CN216360397U - Automatic terminal actuating mechanism and intelligent oiling robot refuel - Google Patents

Abstract

The utility model discloses an automatic oiling tail end executing mechanism and an intelligent oiling robot, comprising an oiling cabin, a guide mechanism, a mechanical arm and an oiling tail end executing mechanism; one end of the mechanical arm is connected to the other end of the guide mechanism, and the oiling tail end executing mechanism is fixedly connected with the other end of the guide mechanism and comprises an oil tank cover opening and closing assembly, an oiling assembly and an oiling feeding assembly; the oiling feeding assembly comprises an installation frame arranged at the bottom of the oil tank cap opening and closing assembly, a sliding rail fixed in the installation frame and used for providing a walking route for the oiling assembly, a sliding block in sliding fit on the sliding rail and fixedly connected with the oiling assembly, and a power source fixed in the installation frame and used for providing driving force for the sliding block, so that the oiling assembly and the oil tank cap opening and closing assembly are close to each other and can respectively and independently work; the oiling robot aims to solve the technical problems that the existing oiling robot is complex in structure, low in oiling efficiency and overlarge in production cost due to large oiling errors.

Description

Automatic terminal actuating mechanism and intelligent oiling robot refuel

Technical Field

The utility model relates to the technical field of automatic oiling of automobiles, in particular to an automatic oiling tail end actuating mechanism and an intelligent oiling robot.

Background

At present, with the rapid development of national economy and the continuous improvement of the living standard of people, the automobile holding capacity is increased year by year, and the construction of a gas station matched with the automobile holding capacity is increased year by year; meanwhile, in consideration of cost reduction, the self-service refueling mode is widely popularized in the present gas station, but for the first-time refueling personnel, or old drivers with a large age or weak female drivers, the gun lifting self-service refueling mode is fussy to operate and is forbidden, and the winding of the refueling gun and the oil pipe often prevents the self-service refueling mode from being handed down.

With the progress of science and technology, especially the rapid development of automation and informatization technology, the traditional production mode dominated by human is moving to the intelligent production mode dominated by robot. The development of the robot technology provides a new service mode for a gas station-a refueling robot: the automobile, the oil tank door and the oil tank opening are positioned by using the sensor, and the robot is instructed by the control system to automatically finish oil filling.

However, in the existing robot refueling technology, two mechanical arms are usually required to be arranged, wherein one of the mechanical arms is provided with an oil tank cap opening and closing device for opening an oil tank cap; the other mechanical arm is provided with an oiling device for oiling; the structure of the oiling equipment is complex, the requirement on the matching precision between the mechanical arms is high in the oiling process, and the matching error is easy to occur to cause the failure of oil product filling; and the complex structure can increase the production cost of the oiling robot, thereby limiting the overall popularization and application of the oiling robot.

Disclosure of Invention

The utility model aims to provide an automatic oiling tail end actuating mechanism and an intelligent oiling robot, and aims to solve the technical problems of low oiling efficiency and overhigh production cost caused by complex structure and large oiling error of the existing oiling robot.

In order to solve the technical problems, the utility model adopts the following technical scheme:

an automatic oiling tail end actuating mechanism is designed, and comprises an oil tank cover opening and closing assembly, an oiling assembly and an oiling feeding assembly; refuel and feed the subassembly including set up in the fuel tank cap opens and close the installing frame of subassembly bottom, be fixed in do in the installing frame do refuel the subassembly and provide slide rail, the sliding fit of walking route on the slide rail and with refuel subassembly fixed connection's slider, and fix the installing frame does the slider provides the power supply of drive power, so that refuel the subassembly with the fuel tank cap opens and close on each other the subassembly and can independent work respectively.

Preferably, the tank cap opening and closing assembly includes a tank cap inner cap manipulator and a tank cap outer cap manipulator; the oil tank inner cover manipulator comprises a driving motor, a first finger cylinder, an oil tank inner cover clamping jaw fixedly connected to the first finger cylinder, and a buffer piece arranged between the driving motor and the first finger cylinder; the oil tank outer cover manipulator comprises a push rod and a sucker arranged at the tail end of the push rod.

