural principle, each joint module can independently perform a rotational motion, and the six joint modules are respectively a first joint module 101, a second joint module 102, a third joint module 103, a fourth joint module 104, a fifth joint module 105 and a sixth joint module 106; the second joint module 102 is connected with the first joint module 101, and the rotation of the first joint module 101 drives the second joint module 102 to synchronously rotate; one end of the first connecting arm 107 is connected to the second joint module 102, the other end of the first connecting arm 107 is connected to the third joint module 103, and the second joint module 102 drives the third joint module 103 to rotate synchronously through the first connecting arm 107; the second connecting arm 108 is connected with the fourth joint module 104, and the third joint module 103 drives the second connecting arm 108 to rotate; the fourth joint module 104 is connected to the fifth joint module 105, and the fourth joint module 104 drives the fifth joint module 105 to rotate; the fifth joint module 105 is connected to the sixth joint module 106, and the fifth joint module 105 drives the sixth joint module 106 to rotate.

As shown in fig. 2-4, the joint module includes a motor 109, a motor base 110, a base 111, and a motor protection cover 112, where the motor protection cover 112 is installed on the motor base 110 to form a cavity therein, the motor 109 is installed in the cavity, and the motor 109 is used to drive the base 111 to rotate.

The joint module further comprises a first synchronizing wheel 113, a second synchronizing wheel 114, a first synchronizing belt 115 and a first speed reducer, wherein an output shaft of the motor 109 is connected with the first synchronizing wheel 113, the first synchronizing belt 115 is sleeved on the outer surface of the first synchronizing wheel 113 and the outer surface of the second synchronizing wheel 114, the first speed reducer is connected with the second synchronizing wheel 114, and the base 111 and the first speed reducer are installed together.

The first reducer is a harmonic reducer comprising a rigid gear 116, a flexible gear 117 and a wave generator 118.

When the motor works, an external servo driver controls the motor 109 to supply power, an output shaft of the motor 109 drives the first synchronizing wheel 113 to rotate, the first synchronizing belt 115 drives the second synchronizing wheel 114 to rotate, and the second synchronizing wheel 114 drives the rigid wheel 116 and the flexible wheel 117 to rotate, so that the base 111 and the motor base 110 perform relative rotation motion. The first timing belt 115 is preferably an antistatic first timing belt.

The joint module further comprises a motor fixing plate 119 and a motor supporting plate 120, wherein the motor supporting plate 120 is installed on the motor base 110, the motor fixing plate 119 is installed on the motor supporting plate 120, and the motor 109 is installed on the motor fixing plate 119.

When the first synchronous belt 115 is installed, in order to conveniently install the first synchronous belt 115, the first synchronous belt 115 is not in a tensioned state, and after the first synchronous belt 115 is installed, the tensioning of the first synchronous belt 115 is completed through the tension adjusting piece 121 and the tension adjusting stop bar 125, specifically: the motor fixing plate 119 is pre-fastened to the motor supporting plate 120, the motor fixing plate 119 can move on the motor supporting plate 120 at the moment, and the tension adjusting member 121 is clamped between the motor fixing plate 119 and the tension adjusting stop bar 125, so that the motor fixing plate 119 can move backwards, the first synchronizing wheel 113 is driven to move backwards, and the first synchronizing belt 115 is tensioned.

The robot arm 100 further comprises a connecting member 129, the base 111 of the sixth joint module 106 is connected to the connecting member 129, and the connecting member 129 is preferably a flange.

The base 111 of the second joint module 102 is connected to the motor base 110 of the first joint module 101, one end of the first connecting arm 107 is connected to the motor base 110 of the second joint module 102, the other end of the first connecting arm 107 is connected to the motor base 110 of the third joint module 103, the base 111 of the third joint module 103 is connected to one end of the second connecting arm 108, the other end of the second connecting arm 108 is connected to the motor base 110 of the fourth joint module 104, the base 111 of the fourth joint module 104 is connected to the motor base 110 of the fifth joint module 105, and the base 111 of the fifth joint module 105 is connected to the motor base 110 of the sixth joint module 106.

The mechanical arm 100 further comprises a robot fixing seat 130, the base 111 of the first joint module 101 is connected with the robot fixing seat 130, and the robot fixing seat 130 is provided with an explosion-proof junction box.

The motor 109 is an explosion-proof servo motor.

The link 129 is subjected to X, Y, Z coordinate movement by the joint module, the first link arm 107 and the second link arm 108.

According to the utility model, the explosion-proof servo motor is applied to the mechanical arm, so that the explosion-proof level of the refueling robot is reached, and the safety standard of a refueling station is met.

