CN218837792U - Be used for automatic oiling robot nozzle to grab and hold and operating mechanism - Google Patents

Abstract

The utility model relates to a fuel gun grasping and controlling mechanism for an automatic fuel filling robot, which comprises a fuel gun clamping mechanism, a first driver used for connecting and driving the fuel gun clamping mechanism to loosen and clamp through a transmission structure, a pulling mechanism used for pulling a trigger of a fuel gun to fill fuel and two fuel gun hoops matched with the fuel gun clamping mechanism; the two oil gun hoops are fixedly connected to the oil gun, and the oil gun clamping mechanism realizes the loosening and clamping of the oil gun by loosening and clamping the two oil gun hoops; the pulling mechanism is arranged on the transmission structure and is positioned on a different plane from the oil gun clamping mechanism so as to respectively clamp and release the oil gun and pull the trigger; the pulling mechanism is movably connected with the oil gun clamping mechanism. This application can with the centre gripping with loosen the nozzle and pull the function of the trigger of nozzle and separately operate to the realization is operated a plurality of nozzles, has improved refueling efficiency.

Description

Be used for automatic oiling robot nozzle to grab and hold and operating mechanism

Technical Field

The utility model relates to an automatic oiling technical field, concretely relates to be used for automatic oiling robot nozzle to grab and hold and operating mechanism.

Background

The existing oiling clamping jaw structure of the automatic oiling technology is mainly divided into two types: firstly, a refueling gun and a clamping jaw cannot be separated, the refueling gun is fixed on the clamping jaw to refuel a vehicle, and the structural form is that one mechanical arm (or power source) can only correspond to one refueling gun, and because 2-3 oil products are usually produced on one refueling machine and correspond to 2-3 refueling guns, the utilization rate of the mechanical arm is low due to the one-to-one mode; the second type is that the clamping jaw grabs the gun from the oiling machine, but the clamping jaw can not be separated from the oiling gun in the oiling process, the structural form is that one mechanical arm can give consideration to 2-3 oiling guns on one side of the oiling machine, but most of oiling machines on the market have two surfaces, when one mechanical arm is used for oiling one vehicle on one side of the oiling machine, the clamping jaw can not be separated from the oiling gun, so that the vehicle on the other side of the oiling machine can not be simultaneously oiled, and the utilization of the mechanical arm can also be reduced. And the grabbing part of the clamping jaw in the second structural form on the oil gun is a handle or a main valve shell part of the oil gun, the shapes of the two parts are not very regular, the grabbing is easy to deviate from the initial position, and the condition that the gun is grabbed at the same position every time is difficult to ensure, so that the precision of subsequent oil filling action is influenced.

Therefore, a gripping and operating mechanism for an automatic fueling robot gun that is completely detached from the gun is desired to be able to cope with fueling of a plurality of vehicles, thereby increasing fueling speed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at the above-mentioned problem that exists among the prior art, a be used for automatic oiling robot nozzle to grab and hold and control mechanism is provided.

In order to realize the purpose of the utility model, the utility model adopts the following technical scheme: a fuel gun grasping and operating mechanism for an automatic fuel filling robot comprises a fuel gun clamping mechanism, a first driver, a pulling mechanism and two fuel gun hoops, wherein the first driver is used for connecting through a transmission structure and driving the fuel gun clamping mechanism to loosen and clamp the fuel gun clamping mechanism;

the two oil gun hoops are fixedly connected to the oil gun, and the oil gun clamping mechanism realizes the loosening and clamping of the oil gun by loosening and clamping the two oil gun hoops;

the pulling mechanism is arranged on the transmission structure and is positioned on a plane different from the plane of the oil gun clamping mechanism so as to respectively clamp and release the oil gun and pull the trigger;

the pulling mechanism is movably connected with the oil gun clamping mechanism, so that the pulling mechanism can be opened and closed along with the oil gun clamping mechanism.

The working principle and the beneficial effects are as follows: 1. compared with the prior art, the oil gun is not fixed any more, and the oil gun can be separated to operate other oil guns, so that the corresponding oil gun can be grabbed according to oil to be refueled, and the oil gun can be locked by the clamping jaw when one vehicle is refueled, so that the clamping jaw can be separated from the oil gun in the refueling process, and the fuel can be refueled simultaneously when the vehicle on the other side of the refueling machine has a refueling demand;

2. compared with the prior art, the oil gun clamping mechanism and the pulling mechanism are separated, but the oil gun clamping mechanism and the pulling mechanism can also be operated in a linkage mode, the structure is compact, when the oil gun clamping mechanism clamps an oil gun (the oil gun clamping mechanism clamps the end parts of two oil gun hoops), the pulling mechanism can be inserted into a corresponding gap of the oil gun trigger, and when the oil gun clamping mechanism loosens the oil gun (the oil gun clamping mechanism loosens the end parts of the two oil gun hoops), the pulling mechanism can be separated from the corresponding gap of the oil gun trigger along with the oil gun clamping mechanism and is stretched out along with the oil gun clamping mechanism, so that the oil gun can be loosened, and as long as the oil gun clamping mechanism can correctly clamp the oil gun (the part can be positioned by the existing image recognition technology, and how to position is not described again because the oil gun clamping mechanism is not a protection point of the application), the pulling mechanism can accurately enter the corresponding gap of the oil gun trigger;

3. because two oil gun staple bolts locate the nozzle in advance, can play the effect of assistance-localization real-time, make things convenient for oil gun fixture to fix a position to the uniformity of snatching the nozzle at every turn has been guaranteed.