Preferably, the buffer member includes a connecting plate connected to an output end of the driving motor, a guide post fixed between the connecting plate and the first finger cylinder, and a buffer spring inserted into the guide post.

Preferably, a rubber pad is arranged on the inner side of the clamping jaw, and a groove/protrusion is arranged on the rubber pad and used for increasing the friction force between the clamping jaw and the inner cover of the oil tank.

Preferably, the oiling assembly comprises a bracket fixedly connected with the sliding block, an oiling gun fixed on the bracket, and a second finger cylinder arranged on one side of the oiling gun and connected with an oiling gun deflector rod of the oiling gun; and a piston rod of the second finger cylinder is fixedly connected with an oil gun deflector rod of the oil gun so as to realize the control of the extension of the piston rod of the second finger cylinder on the oil outlet of the oil gun.

The intelligent oiling robot comprises an oiling cabin, wherein the oiling cabin comprises a guide mechanism, a mechanical arm connected with the guide mechanism, an oiling end executing mechanism arranged at the other end of the mechanical arm and a 3D vision mechanism.

Preferably, the guide mechanism comprises a traveling shaft for providing a traveling route for the mechanical arm, a base slidably mounted on the traveling shaft, a mechanical arm connecting column fixedly connected to the base, and a traverse motor mounted at one end of the traveling shaft for providing driving force for the base to move.

Preferably, the mechanical arm is a mechanical arm with a plurality of rotating joints, and a front end rotating shaft is arranged at the front end of the mechanical arm, so that the oiling tail end actuating mechanism can rotate circumferentially.

Preferably, the 3D vision mechanism is fixedly mounted at the top of the refueling tail end executing mechanism and follows the top of the refueling tail end executing mechanism, so as to accurately identify the positions of an outer cover, an inner cover and a fuel tank port of a refueling vehicle fuel tank.

Compared with the prior art, the utility model has the main beneficial technical effects that:

1. according to the utility model, the fuel tank cap opening and closing assembly and the refueling assembly which are separately arranged originally are organically integrated into a whole through the refueling feeding assembly, so that the accumulated error of the matching of each mechanical arm structure system is reduced, the refueling precision and the refueling operation efficiency are improved, and the production cost is also reduced.

2. The guide mechanism arranged on the refueling cabin is matched with the mechanical arm with a plurality of rotary joints, so that the operation radius of the refueling robot is expanded, the operation flexibility of the refueling robot is improved, the problem of strict requirements on the refueling and parking position of an automobile in the conventional refueling robot is solved, and the use satisfaction of a user is improved.

Drawings

Fig. 1 is a schematic structural view of a refueling end actuating mechanism of the utility model.

Fig. 2 is a schematic structural view of the inner lid manipulator of the oil tank.

Fig. 3 is a schematic view of a connection structure of the refueling assembly and the refueling feeding assembly according to the present invention.

Fig. 4 is a schematic view of a connection structure of the refueling assembly and the refueling feeding assembly according to the present invention.

FIG. 5 is a schematic diagram of the overall structure of the intelligent engine oil robot of the present invention.

Fig. 6 is a schematic structural view of the guide mechanism of the present invention.

In the above drawings, 1 is an oil tank cap opening and closing assembly, 11 is a driving motor, 12 is a buffer member, 13 is a first pneumatic finger cylinder, 14 is a clamping jaw, 15 is an electric push rod, 16 is a vacuum chuck, 17 is a connecting plate, 18 is a guide post, 19 is a buffer spring, 2 is an oiling assembly, 21 is a bracket, 22 is an oiling gun, 23 is an oiling gun deflector rod, 24 is a second pneumatic finger cylinder, 3 is an oiling feeding assembly, 31 is a mounting frame, 32 is a sliding rail, 33 is a sliding block, 34 is a third pneumatic finger cylinder, 4 is an oiling cabin, 5 is a guiding mechanism, 51 is a traveling shaft, 52 is a base, 53 is a connecting post, 54 is a traversing motor, 6 is a mechanical arm, and 7 is a 3D vision mechanism.

Detailed Description

The following examples are intended to illustrate the present invention in detail and should not be construed as limiting the scope of the present invention in any way.