As shown in fig. 5 to 8, the oil tank cover opening and closing device 200 includes a suction cup fixing seat 201 and a suction cup 202, wherein the suction cup 202 is connected to the suction cup fixing seat 201, and the suction cup 202 is used for sucking the oil tank cover of the automobile.

This oil tank enclosing cover is opened and closing device 200 still includes negative pressure and produces mechanism, sucking disc connecting rod 203 one end with sucking disc fixing base 201 links to each other, the sucking disc connecting rod 203 other end with sucking disc 202 links to each other, sucking disc connecting rod 203 is equipped with the hole, sucking disc connecting rod 203 the hole with sucking disc 202 intercommunication, install air cock 204 on the sucking disc connecting rod 203, air cock 204 with the hole intercommunication of sucking disc connecting rod 203, negative pressure produce the mechanism pass through the connecting pipe with air cock 204 links to each other, the air compressor machine is used for producing the negative pressure. The negative pressure generating mechanism is connected with an air compressor and a vacuum generator connected with the air compressor. The sucking disc 202 sucks the outer cover of the automobile oil tank through negative pressure, so that the outer cover of the automobile oil tank is convenient to open.

The oil tank exterior cover opening and closing apparatus 200 further includes two pressing heads 205, and the suction cup 202 is located between the two pressing heads 205. After the refueling is finished, the automobile fuel tank outer cover is closed through the pressing head 205.

The pressing head 205 is preferably made of a polyurethane material.

This oil tank enclosing cover opening and closing device 200 still includes pendulum rod support 206, swing arm piece 207, flexible pendulum rod 208, extension spring 209, and swing arm piece 207 can swing on the pendulum rod support 206 (for example, swing arm piece 207 installs on pendulum rod support 206 through the pivot to make swing arm piece 207 can swing), extension spring 209 one end with swing arm piece 207 links to each other, the extension spring 209 other end with pendulum rod support 206 links to each other, and swing arm piece 207 is equipped with the cavity, flexible pendulum rod 208 stretches into in the cavity of swing arm piece 207, and flexible pendulum rod 208 can move in swing arm piece 207's the cavity, flexible pendulum rod 208 one end with sucking disc fixing base 201 links to each other.

In order to enable the telescopic swing rod 208 to smoothly move longitudinally in the cavity of the swing arm 207, the outer surface of the telescopic swing rod 208 is sleeved with a linear bearing 216 and a compression spring 210.

If the sucker fixing seat 201 rotates, the connecting pipe also rotates, and in order to prevent the sucker fixing seat 201 and the connecting pipe from rotating, the sucker fixing seat 201 is prevented from rotating through the anti-rotation mechanism.

The anti-rotation mechanism comprises an anti-rotation limiting block 211, one end of the anti-rotation limiting block 211 is mounted with the suction cup fixing seat 201, and the other end of the anti-rotation limiting block 211 is attached to the upper surface of the swinging arm piece 207, so that the rotation of the suction cup fixing seat 201 is prevented.

Saddle type nylon ribbon fixing base 212 is installed on anti-rotation stopper 211, and saddle type nylon ribbon fixing base 212 is used for fixed connecting pipe.

The oil tank outer cap opening and closing apparatus 200 further includes two pressing head fixtures 213, the two pressing head fixtures 213 are respectively installed at both sides of the swing rod bracket 206, and the two pressing heads 205 are respectively installed at the two pressing head fixtures 213.

The tank cover opening and closing apparatus 200 further includes a fixed base plate 214 and a cover 215, the cover 215 is mounted on the fixed base plate 214, two holes are opened in the cover 215, and the two pressing heads 205 respectively protrude from the two holes of the cover 215. The swing link bracket 206 is mounted on the fixed seat plate 214.

The oil tank outer cover opening and closing device 200 is controlled by a control system to move, the pressing head 205 presses the surface of the outer cover of the automobile oil tank to enable the outer cover of the oil tank to be bounced, the sucking disc 202 is adsorbed on the surface of the bouncing part of the surface of the outer cover of the automobile oil tank, the sucking disc 202 is always adsorbed on the surface of the outer cover of the oil tank along with the overturning angle process of the outer cover of the oil tank by the self-swing arm mechanism provided with the sucking disc 202, the function of pulling the outer cover of the automobile oil tank is successfully realized, and the self-swing arm mechanism provided with the sucking disc 202 is automatically reset at the moment.

The control system controls the oil tank outer cover opening and closing device 200 to move, the pressing head 205 stirs the oil tank outer cover to return, and the pressing head 205 presses the elastic part area on the surface of the automobile oil tank outer cover to realize the function of closing the oil tank outer cover.

