CN216808121U - Right-angle uncapping robot for double-arm filling - Google Patents

Abstract

The utility model discloses a right-angle cover opening robot for double-arm filling, which comprises a mechanical arm, a cover opening fixing ring, a connecting plate, an outer cover opening executing mechanism and an inner cover opening executing mechanism, wherein the inner cover opening executing mechanism is arranged on a fixed base at the tail end of the mechanical arm through the cover opening fixing ring, the central axis of the inner cover opening executing mechanism is superposed with the central axis of the cover opening fixing ring, the connecting plate is fixedly arranged on the side edge of the cover opening fixing ring, the outer cover opening executing mechanism is fixedly connected with the connecting plate through a connecting rod, and the central axis of the outer cover opening executing mechanism is mutually vertical to the central axis of the cover opening fixing ring. According to the utility model, the inner cover opening actuating mechanism and the outer cover opening actuating mechanism are simultaneously arranged on the same mechanical arm, so that the robot structure is simplified, the occupied space of the mechanical arm is reduced, and the relocation of a plurality of mechanical arms is not required, thereby improving the filling efficiency.

Description

Right-angle uncapping robot for double-arm filling

Technical Field

The utility model relates to the field of robot filling, in particular to a right-angle cover opening robot for double-arm filling.

Background

Conventional filling robots typically have a mechanical arm that controls an actuator (inner lid open, outer lid open, or filling actuator). Therefore, if full-automatic filling is required, a plurality of mechanical arms are required to be arranged on one filling machine. Even if a plurality of actuators are provided on one main arm of the machine, the actuators need to be separately controlled by being branched and mounted on the main arm of the machine by a plurality of robot arms. The mechanical arm of the traditional filling robot occupies a large amount of space, so that the space utilization rate is low, the running of vehicles is easily hindered, and the scratch is caused.

In addition, based on the existing filling robot structure, after the filling robot executes an operation each time, another mechanical arm needs to be controlled to perform position searching and positioning again, and the filling efficiency is seriously influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a right-angle cover opening robot for double-arm type filling.

The utility model mainly adopts the technical scheme that:

the utility model provides a right angle robot that uncaps for two arm-types filling, opens actuating mechanism and inner cup including arm, the solid fixed ring that uncaps, connecting plate, enclosing cover and opens actuating mechanism, the inner cup is opened actuating mechanism and is installed through solid fixed ring that uncaps on the terminal unable adjustment base of arm, just actuating mechanism's the central axis and the solid fixed ring's that uncaps the central axis coincidence are opened to the inner cup, connecting plate fixed mounting is in solid fixed ring's the side uncaps, the enclosing cover open actuating mechanism pass through the connecting rod with connecting plate fixed connection, just actuating mechanism's the central axis and the solid fixed ring's the central axis mutually perpendicular that uncaps are opened to the enclosing cover.

Preferably, actuating mechanism is opened to the enclosing cover includes solid fixed ring, elastic connecting piece and vacuum chuck, solid fixed ring and vacuum chuck are connected respectively at elastic connecting piece's both ends, gu fixed ring installs on the connecting rod.

Preferably, actuating mechanism is opened to enclosing cover still includes buffer, buffer includes ejector pin fixed bolster, buffering deflector, buffering uide bushing and buffering axle, ejector pin fixed bolster one end is installed on the connecting rod, the other end with buffering deflector fixed connection, the buffering uide bushing sets up in buffering deflector center department, the buffering axle passes the buffering uide bushing and the spacing installation of buffering deflector, the top of buffering uide bushing is equipped with the spring, and is located between buffering axle and the buffering uide bushing top.

Preferably, the inner cover opening actuating mechanism comprises a sliding ring, a rotary connecting seat, a rotating shaft and a pneumatic clamping jaw mechanism, the sliding ring is fixedly mounted on the cover opening fixing ring, the rotary output end of the sliding ring is fixedly connected with the rotary connecting seat, one end of the rotating shaft is fixed on the rotary connecting seat, and the other end of the rotating shaft is connected with the pneumatic clamping mechanism.

Preferably, the cylinder of the pneumatic clamping jaw mechanism is fixedly installed on the rotary connecting seat and is located in the cavity of the rotating shaft, and the output end of the cylinder penetrates through the rotating shaft to be in driving connection with the clamping jaw mechanism.