In the description of the present invention, it is to be understood that the orientations or positional relationships indicated as referring to the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing technical solutions and simplifying the description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed and operated in specific orientations, and thus, are not to be construed as limiting the present invention; reference herein to "first," "second," etc., is used to distinguish between similar items and not to limit the particular order or sequence.

Example 1: an automatic oiling end actuating mechanism, which is shown in figure 1, comprises an oil tank cover opening and closing assembly 1, an oiling assembly 2 and an oiling feeding assembly 3.

The fuel tank cap opening and closing assembly 1, as shown in fig. 1 to 2, comprises a fuel tank inner cap manipulator and a fuel tank outer cap manipulator; the oil tank inner cover manipulator comprises a driving motor 11 arranged at the tail end of the mechanical arm 6, a buffer part 12 fixedly connected with an output shaft of the driving motor 11, and a first pneumatic finger cylinder 13 arranged at the other end of the buffer part 12; the first pneumatic finger cylinder 13 is provided with a clamping jaw 14 for clamping an inner cover of the oil tank, a rubber pad is arranged on the inner side of the clamping jaw 14 to prevent the clamping jaw 14 from damaging the inner cover of the oil tank in the inward clamping process, and anti-slip grooves which are uniformly distributed are formed in the inner side of the rubber pad, namely the end face which is in contact with the inner cover of the oil tank, so that the friction force between the clamping jaw 14 and the inner cover in the process of opening and closing the inner cover of the oil tank is increased; when the clamping jaws 14 are driven to clamp or loosen the inner cover, compressed air is injected into the first pneumatic finger cylinder 13 through an externally arranged air compressor to enable the clamping jaws 14 fixedly connected to the cylinder to contract inwards to clamp or stop inflating to loosen the clamping jaws 14 fixed on the cylinder; the buffer piece 12 comprises a connecting plate 17 connected with the driving motor 11, a guide post 18 arranged between the connecting plate 17 and the first pneumatic finger cylinder 13, and a buffer spring 19 arranged in the guide post 18 in a penetrating way; when the clamping jaw 14 screws the oil tank inner cover, the first pneumatic finger cylinder 13 can move backwards, all the parts of the oil tank inner cover are rigidly connected, if the relative acting force generated by the backward displacement cannot be eliminated, the connection between the parts is likely to be damaged to a certain extent, and therefore, through the buffer spring 19 arranged in the guide pillar 18, the first pneumatic finger cylinder 13 can move repeatedly within a certain elastic range when moving backwards, and the damage of the relative acting force to the oil tank cover opening and closing assembly 1 is eliminated.

The oil tank outer cover manipulator comprises an electric push rod 15 arranged on the shell of the oil tank cover opening and closing assembly 1 and a vacuum sucker 16 arranged at the tail end of the electric push rod 15; the electric push rod 15 is outwards pushed out when the outer cover of the oil tank is opened, the vacuum suction cup 16 is in contact with the outer cover of the oil tank, then air in the vacuum suction cup 16 is discharged through an air compressor arranged outside, zero air pressure is changed into negative air pressure, the vacuum suction cup 16 is tightly connected with the outer cover of the oil tank, the electric push rod 15 is inwards contracted to drive the vacuum suction cup 16 to open the outer cover of the oil tank, then air is injected into the vacuum suction cup 16 through the air compressor, the negative air pressure is changed into zero air pressure, and the vacuum suction cup 16 is separated from the outer cover of the oil tank.

The refueling assembly 2, referring to fig. 3 to 4, comprises a bracket 21, a refueling gun 22 mounted on the bracket 21, and a second pneumatic finger cylinder 24 mounted on one side of the refueling gun 22 and connected with a gun shift lever 23 of the refueling gun 22 for controlling oil discharge of the refueling gun 22; the piston rod of the second pneumatic finger cylinder 24 is fixedly connected with the oil gun deflector rod 23 of the oil gun 22, the second pneumatic finger cylinder 24 is communicated with an air compressor, and air is filled into the second pneumatic finger cylinder 24 through the air compressor so that the piston rod drives the oil gun deflector rod 23 of the oil gun 22 to realize automatic control of oil outlet of the oil gun 22.