Because multi-vehicle type oil tank enclosing cover is of a great variety, adopt the self-swing arm mechanism who is equipped with sucking disc 202 along with oil tank enclosing cover rotation angle process sucking disc 202 adsorb on oil tank enclosing cover surface always, reduce and refuel the robot precision requirement, improved sucking disc 202 adsorption effect, practical multi-vehicle type oil tank enclosing cover is uncapped. The sucking disc has the automatic re-setting function from the swing arm mechanism, and the process of uncapping makes things convenient for sucking disc 202 location to adsorb, is difficult for producing the touching with the oil tank enclosing cover when closing the lid and interferes and influence and close the lid.

The tank cover opening and closing apparatus 200 is mounted on the robot arm 100, and particularly, the stationary seat plate 214 is mounted together with the connection member 129.

As shown in fig. 9-11, the oil gun grabbing and oil-digging oil control device 300 includes a base plate 301, a first driving module 302, a second driving module 303, an oil gun clamping static member 304, an oil gun clamping dynamic member 305, and an oil-digging rod 306, wherein the oil gun clamping static member 304 is installed on the base plate 301, the first driving module 302 is connected with the oil gun clamping dynamic member 305, the first driving module 302 is used for driving the oil gun clamping dynamic member 305 to be buckled or separated with the oil gun clamping static member 304, when the oil gun clamping dynamic member 305 is buckled with the oil gun clamping static member 304, the oil gun clamping dynamic member 305 is used for clamping a handle of an oil gun, the second driving module 303 is used for driving the oil-digging rod 306 to move, and the oil-digging rod 306 is used for buckling a wrench of the oil gun to perform oil filling.

The oil gun clamping static piece 304 and the oil gun clamping movable piece 305 are both C-shaped, and when the oil gun clamping movable piece 305 and the oil gun clamping static piece 304 are buckled together, the inner parts of the oil gun clamping movable piece 305 and the oil gun clamping static piece are in a hollow arc shape.

The oil gun clamping member 305 is movably connected with the substrate 301, and specifically, the oil gun clamping member 305 is connected with the substrate 301 through a rotating shaft 307. .

The first driving module 302 is a first cylinder, an output shaft of the first cylinder is connected to the oil gun clamping member 305, and the first driving module 302 drives the oil gun clamping member 305 to rotate on the substrate 301.

The gun clamp stator 304 is made of a strip of rubber material.

This oil gun snatchs and scratches rifle accuse oil device 300 still includes oil gun accuse oil pull rod 308, second drive module 303 is the second cylinder, second cylinder output shaft with oil gun accuse oil pull rod 308 links to each other, accuse oil is scratched rifle bar 306 and is installed on the oil gun accuse oil pull rod 308.

The second cylinder output shaft through first cylinder adapter 309 with oil gun accuse oil pull rod 308 links to each other, accuse oil is scratched stock rod 306 and is passed through the mounting screw on oil gun accuse oil pull rod 308.

The oil gun oil control pull rod 308 is provided with a pull rod cover plate 310 and a protective cover 311, and the oil gun control pull rod 306 is adjacent to the oil gun clamping static piece 304.

The oil gun snatchs and scratches the function that rifle accuse oil device 300 realized and is: the control system controls the automatic oil gun taking, the automatic oil feeding and the automatic oil gun hanging in the gun stock of the oiling machine.

The oil gun grabbing, digging and oil controlling device 300 simulates the process of manually holding a gun to refuel, combines a thumb oil gun holding manipulation, a real finger oil gun grasping manipulation and a middle finger oil gun digging manipulation, realizes the two functions by a simple and small mechanism, is practical and is transformed from a current-stage general refueling machine, and has low cost and strong practicability.

As shown in fig. 12 to 15, the tank inner lid opening and closing apparatus 400 includes an apparatus body including a first driving unit 401, a second driving unit 402, a collet 403, the first driving unit 401 for driving the collet 403 to rotate, and the second driving unit 402 for opening or closing the collet 403.

The device 400 for opening and closing the inner lid of the fuel tank further includes a sleeve 404 and a pull rod 405, the pull rod 405 extends into the sleeve 404, a gap is formed between the outer surface of the pull rod 405 and the inner surface of the sleeve 404, the first driving unit 401 is used for driving the sleeve 404 to rotate, the clamp 403 is installed with the sleeve 404, the second driving unit 402 is used for driving the pull rod 405 to move, and the clamp 403 is opened or closed through the pull rod 405.

The first driving unit 401 is a servo motor, the servo motor is used for driving the sleeve 404 to rotate, and the servo motor is preferably an explosion-proof servo motor.

