CN217676804U - Adjustable hand-eye integrated uncovering robot - Google Patents

Abstract

The utility model discloses an integrative robot that uncaps of hand eye with adjustable, including the arm, the sliding ring, the solid fixed ring of flange, actuating mechanism is opened to the enclosing cover, actuating mechanism and camera are opened to the inner cup, solid fixed ring of flange and arm end-to-end connection are passed through to sliding ring one end, the camera is through adjusting the support mounting on solid fixed ring of flange, actuating mechanism is opened to the inner cup and is connected through the rotatory output end of sliding ring flange with the sliding ring, actuating mechanism's the central axis and the coincidence of the central axis of sliding ring flange are opened to the inner cup, the enclosing cover is opened actuating mechanism and is passed through the fixed bolster and install in the sliding ring side, and the enclosing cover opens actuating mechanism's the central axis and is parallel to each other with the central axis of sliding ring. The utility model discloses can adjust the angle of camera according to the practical application scene, reduce the influence that the highlight caused to image acquisition, open actuating mechanism, enclosing cover with the inner cup simultaneously and open actuating mechanism and camera and install on same arm, reduce arm occupation space, need not to carry out the relocation of many arms.

Description

Adjustable hand-eye integrated cover opening robot

Technical Field

The utility model relates to a robot filling field specifically is an integrative robot that uncaps of hand eye with adjustable.

Background

Conventional filling robots typically have a mechanical arm that controls an actuator (inner lid open, outer lid open or refueling actuator). Therefore, if full-automatic oiling needs to be realized, a plurality of mechanical arms need to be arranged on one oiling 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 oiling robot occupies a large amount of space, so that the space utilization rate is low, the running of a vehicle is easily hindered, and the scratch is caused.

In addition, the angle of a camera used for collecting images of the existing integrated filling robot is generally fixed and cannot be adjusted according to actual lighting. However, the strong light has a large influence on the acquisition of the image of the filling robot, which easily causes the filling robot to find and position inaccurately, and seriously affects the oil filling efficiency.

SUMMERY OF THE UTILITY MODEL

In order to solve current technical problem, the utility model provides an integrative robot that uncaps of hand eye with adjustable, can adjust the angle of camera according to practical application scene, reduce the influence that the highlight caused image acquisition, open actuating mechanism with the inner cup simultaneously, the enclosing cover is opened actuating mechanism and is installed on same arm with the camera, the arm occupation space has been reduced, need not to carry out the relocation of many arms, cooperate another arm that is provided with the filling actuating mechanism to use, can realize full-automatic double-arm formula and refuel.

The utility model discloses the technical scheme who mainly adopts among does:

the utility model provides an integrative robot that uncaps of hand eye with adjustable, includes arm, sliding ring, the solid fixed ring of flange, enclosing cover opening actuating mechanism, inner cup and opens actuating mechanism and camera, sliding ring one end pass through the solid fixed ring of flange with arm end-to-end connection, the camera is in through adjusting the support mounting flange solid fixed ring is last, the inner cup open actuating mechanism pass through the sliding ring flange with the rotatory output of sliding ring is connected, actuating mechanism's the central axis and the coincidence of the central axis of sliding ring flange are opened to the inner cup, the enclosing cover is opened actuating mechanism and is passed through the fixed bolster and install in the sliding ring side, just actuating mechanism's the central axis and the central axis of sliding ring are parallel to each other are opened to the enclosing cover.

Preferably, the adjusting bracket comprises an annular frame and a connecting plate, the connecting plate is fixedly mounted on the annular frame and perpendicular to the annular surface of the annular frame, the camera is fixedly mounted on the connecting plate, a plurality of positioning pin holes are formed in the annular frame along the circumferential direction, and the positioning pin holes are matched with pin holes in the flange fixing ring through cylindrical pins and used for adjusting the angle of the camera in a matching mode.

Preferably, the annular frame is also provided with an arc-shaped groove along the circumferential direction and used for penetrating through the cylinder fixing support.

Preferably, the angle adjustment range of the camera is 0-90 °.

Preferably, the angular adjustment interval of the camera is 15 °.

Preferably, actuating mechanism is opened to the enclosing cover includes telescopic cylinder, elastic buffer connecting piece and vacuum chuck, telescopic cylinder's flexible end passes through elastic buffer connecting piece and connects vacuum chuck, telescopic cylinder passes through cylinder fixed bolster fixed mounting and is in on the flange fixed ring, and be located in the arc wall.