The refueling feeding assembly 3, as shown in fig. 3 to 4, is disposed between the fuel tank cap opening and closing assembly 1 and the refueling assembly 2, and is used for organically integrating the refueling assembly 2 onto the fuel tank cap opening and closing assembly 1, so that the problem that an original refueling robot needs to use two or more mechanical arms 6 in cooperation with each other to meet a refueling function is solved, the production cost is saved, errors accumulated among systems are reduced, and the refueling accuracy is further improved; refuel and feed subassembly 3 including set up in the fuel tank cap opens and close the installing frame 31 of subassembly 1 shell bottom, install be used for providing the slide rail 32 of feeding route for refueling subassembly 2 in the installing frame 31, sliding fit in the slide rail 32 and with refuel subassembly 2 support 21 fixed connection's slider 33, set up on the installing frame 31 with slider 33 fixed connection's third pneumatic finger cylinder 34, the flexible end of third pneumatic finger cylinder 34 in slider 33 fixed connection, the air compressor through the outside setting is third pneumatic finger cylinder 34 and pours into compressed air into, makes the piston rod of cylinder drive slider 33 again move on the slide rail 32, further drives the nozzle subassembly 2 of being connected with slider 33, realizes nozzle 22 feed motion.

Example 2: an intelligent oiling robot, see fig. 5 to 6, comprises an oiling cabin 4, a guide mechanism 5 arranged on the oiling cabin 4, a mechanical arm 6 fixedly connected with the guide mechanism 5, an oiling end actuating mechanism arranged at the other end of the mechanical arm 6, and a 3D vision mechanism 7 arranged on the oiling end actuating mechanism.

The guide mechanism 5, referring to fig. 6, includes a traveling shaft 51 providing a traveling path for the robot arm 6, a base 52 slidably mounted on the traveling shaft 51, a connecting column 53 fixedly connected to the base 52, and a traverse motor 54 providing a driving force for the base 52; when the refueling system receives a refueling signal, the traversing motor 54 drives the connecting column 53 arranged on the base 52 to move, and further the mechanical arm 6 connected to the connecting column 53 moves.

The top of the mechanical arm 6 is mounted on a connecting column 53 in the guide mechanism 5 and is fixedly connected with the connecting column, and the bottom of the mechanical arm 6 is provided with an oiling tail end actuating mechanism; the mechanical arm 6 is composed of a plurality of mechanical arms with rotary joints, a rotary shaft is arranged at one joint at the tail end, an oil filling end executing mechanism connected with the mechanical arm can integrally rotate, and the position of each joint on the mechanical arm 6 can be adjusted, so that an oil filling gun 22 arranged on the mechanical arm 6 can be accurately aligned to an oil filling box opening of an automobile in an oil filling process.

The 3D vision mechanism 7 is fixedly arranged at the top of the oiling tail end executing mechanism and follows the oiling tail end executing mechanism, so that the improvement of the vision identification precision is facilitated; the method is divided into the following steps according to a technical route: binocular vision (binocular laser structured light, binocular grating structured light); monocular vision (monocular laser structured light, monocular grating structured light); pure binocular vision.

The operation and use method of the intelligent oiling robot comprises the following steps: installing a vehicle entering guide system at an entrance of a gas station, wherein the system can identify the vehicle type, judge whether a fuel filling port of an automobile of the vehicle type is on the right side or on the left side, and accordingly conduct shunting guide on the vehicle; after a driver stops the automobile, the 3D vision mechanism judges the parking distance and angle, the judgment result is transmitted to a control system of the oiling robot, and the control system adjusts the position of the guide mechanism, so that an oiling tail end execution mechanism arranged at the tail end of the mechanical arm can be accurately positioned at the position of an automobile oil tank port; after the 3D vision mechanism is close to the oil tank opening, the information of the identified outer cover of the oil tank is continuously fed back to the oiling robot control system, and the control system enables the outer cover of the oil tank to be opened by controlling the electric push rod and the vacuum chuck arranged at the tail end of the electric push rod; the 3D vision mechanism further identifies shape and position information of the inner cover of the oil tank and feeds the shape and position information back to the control system of the oiling robot, the control system clamps the inner cover of the oil tank by controlling the clamping jaws, and the driving motor rotates to drive the clamping jaws on the first pneumatic finger cylinder to screw the inner cover of the oil tank until the inner cover of the oil tank is completely opened; the 3D vision mechanism identifies the position information of the oil tank opening and feeds the position information back to a control system of the oiling robot, the control system controls the oiling assembly to move on a slide rail of the oiling feeding assembly until the oiling assembly moves to the position close to the oil tank opening, the oiling gun extends into the oil tank opening, and the second pneumatic finger cylinder drives the oiling robbing deflector rod to carry out oil product filling; after oil filling is finished, the refueling gun is recovered and reset, and the refueling assembly is reset through the refueling feeding assembly; clamping an oil tank inner cover by a clamping jaw of the oil tank cover opening and closing assembly, and resetting the oil tank inner cover through a driving motor; the oil tank cover is opened and close the electric putter of subassembly and the terminal vacuum chuck of electric putter and is closed the oil tank enclosing cover, and tanker aircraft robot control system control arm resets through guiding mechanism, and to this point, a petrol filling process finishes.