The equipment body further comprises a second speed reducer 406, a third synchronizing wheel 407, a fourth synchronizing wheel 408 and a second synchronous belt 409, the output shaft of the servo motor is connected with the second speed reducer 406, the second speed reducer 406 drives the third synchronizing wheel 407 to rotate, the second synchronous belt 409 is sleeved on the outer surface of the third synchronizing wheel 407 and the outer surface of the fourth synchronizing wheel 408, synchronous rotation of the fourth synchronizing wheel 408 and the third synchronizing wheel 407 is achieved through the second synchronous belt 409, the sleeve 404 and the fourth synchronizing wheel 408 are mounted together, and the sleeve 404 and the fourth synchronizing wheel 408 rotate synchronously.

The second driving unit 402 is a third cylinder, and the third cylinder is used for driving the pull rod 405 to move.

The equipment body still includes unsteady joint 410, second cylinder adapter 411, the third cylinder output shaft with unsteady joint 410 links to each other, second cylinder adapter 411 one end with unsteady joint 410 links to each other, the second cylinder adapter 411 other end with pull rod 405 links to each other. When the pull rod 405 rotates along with the clamp 403, the output shaft of the third cylinder is connected with the floating joint 410, and according to the structural principle of the floating joint 410, when the floating joint 410 rotates along with the pull rod 405, the output shaft of the third cylinder cannot rotate along with the floating joint 410.

The device body further comprises a bearing 412, and the bearing 412 is sleeved on the outer surface of the sleeve 404.

The equipment body further comprises a motor seat plate 413, a butt joint plate 414, an adjusting top plate 415, a fixed bottom plate 416 and an air cylinder fixing seat 426, when a second synchronous belt 409 is installed, the second synchronous belt 409 is not in a tensioning state for convenience of installation, and after the second synchronous belt 409 is installed, the tensioning of the second synchronous belt 409 is completed through the adjusting top plate 415, specifically: second reduction gear 406 is installed on motor bedplate 413, motor bedplate 413 is installed on cylinder fixing base 426, motor bedplate 413 does not die with cylinder fixing base 426 fixedly, motor bedplate 413 pretension is on cylinder fixing base 426, motor bedplate 413 can move on cylinder fixing base 426 this moment, will adjust roof 415 and install on motor bedplate 413, adjust the threaded hole of roof 415 and install adjusting screw 428, withstand butt-joint plate 414 through adjusting screw 428, so alright make motor bedplate 413 remove backward, and then drive third synchronizing wheel 407 and remove backward to tensioning second hold-in range 409.

The inner lid opening and closing apparatus 400 further includes a sensor fixing plate 417, a photoelectric switch 418, and a sensor 419, the sensor fixing plate 417 is connected to the fixing base plate 416, the photoelectric switch 418 is connected to the sensor fixing plate 417, a light blocking plate 427 is installed on the outer surface of the sleeve 404, and the photoelectric switch 418 and the light blocking plate 427 cooperate to detect whether the sleeve 404 is reset to the origin; and a sensor 419 is arranged on the third cylinder, and the sensor 419 is used for sensing the state of the output shaft of the third cylinder and detecting whether the output shaft of the third cylinder is in a pushing or pulling state.

The tank inner lid opening and closing apparatus 400 further includes a housing 425, the apparatus body is mounted in the housing 425, the cartridge 403 protrudes from the housing 425, and the housing 425 is constituted by a lid body 420 and a cover plate 421 assembled together.

An adapter plate 422 is mounted on the housing 425, a cylinder fixing member 423 is mounted inside the housing, and a third cylinder is mounted on the cylinder fixing member 423.

As shown in fig. 16-18, the chuck 403 includes a chuck body 4031 and two clamping components, each of which includes a first connecting rod 4032, a second connecting rod 4033, a third connecting rod 4034, a clamping block 4035, a clamping head 4036, a first connecting component 4037, a second connecting component 4038, a third connecting component 4039, and a fourth connecting component 4040, one end of the first connecting rod 4032 is rotatably connected to the pull rod 405, the other end of the first connecting rod 4032 is rotatably connected to the chuck body 4031 through the first connecting component 4037, one end of the second connecting rod 4033 is connected to the other end of the first connecting rod 4032, the other end of the second connecting rod 4033 is rotatably connected to the clamping block 4035 through the fourth connecting component 4040, one end of the third connecting rod 4034 is rotatably connected to the chuck body 4031 through the second connecting component 4038, the other end of the third connecting rod 4034 is connected with the clamping block 4035 in a rotating mode through the third connecting part 4039, the first connecting part 4037, the second connecting part 4038, the third connecting part 4039 and the fourth connecting part 4040 are arranged in a parallelogram mode, the second connecting rod 4033 and the third connecting rod 4034 are arranged in parallel, the clamping heads 4036 and the clamping block 4035 are installed together, and the torsion handle of the oil tank cover 424 in the automobile is clamped through the two clamping heads 4036.