Has the beneficial effects that: the utility model provides a right-angle uncapping robot for double-arm filling, which has the following advantages compared with the prior art:

(1) according to the utility model, the inner cover opening actuating mechanism and the outer cover opening actuating mechanism are simultaneously arranged on the same mechanical arm, so that the structure of the robot is simplified, the occupied space of the mechanical arm is reduced, and the relocation of a plurality of mechanical arms is not required, thereby improving the filling efficiency;

(2) the top end of the buffer shaft slightly exceeds the adsorption surface of the vacuum chuck, so that the buffer effect is achieved, and the vacuum chuck is prevented from directly colliding and contacting with the oil tank cover;

(3) the full-automatic double-arm type filling machine is matched with another mechanical arm provided with a filling execution mechanism to be used, and full-automatic double-arm type filling can be realized.

Drawings

FIG. 1 is a schematic view of the overall structure of example 1 (with the robot arm omitted);

FIG. 2 is a schematic view showing the structure of an outer cover opening actuator in embodiment 1;

FIG. 3 is a schematic view showing a structure of a buffer device according to embodiment 1;

FIG. 4 is a schematic view showing the structure of an inner lid opening actuator in embodiment 1;

in the figure: the device comprises a cover opening fixing ring 1, a connecting plate 2, an outer cover opening actuating mechanism 3, a connecting rod 3-1, a fixing ring 3-2, an elastic connecting piece 3-3, a vacuum chuck 3-4, a buffer device 3-5, a mandril fixing support 3-51, a buffer guide plate 3-52, a buffer guide sleeve 3-53, a buffer shaft 3-54, a spring 3-55, an inner cover opening actuating mechanism 4, a sliding ring 4-1, a rotary connecting seat 4-2, a rotary shaft 4-3, a pneumatic clamping jaw mechanism 4-4, a cylinder 4-41, a clamping jaw mechanism 4-42 and a fixing base 5.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. The following description of the embodiments is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and are not to be construed as limiting the present invention.

Example 1

As shown in fig. 1-4, a right angle robot that uncaps for two arm formula is annotated, includes that arm, fixed ring 1, connecting plate 2, enclosing cover open actuating mechanism 3 and inner cup open actuating mechanism 4, inner cup open actuating mechanism 3 is installed through fixed ring 1 uncaps on the terminal unable adjustment base 5 of arm, just actuating mechanism 3 is opened to the inner cup the central axis with uncap fixed ring 1's the central axis coincidence, connecting plate 2 fixed mounting in uncap fixed ring 1's side, enclosing cover open actuating mechanism 3 through connecting rod 3-1 with connecting plate 2 fixed connection, just actuating mechanism 3 is opened to the enclosing cover the central axis and uncap fixed ring 1's the central axis mutually perpendicular.

The outer cover opening executing mechanism 3 comprises a fixing ring 3-2, an elastic connecting piece 3-3, a vacuum chuck 3-4 and a buffer device 3-5, wherein two ends of the elastic connecting piece 3-3 are respectively connected with the fixing ring 3-2 and the vacuum chuck 3-3, and the fixing ring 3-2 is arranged on a connecting rod 3-1; the buffer device 3-5 comprises an ejector rod fixing support 3-51, a buffer guide plate 3-52, a buffer guide sleeve 3-53 and a buffer shaft 3-54, one end of the ejector rod fixing support 3-51 is mounted on the connecting rod 3-1, the other end of the ejector rod fixing support 3-51 is fixedly connected with the buffer guide plate 3-52, the buffer guide sleeve 3-53 is arranged at the center of the buffer guide plate 3-52, the buffer shaft 3-54 penetrates through the buffer guide sleeve 3-53 and is mounted with the buffer guide plate 3-52 in a limiting mode, and a spring 3-55 is arranged at the top end of the buffer guide sleeve 3-53 and is located between the buffer shaft 3-54 and the top end of the buffer guide sleeve 3-53.

The inner cover opening actuating mechanism 4 comprises a slip ring 4-1, a rotary connecting seat 4-2, a rotary shaft 4-3 and a pneumatic clamping jaw mechanism 4-4, the slip ring 4-1 is fixedly arranged on the cover opening fixing ring 1, and the rotary output end of the slip ring 4-1 is fixedly connected with the rotary connecting seat 4-2, one end of the rotating shaft 4-3 is fixed on the rotating connecting seat 4-2, the other end is connected with the pneumatic clamping mechanism 4-4, the air cylinder 4-41 of the pneumatic clamping jaw mechanism 4-4 is fixedly arranged on the rotary connecting seat 4-2, and is positioned in the cavity of the rotating shaft 4-3, and the output end of the air cylinder 4-41 passes through the rotating shaft 4-3 to be connected with the clamping jaw mechanism 4-42 in a driving way.