While the utility model has been described in detail with reference to the drawings and examples, it will be understood by those skilled in the art that various changes in the details of the embodiments and various changes in the details of construction and materials may be made therein without departing from the spirit of the utility model and without departing from the scope of the utility model.

Claims (9)

1. An automatic oiling tail end actuating mechanism is characterized by comprising an oil tank cover opening and closing assembly, an oiling assembly and an oiling feeding assembly; refuel and feed the subassembly including set up in the fuel tank cap opens and close the installing frame of subassembly bottom, be fixed in do in the installing frame do refuel the subassembly and provide slide rail, the sliding fit of walking route on the slide rail and with refuel subassembly fixed connection's slider, and fix do on the installing frame the slider provides the power supply of drive power, so that refuel the subassembly with the fuel tank cap opens and close on the subassembly each other and can independent work respectively.

2. The automated refueling end effector assembly of claim 1 wherein the tank cap opening and closing assembly includes a tank cap inner cap manipulator and a tank cap outer cap manipulator; the oil tank inner cover manipulator comprises a driving motor, a first finger cylinder, an oil tank inner cover clamping jaw fixedly connected to the first finger cylinder, and a buffer piece arranged between the driving motor and the first finger cylinder; the oil tank outer cover manipulator comprises a push rod and a sucker arranged at the tail end of the push rod.

3. The automatic oiling end effector of claim 2 wherein the buffer comprises a connection plate connected to the output of the drive motor, a guide post fixed between the connection plate and the first finger cylinder, and a buffer spring inserted through the guide post.

4. The automatic oiling end actuator of claim 2 wherein a rubber pad is provided inside the clamping jaw, and a groove/protrusion is provided on the rubber pad to increase the friction between the clamping jaw and the inner lid of the oil tank.

5. The automatic oiling end actuator of claim 1, wherein the oiling assembly comprises a bracket fixedly connected with the slider, an oiling gun fixed on the bracket, and a second finger cylinder arranged at one side of the oiling gun and connected with an oiling gun deflector rod of the oiling gun; and a piston rod of the second finger cylinder is fixedly connected with an oil gun deflector rod of the oil gun, so that the piston rod of the second finger cylinder stretches and retracts to control oil outlet of the oil gun.

6. An intelligent oiling robot comprises an oiling cabin and is characterized in that the oiling cabin comprises a guide mechanism, a mechanical arm connected with the guide mechanism, an oiling end executing mechanism arranged at the other end of the mechanical arm and used for being as claimed in claim 1, and a 3D vision mechanism.

7. The intelligent oiling robot of claim 6, wherein the guiding mechanism comprises a walking shaft providing a walking route for the mechanical arm, a base slidably mounted on the walking shaft, a mechanical arm connecting column fixedly connected to the base, and a traverse motor mounted at one end of the walking shaft for providing driving force for the base to move.

8. The intelligent oiling robot of claim 6, wherein the mechanical arm is a mechanical arm with a plurality of rotating joints, and the front end of the mechanical arm is provided with a front end rotating shaft so that the oiling end actuating mechanism can rotate circumferentially.

9. The intelligent fueling robot of claim 6, wherein the 3D vision mechanism is fixedly mounted on top of the fueling end actuator, and follows the fueling end actuator for accurately identifying the location of the refueling vehicle tank cover, cover and port.

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