When the pull rod 405 is pushed downward, the two clamping blocks 4035 are moved outward, so that the clamp heads 403 are opened. When the pull rod 405 is pulled upward, the two clamping blocks 4035 are driven to move inward, so that the clamping heads 403 are closed to clamp the torsion handle of the automobile inner fuel tank cover 424.

The shape of the twist grip of the fuel tank cover 424 in the automobile may be different, and in order to make the clamping block 4035 better adhere to the twist grip, therefore, the clamping head 4036 is movably connected to the clamping block 4035, and the clamping head 4036 can swing on the clamping block 4035, for example, the clamping head 4036 is installed on the rotating shaft of the clamping block 4035, so that the clamping head 4036 can better adhere to the clamping twist grip.

The one end of the first connecting rod 4032 is rotatably connected to the pull rod 405, which means that one end of the first connecting rod 4032 is connected to the pull rod 405, and one end of the first connecting rod 4032 can rotate on the pull rod 405.

The other end of the first connecting rod 4032 is rotatably connected to the chuck body 4031 by a first connecting member 4037, which means that the other end of the first connecting rod 4032 can be rotatably connected to the chuck body 4031 by the first connecting member 4037, for example, the first connecting member 4037 is a rotating shaft.

The second 4033 and the first 4032 connecting rods may be two pieces connected, but of course the second 4033 and the first 4032 connecting rods may also be integrally formed.

The other end of the second connecting bar 4033 is rotatably connected to the clamping block 4035 by the fourth connecting part 4040, which means that the other end of the second connecting bar 4033 can rotate on the clamping block 4035 by the fourth connecting part 4040, for example, the fourth connecting part 4040 is a rotating shaft.

The one end of the third connecting bar 4034 is rotatably connected to the chuck body 4031 by the second connecting member 4038, which means that the one end of the third connecting bar 4034 can be rotatably connected to the chuck body 4031 by the second connecting member 4038, for example, the second connecting member 4038 is a rotating shaft.

The other end of the third connecting bar 4034 is rotatably connected to the clamping block 4035 by the third connecting member 4039, which means that the other end of the third connecting bar 4034 can rotate on the clamping block 4035 by the third connecting member 4039, for example, the third connecting member 4039 is a rotating shaft.

When the oil tank inner cover opening and closing device 400 works, a servo motor driver controls an explosion-proof servo motor to supply electricity to rotate, the end part of an output shaft of the explosion-proof servo motor is connected to a second speed reducer 406, the end part of the output shaft of the second speed reducer 406 drives a third synchronous wheel 407 to rotate, the fourth synchronous wheel 408 is driven to rotate through transmission of a second synchronous belt 409, rotating force is transmitted to a sleeve 404 to drive a chuck 403 to rotate, the rotating motion of a twisting/tightening automobile inner oil tank cover 424 is achieved, a photoelectric switch 418 detects the position of the origin of the correction chuck 403, the position characteristics of the automobile inner oil tank cover 424 are identified through robot motion and vision, the chuck 403 is aligned to a twisting handle of the automobile inner oil tank cover 424, a third air cylinder drives a pull rod 405 to move, and the chuck 403 is enabled to clamp the twisting handle of the automobile inner oil tank cover 424 or loosen the twisting handle of the automobile inner oil tank cover 424 through the pull rod 405. The opening or closing of the clamp 403, the rotation of the clamp 403 and the movement of the mechanical arm realize the function of opening or closing the fuel tank cover 424 in the automobile in a rotating way.

The oil tank inner lid opening and closing device 400 has the following technical features:

1. the torque force during rotation of the fuel tank lid 424 in the vehicle is controllable.

2. The twist grip of the fuel tank cap 424 in the vehicle can be automatically aligned by means of a visual recognition mechanism.

3. The chuck 403 is small in size, the process of rotating the fuel tank cover 424 in the automobile is not easy to generate touch interference with the inner edge of the fuel tank opening of the automobile, and the clamp has the space condition of adapting to the twisting of the inner covers of fuel tanks of various types.

4. The inner-tank-cover opening and closing device 400 uses mechanical movement, improving the safety level.

As shown in fig. 19, the oil tank outer lid opening and closing device 200, the oil gun grasping and lance digging oil control device 300, and the oil tank inner lid opening and closing device 400 are mounted together to constitute a composite gripper. The adapter plate 422 on the housing 425 is connected to the connector 129 to enable the composite gripper to be mounted on the base 111 of the sixth joint module 106.

The composite paw is beneficial to realizing the automatic oiling motion control of the oiling robot, simplifying the action, reducing the manufacturing cost of equipment and improving the working efficiency.