Preferably, the inner cover opening actuator comprises a pneumatic clamping jaw mechanism, and the pneumatic clamping jaw mechanism is fixedly mounted on the sliding ring flange.

Has the advantages that: the utility model provides an integrative robot that uncaps of hand eye with adjustable, compared with the prior art, have following advantage:

(1) The utility model can adjust the angle of the camera through the adjusting bracket, and avoid the direct irradiation of strong light to influence the image acquisition of the camera;

(2) The utility model discloses in install camera, inner cup opening actuating mechanism and enclosing cover opening actuating mechanism on same arm simultaneously, not only simplified the robot structure, reduced the arm occupation space, and need not to carry out the relocation of many arms moreover to improve refuelling efficiency;

(3) The utility model discloses another arm that is provided with the actuating mechanism that refuels of cooperation uses, can realize full-automatic two arm-type refuels.

Drawings

FIG. 1 is a schematic view 1 of the overall structure of embodiment 1;

FIG. 2 is a schematic view 2 of the overall structure of embodiment 1;

FIG. 3 is a schematic view showing the structure of an adjusting bracket according to embodiment 1;

in the figure: the device comprises a mechanical arm 1, a sliding ring 2, a flange fixing ring 3, a pin hole 3-1, an outer cover opening actuating mechanism 4, a telescopic cylinder 4-1, an elastic buffer connecting piece 4-2, a vacuum chuck 4-3, an inner cover opening actuating mechanism 5, a pneumatic clamping jaw mechanism 5-1, an image head 6, an adjusting support 7, an annular frame 7-1, a connecting plate 7-2, a positioning pin hole 7-3, a cylindrical pin 7-4, an arc-shaped groove 7-5, a sliding ring flange 8, a fixing support 9 and a cylinder fixing support 10.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in 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 invention, 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 indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.

Example 1

As shown in fig. 1-3, an adjustable hand-eye integrated cover opening robot comprises a mechanical arm 1, a slip ring 2, a flange fixing ring 3, an outer cover opening actuator 4, an inner cover opening actuator 5 and a camera 6, wherein one end of the slip ring 2 is connected with the tail end of the mechanical arm 1 through the flange fixing ring 3;

the camera 6 is installed on the flange fixing ring 3 through an adjusting support 7, the adjusting support 7 comprises an annular frame 7-1 and a connecting plate 7-2, the connecting plate 7-2 is fixedly installed on the annular frame 7-1 and is perpendicular to the annular surface of the annular frame 7-1, the camera 6 is fixedly installed on the connecting plate 7-2, a plurality of positioning pin holes 7-3 are formed in the annular frame 7-1 along the circumferential direction, the positioning pin holes 7-3 are installed with pin holes 3-1 in the flange fixing ring 3 through cylindrical pins 7-4 in a matched mode and used for adjusting the angle of the camera 6 in a matched mode, an arc-shaped groove 7-5 is further formed in the annular frame 7-1 along the circumferential direction and used for penetrating through the cylinder fixing support 10, the angle adjusting range of the camera 6 is 0-90 degrees, and the angle adjusting interval is 15 degrees.

The inner cover opening actuating mechanism 5 is connected with the rotary output end of the sliding ring 2 through a sliding ring flange 8, the central axis of the inner cover opening actuating mechanism 5 is overlapped with the central axis of the sliding ring flange 8, the inner cover opening actuating mechanism 5 comprises a pneumatic clamping jaw mechanism 5-1, and the pneumatic clamping jaw mechanism 5-1 is fixedly installed on the sliding ring flange 8;

the outer cover opening executing mechanism 4 is arranged on the side surface of the sliding ring 2 through a fixing support 9, and the central axis of the outer cover opening executing mechanism 4 is parallel to the central axis of the sliding ring 2.

The outer cover opening executing mechanism 4 comprises a telescopic cylinder 4-1, an elastic buffering connecting piece 4-2 and a vacuum chuck 4-3, the telescopic end of the telescopic cylinder 4-1 is connected with the vacuum chuck 4-3 through the elastic buffering connecting piece 4-2, and the telescopic cylinder 4-1 is fixedly installed on the flange fixing ring 3 through a cylinder fixing support 10 and is located in the arc-shaped groove 7-5.