In the utility model, the specific control connection of the mechanical arm, the inner cover opening actuating mechanism and the outer cover opening actuating mechanism is designed by the technical personnel in the field according to the actual situation, belongs to the conventional technology and is not detailed.

In the utility model, the mechanical arm consists of a plurality of joints, and the position conversion of the inner cover opening actuating mechanism and the outer cover opening actuating mechanism can be realized through the joints of the mechanical arm.

The working principle of the utility model is as follows:

when the vehicle enters the filling area, the system controls the mechanical arm to adjust the position, drives the outer cover opening executing mechanism 3 to rotate to the outer cover of the oil tank, controls the vacuum chuck 3-4 to adsorb the outer cover of the oil tank, controls the vacuum chuck 3-4 to move backwards through the mechanical arm, and then controls the vacuum chuck 3-4 to stop adsorbing the outer cover of the oil tank, so that the opening of the outer cover of the oil tank is completed. And then controlling a mechanical arm to adjust the position of the outer cover opening executing mechanism 3, so that the inner cover opening executing mechanism 4 is driven to reach the corresponding position of the inner cover of the oil tank, controlling cylinders 4-41 of the inner cover opening executing mechanism 4 to drive clamping jaw mechanisms 4-42 to clamp the inner cover of the oil tank, and then controlling a sliding ring to drive a pneumatic clamping jaw mechanism 4-4 to rotate, so that the inner cover of the oil tank is unscrewed, and opening of the inner cover of the oil tank is completed.

The right-angle cover opening robot can be used for cover opening operation in the fields of fuel oil filling, urea liquid filling, CNG (compressed natural gas), LNG (liquefied natural gas), hydrogen energy sources, charging and the like. The design can be carried out by those skilled in the art according to the practical application field.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (5)

1. The utility model provides a right angle robot that uncaps for two arm-types fill, its characterized in that, opens actuating mechanism and inner cup and open actuating mechanism including arm, the solid fixed ring that uncaps, connecting plate, enclosing cover, the inner cup is opened actuating mechanism and is installed through the solid fixed ring that uncaps on the terminal unable adjustment base of arm, just actuating mechanism's the central axis is opened to the inner cup coincides with the solid fixed ring's of uncapping the central axis, connecting plate fixed mounting be in the solid fixed ring's of uncapping side, the enclosing cover open actuating mechanism pass through the connecting rod with connecting plate fixed connection, just actuating mechanism's the central axis and the solid fixed ring's of uncapping the central axis mutually perpendicular are opened to the enclosing cover.

2. The right-angle lid release robot for dual-arm filling according to claim 1, wherein the outer lid opening actuator comprises a fixing ring, an elastic connecting member, and a vacuum chuck, both ends of the elastic connecting member are respectively connected to the fixing ring and the vacuum chuck, and the fixing ring is mounted on a connecting rod.

3. The right-angle cap-opening robot for double-arm filling according to claim 2, wherein the outer cap opening actuator further comprises a buffer device, the buffer device comprises a push rod fixing bracket, a buffer guide plate, a buffer guide sleeve and a buffer shaft, one end of the push rod fixing bracket is mounted on the connecting rod, the other end of the push rod fixing bracket is fixedly connected with the buffer guide plate, the buffer guide sleeve is arranged at the center of the buffer guide plate, the buffer shaft passes through the buffer guide sleeve and is in limit mounting with the buffer guide plate, and the top end of the buffer guide sleeve is provided with a spring and is located between the buffer shaft and the top end of the buffer guide sleeve.

4. The right-angle lid opening robot for dual-arm filling according to claim 3, wherein the inner lid opening actuator comprises a slip ring, a rotary connecting seat, a rotary shaft and a pneumatic gripper mechanism, the slip ring is fixedly mounted on the lid-opening fixing ring, a rotary output end of the slip ring is fixedly connected with the rotary connecting seat, one end of the rotary shaft is fixed on the rotary connecting seat, and the other end of the rotary shaft is connected with the pneumatic clamping mechanism.

5. The right angle door robot for dual arm filling of claim 4 wherein the air cylinder of the pneumatic gripper mechanism is fixedly mounted on the rotating connection base and located within the cavity of the rotating shaft, the output end of the air cylinder passing through the rotating shaft and drivingly connected to the gripper mechanism.

Images