As shown in fig. 20, the fueling robot further includes a camera 500, the camera 500 being mounted on a compound gripper mounted on the robot arm 100.

The refueling robot can meet the field operation of high-risk environments of gas stations, and realizes the intelligent automatic refueling function of multiple vehicle types.

The refueling robot is triggered by a background intelligent electric control equipment program (control system) to automatically identify the position of a vehicle oil tank cover, automatically open an external vehicle oil tank cover, automatically open an internal vehicle oil tank cover, automatically take an oil gun in a gun stock, automatically refuel, automatically put the oil gun back into the gun stock, automatically close the internal vehicle oil tank cover and automatically close the external vehicle oil tank cover, and automatically reset to finish the automatic refueling work of the vehicle.

As shown in fig. 21, the present invention also discloses a control method of the fueling robot, comprising the following steps:

step 1: the method comprises the steps that a camera 500 is used for shooting an automobile stopped in an oiling area, the outer cover of an automobile oil tank is identified, and the position of the outer cover of the automobile oil tank is obtained;

step 2: controlling the tank cover opening and closing device 200 to open the tank cover of the automobile according to the position of the tank cover of the automobile;

and step 3: photographing the automobile through the camera 500, judging whether the outer cover of the automobile oil tank is opened or not, if so, executing the step 4, otherwise, returning to execute the step 2;

and 4, step 4: identifying the automobile inner tank cover 424, acquiring the position of the automobile inner tank cover 424, and controlling the tank inner cover opening and closing device 400 to open the automobile inner tank cover 424 according to the position of the automobile inner tank cover 424;

and 5: photographing the automobile through the camera 500, judging whether the fuel tank cover 424 in the automobile is opened or not, if so, executing the step 6, otherwise, returning to execute the step 4;

step 6: acquiring oil filler position information, and controlling an oil gun grabbing gun oil control device 300 to pick up an oil gun to fill the oil filler into the oil filler according to the oil filler position information;

and 7: after oiling is finished, the oil gun grabbing gun digging oil control device 300 is controlled to place the oil gun back into the gun stock of the oiling machine;

and 8: the tank cap opening and closing device 400 is controlled to cover the tank cap 424 in the vehicle;

and step 9: photographing the automobile through the camera 500, judging whether the oil tank cover 424 in the automobile is well covered, if so, executing the step 10, otherwise, returning to execute the step 8;

step 10: the device 200 for controlling the opening and closing of the outer cover of the oil tank covers the outer cover of the oil tank of the automobile well;

step 11: and (3) photographing the automobile through the camera 500, judging whether the outer cover of the automobile oil tank is well covered, if so, finishing, and otherwise, returning to the step 10.

Because the automobile is manually driven to a specified parking position, the position of each parking is relatively large in error, but if the position of the automobile changes, and the position of the camera 500 is fixed, the photographing is incomplete, the required information cannot be photographed, or the position of the accurate information such as the outer cover of the automobile oil tank cannot be acquired because the position and the posture of the automobile change too much. Therefore, the camera 500 of the present invention takes a picture without a fixed place, for example, the vehicle amount is inclined, the camera 500 is installed on the composite paw, the position and the posture of the vehicle are determined by controlling the composite paw, then the composite paw is controlled to move the picture taking position of the camera 500 to be parallel to the position and the posture of the vehicle (the best position and the posture of the picture taking), the visual recognition under the highest precision is ensured, each picture taking recognition of the camera 500 is automatically adjusted according to the position and the posture of the vehicle, so that the problem caused by the irregular parking can be corrected, and the precision and the stability of the recognition are ensured, the specific embodiment is as follows:

in step 1, firstly, a vehicle entering a refueling area is photographed through a camera 500 (for example, the movement of a mechanical arm 100 and/or a composite paw can be controlled to drive the camera 500 to move, so as to photograph a plurality of pictures at a plurality of positions), the position and posture of the vehicle relative to the composite paw are calculated, so that the optimum position and posture for photographing are obtained, the composite paw is controlled to reach the optimum position and posture, the vehicle is photographed through the camera 500, the outer cover of the fuel tank of the vehicle is identified, and the position of the outer cover of the fuel tank of the vehicle is obtained;

in step 2, controlling the tank cap opening and closing device 200 to open the tank cap of the automobile according to the position of the tank cap of the automobile;

in the step 3, firstly, the composite paw is controlled to reach the optimal position posture (the photographing position is right in front of and above the oil filling port of the automobile, the precision requirement is guaranteed), then the automobile is photographed through the camera 500, whether the outer cover of the oil tank of the automobile is opened or not is judged, if yes, the step 4 is executed, and if not, the step 2 is executed in a returning mode;