The utility model discloses in, the concrete control connection that actuating mechanism and enclosing cover opened actuating mechanism was opened to arm, inner cup is designed according to actual conditions by the technical personnel in this field, belongs to conventional technology, so do not add the detail.

The utility model discloses in, the arm comprises a plurality of joints, and the joint of accessible arm realizes that the inner cup opens actuating mechanism and the position conversion that actuating mechanism was opened to the enclosing cover.

The working principle of the utility model is as follows:

according to an actual application scene, the cylindrical pin 7-4 is firstly loosened, and the adjusting bracket 7-1 is rotated, so that the camera 6 avoids strong light. After aligning the positioning pin hole 7-3 on the adjusting bracket 7-1 with the pin hole 3-1 on the flange fixing ring 3, the cylindrical pin 7-4 is used for limiting, and then the positioning of the camera 6 is completed.

And then after the vehicle drives into the fuel filling area, the mechanical arm 1 is controlled by the system to adjust the position, the outer cover opening actuating mechanism 4 is driven to rotate to the outer cover of the fuel tank, the vacuum chuck 4-3 is controlled to adsorb the outer cover of the fuel tank, the vacuum chuck 3-4 is controlled to move backwards through the telescopic cylinder 4-1, and then the vacuum chuck 3-4 is controlled to stop adsorbing the outer cover of the fuel tank, so that the outer cover of the fuel tank is opened. And then, the mechanical arm 1 is controlled to adjust the position of the outer cover opening executing mechanism 3, so that the inner cover opening executing mechanism 5 is driven to reach the corresponding position of the inner cover of the oil tank, the pneumatic clamping jaw mechanism 5-1 of the inner cover opening executing mechanism 5 is controlled to clamp the inner cover of the oil tank, and then the sliding ring 2 is controlled to drive the pneumatic clamping jaw mechanism 5-1 to rotate, so that the inner cover of the oil tank is unscrewed, and the opening of the inner cover of the oil tank is completed.

It will be evident to those skilled in the art that the invention 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 invention 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 (7)

1. The utility model provides an integrative robot that uncaps of hand eye with adjustable, its characterized in that, opens actuating mechanism, inner cup and opens actuating mechanism and camera including arm, sliding ring, flange fixed ring, enclosing cover, sliding ring one end pass through flange fixed ring with arm end-to-end connection, the camera is installed through adjusting the support on the flange fixed ring, the actuating mechanism is opened to the inner cup pass through the sliding ring flange with the rotatory output of sliding ring is connected, the actuating mechanism is opened to the inner cup the central axis of central axis and the coincidence of sliding ring flange, the actuating mechanism is opened to the enclosing cover passes through the fixed bolster and installs in the sliding ring side, just the central axis that actuating mechanism was opened to the enclosing cover is parallel to each other with the central axis of sliding ring.

2. The adjustable hand-eye integrated cover opening robot as claimed in claim 1, wherein the adjusting bracket comprises an annular frame and a connecting plate, the connecting plate is fixedly mounted on the annular frame and perpendicular to an annular surface of the annular frame, the camera is fixedly mounted on the connecting plate, a plurality of positioning pin holes are circumferentially formed in the annular frame, and the positioning pin holes are matched with pin holes in the flange fixing ring through cylindrical pins and used for matching and adjusting the angle of the camera.

3. The adjustable hand-eye integrated uncovering robot as claimed in claim 2, wherein the annular frame is further provided with an arc-shaped groove along the circumferential direction for passing through the cylinder fixing support.

4. The adjustable hand-eye integrated lid-opening robot as claimed in claim 2, wherein the angle adjustment range of the camera is 0-90 °.

5. The adjustable hand-eye integrated door-opening robot as claimed in claim 1, wherein the angle adjustment interval of the cameras is 15 °.

6. The adjustable hand-eye integrated uncovering robot as claimed in claim 3, wherein the outer cover opening actuator comprises a telescopic cylinder, an elastic buffer connecting piece and a vacuum chuck, a telescopic end of the telescopic cylinder is connected with the vacuum chuck through the elastic buffer connecting piece, and the telescopic cylinder is fixedly mounted on the flange fixing ring through a cylinder fixing support and is located in the arc-shaped groove.

7. The adjustable hand-eye integrated cover opening robot as claimed in claim 1, wherein the inner cover opening actuator comprises a pneumatic clamping jaw mechanism, and the pneumatic clamping jaw mechanism is fixedly mounted on a slip ring flange.

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