in step 4, the vehicle interior tank cap 424 is identified, the position of the vehicle interior tank cap 424 is obtained, and the tank interior cover opening and closing device 400 is controlled to open the vehicle interior tank cap 424 according to the position of the vehicle interior tank cap 424;

in step 5, firstly, the composite paw is controlled to reach the optimal position posture, the automobile is photographed through the camera 500, whether the fuel tank cover 424 in the automobile is opened or not is judged, if yes, step 6 is executed, and if not, the step 4 is executed;

in step 6, oil filler position information is acquired, and according to the oil filler position information, the oil gun grabbing gun digging oil control device 300 is controlled to pick up the oil gun and fill the oil into the oil filler;

in step 7, after the oiling is finished, the oil gun grabbing gun digging oil control device 300 is controlled to place the oil gun back into the gun stock of the oiling machine,

in step 8, the tank inner lid opening and closing device 400 is controlled to cover the vehicle inner tank lid 424;

in step 9, firstly, the composite paw is controlled to reach the optimal position posture, the automobile is photographed through the camera 500, whether the oil tank cover 424 in the automobile is well covered is judged, if yes, step 10 is executed, and if not, step 8 is executed;

in step 10, the tank cap opening and closing apparatus 200 is controlled to cap the automobile tank cap;

in the step 11, the composite paw is controlled to reach the optimum position and posture, the camera 500 is used for photographing the automobile, whether the outer cover of the automobile oil tank is covered is judged, if yes, the process is finished, and if not, the process returns to the step 10.

The automobile oil tank outer cover of the existing market vehicle has different sizes and shapes such as square, round corner square and the like, and the automobile inner oil tank cover 424 also has different sizes and shapes, so that great challenge is brought to the identification of the automobile oil tank outer cover and the automobile inner oil tank cover 424, and in order to solve the technical problem, the fuzzy identification is used, and specifically comprises the following steps: when the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 are/is identified, firstly, the outline of the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 is extracted, the size and the shape of the outline are identified to form feature data, the feature data are compared with data in a database, whether the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 are/is intelligently judged, the feature data are stored to the database once every time the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 are intelligently judged, so that more and more data are stored in the database, convenience is brought to next identification, and accuracy is improved.

Because the image change of the existing vision when the light changes is large, such as at night and in the daytime, the weather with sunlight and the weather without sunlight have great influence, the single parameter such as exposure cannot be identified, and even any image cannot be seen, in order to solve the technical problem, the utility model uses the light intensity sensor to detect the intensity of the external light, and adjusts the exposure value of the camera 500 according to the intensity of the external light; meanwhile, according to the sunshine duration at that time, the optimal exposure value parameter at that time is generated through a deep learning neural algorithm, so that the camera 500 obtains the optimal picture, the recognition rate and the recognition effect are ensured, and the method can adapt to external interference such as light change of the environment, weather change and the like. Meanwhile, polarized light glass is added in front of the lens of the camera 500, so that the interference of external light is reduced in a certain degree.

When the automobile fuel filling robot works, a user (driver) can place an order through the mobile phone APP, the oil product (for example, No. 92 gasoline) and the refueled money are filled when the order is placed, and the fuel filling robot can automatically refuel the automobile according to the order placing information of the user.

The foregoing is a more detailed description of the utility model in connection with specific preferred embodiments and it is not intended that the utility model be limited to these specific details. For those skilled in the art to which the utility model pertains, several simple deductions or substitutions can be made without departing from the spirit of the utility model, and all shall be considered as belonging to the protection scope of the utility model.

Claims (12)

1. An inner tank cover opening and closing device (400) of a refueling robot is characterized by comprising an equipment body and a clamping head (403), wherein the equipment body comprises a first driving unit (401) and a second driving unit (402), the first driving unit (401) is used for driving the clamping head (403) to rotate, and the second driving unit (402) is used for enabling the clamping head (403) to be opened or closed.

2. The inner lid opening and closing device (400) for a fuel tank as claimed in claim 1, wherein: the opening and closing device (400) for the inner cover of the oil tank further comprises a sleeve (404) and a pull rod (405), wherein the pull rod (405) extends into the sleeve (404), a gap is reserved between the outer surface of the pull rod (405) and the inner surface of the sleeve (404), the first driving unit (401) is used for driving the sleeve (404) to rotate, the clamping head (403) and the sleeve (404) are installed together, the second driving unit (402) is used for driving the pull rod (405) to move, and the clamping head (403) is opened or closed through the pull rod (405).

3. The inner lid opening and closing device (400) for a fuel tank according to claim 2, wherein: the first driving unit (401) is a servo motor, and the servo motor is used for driving the sleeve (404) to rotate.

4. The inner lid opening and closing device (400) for a fuel tank according to claim 3, wherein: the equipment body further comprises a second speed reducer (406), a third synchronizing wheel (407), a fourth synchronizing wheel (408) and a second synchronous belt (409), the output shaft of the servo motor is connected with the second speed reducer (406), the second speed reducer (406) drives the third synchronizing wheel (407) to rotate, the second synchronous belt (409) is sleeved on the outer surface of the third synchronizing wheel (407) and the outer surface of the fourth synchronizing wheel (408), the fourth synchronizing wheel (408) and the third synchronizing wheel (407) are synchronously rotated through the second synchronous belt (409), the sleeve (404) and the fourth synchronizing wheel (408) are installed together, and the sleeve (404) and the fourth synchronizing wheel (408) are synchronously rotated.

5. The inner lid opening and closing device (400) for a fuel tank according to claim 2, wherein: the second driving unit (402) is a third air cylinder, and the third air cylinder is used for driving the pull rod (405) to move.

6. The inner lid opening and closing device (400) for a fuel tank according to claim 5, wherein: the equipment body still connects (410), second cylinder adapter (411) including floating, the third cylinder output shaft with it connects (410) to float to connect, second cylinder adapter (411) one end with it connects (410) to float to connect, second cylinder adapter (411) other end with pull rod (405) link to each other.

7. The inner lid opening and closing device (400) for a fuel tank according to claim 6, wherein: the device body further comprises a bearing (412), and the bearing (412) is sleeved on the outer surface of the sleeve (404).

8. The inner lid opening and closing device (400) for a fuel tank according to claim 4, wherein: the equipment body further comprises a motor seat plate (413), a butt joint plate (414), an adjusting top plate (415), a fixed bottom plate (416) and a cylinder fixing seat (426), the second speed reducer (406) is installed on the motor seat plate (413), the motor seat plate (413) is installed on the cylinder fixing seat (426), the adjusting top plate (415) is installed on the motor seat plate (413), an adjusting screw (428) installed on the adjusting top plate (415) abuts against the butt joint plate (414), and the butt joint plate (414) is connected with the fixed bottom plate (416).

9. The inner lid opening and closing device (400) for a fuel tank according to claim 5, wherein: the device (400) for opening and closing the inner cover of the oil tank further comprises a photoelectric switch (418) and a sensor (419), a light blocking sheet (427) is installed on the outer surface of the sleeve (404), and the photoelectric switch (418) and the light blocking sheet (427) are matched for detecting whether the sleeve (404) is reset to rotate to the original point; the sensor (419) is installed on the third cylinder, and the sensor (419) is used for sensing the state of the output shaft of the third cylinder and detecting whether the output shaft of the third cylinder is in a pushing state or a pulling state.

10. The inner lid opening and closing device (400) for a fuel tank as claimed in claim 8, wherein: the tank inner lid opening and closing device (400) further comprises a housing (425), the apparatus body is mounted in the housing (425), the cartridge (403) protrudes from the housing (425), and the housing (425) is formed by a lid body (420) and a cover plate (421) which are assembled together.

11. The inner lid opening and closing device (400) for a fuel tank according to any one of claims 2 to 10, wherein: the clamping head (403) comprises a clamping head body (4031) and two clamping components, each clamping component comprises a first connecting rod (4032), a second connecting rod (4033), a third connecting rod (4034), a clamping block (4035), a clamping head (4036), a first connecting component (4037), a second connecting component (4038), a third connecting component (4039) and a fourth connecting component (4040), one end of the first connecting rod (4032) is rotatably connected with the pull rod (405), the other end of the first connecting rod (4032) is rotatably connected with the clamping head body (4031) through the first connecting component (4037), one end of the second connecting rod (4033) is connected with the other end of the first connecting rod (4032), and the other end of the second connecting rod (4033) is rotatably connected with the clamping block (4035) through the fourth connecting component (4040), third connecting rod (4034) one end is passed through second connecting part (4038) with chuck body (4031) realizes the rotation and connects, third connecting rod (4034) other end passes through third connecting part (4039) with clamping block (4035) realizes the rotation and connects, first connecting part (4037), second connecting part (4038) third connecting part (4039) fourth connecting part (4040) are the parallelogram and arrange, second connecting rod (4033) with third connecting rod (4034) parallel arrangement, clamping head (4036) with clamping block (4035) are installed together, through the twist grip of two clamping heads (4036) centre gripping car inner oil tank lid (424).

12. The inner lid opening and closing device (400) for a fuel tank as claimed in claim 11, wherein: the clamping head (4036) is movably connected with the clamping block (4035).

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