Further, the oil gun clamping mechanism comprises a rack clamping arm and a chuck, the rack clamping arm is connected with the oil gun hoop and the transmission structure, the chuck is connected with the rack clamping arm, and the end of the oil gun hoop is clamped and loosened through the chuck. The rack clamping arm is driven by the transmission structure to realize the separation and the closing of the two chucks so as to realize the clamping and loosening operation of the oil gun.

Furthermore, the transmission structure comprises an upper fixing plate and a lower fixing plate which are connected with the first driver, a connecting rod arranged between the two fixing plates, a connecting piece used for connecting the connecting rod with the output end of the first driver and a sector gear connected with one end of the connecting rod far away from the connecting piece, wherein the sector gear is respectively connected with the upper fixing plate and the lower fixing plate in a rotating mode and meshed with the rack clamping arm. The output of first driver is flexible along with first driver work to drive the connecting rod through the connecting piece, the connecting rod drives sector gear and rotates, thereby drives two rack arm lock and is close to or keeps away from compact structure each other.

Furthermore, the pulling mechanism comprises a pull rod for pulling the trigger of the fuel gun, a push rod for locking the trigger of the fuel gun, a second driver for driving the push rod to move, a third driver for driving the pull rod to move and a bearing seat for mounting the pull rod, the push rod, the first driver and the second driver on one of the fixing plates. The pull rod pulls the trigger of the oil gun under the driving of the third driver, and the push rod pushes the baffle of the oil gun to clamp the trigger of the oil gun under the driving of the second driver (because the oil gun is provided with an iron sheet with teeth, the baffle can be clamped).

Furthermore, the pull rod and the push rod are respectively provided with a sliding groove and are respectively connected with a pull rod pin seat of the chuck through the sliding groove and a pull rod pin, and the pull rod and the push rod respectively correspond to one pull rod pin seat. This setting realizes the linkage of pull rod, push rod and rack arm lock through the cooperation of draw bar pin and spout, realizes that the degree of difficulty is low.

Furthermore, the positions of the sliding groove of the pull rod and the sliding groove on the push rod are different from the position of the bearing seat. The purpose is to make the motion tracks of the push rod and the pull rod different.

Further, the bearing seat is connected with the fixing plate through a rotating pin.

Further, the first driver is an air cylinder or an electric cylinder.

Further, the second driver and the third driver are both pen-type air cylinders or pen-type electric cylinders.

Furthermore, the upper fixing plate and the lower fixing plate are separated by a spacer bush so as to be used for installing the transmission structure.

Drawings

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a schematic structural view of the fixing plate of FIG. 1 with the upper part removed;

FIG. 3 is a schematic view of FIG. 2 from another perspective;

FIG. 4 is a schematic view of FIG. 2 from another perspective;

FIG. 5 is another schematic view of FIG. 1;

FIG. 6 is a schematic view of the trip mechanism and gun clamp mechanism in an open position;

FIG. 7 is a partial schematic view of the structure of the fuel gun.

In the figure, 1, an oil gun clamping mechanism; 2. a transmission structure; 3. a first driver; 4. a fuel gun; 5. a pulling mechanism; 6. an oil gun hoop; 11. a rack clamping arm; 12. a chuck; 13. a pull rod pin boss; 21. a fixing plate; 22. a connecting member; 23. a sector gear; 24. a spacer sleeve; 25. positioning pins; 26. a flat bond; 27. a connecting rod; 41. a trigger; 42. a baffle plate; 43. an iron sheet with teeth; 51. a pull rod; 52. a push rod; 53. a second driver; 54. a third driver; 55. a bearing seat; 56. a draw bar pin; 57. a roller pin; 58. a connecting plate; 59. a chute.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.

It will be understood by those skilled in the art that in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships that are based on those shown in the drawings, which are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus the terms are not to be construed as limiting the invention.

As shown in fig. 1 and fig. 5-6, the oil gun 4 gripping and operating mechanism for the automatic oiling robot comprises an oil gun clamping mechanism 1, a first driver 3 for connecting and driving the oil gun clamping mechanism 1 to loosen and clamp through a transmission structure 2, a pulling mechanism 5 for pulling a trigger 41 of the oil gun 4 to refuel, and two oil gun hoops 6 matched with the oil gun clamping mechanism 1; two oil gun staple bolts 6 link firmly on nozzle 4, and oil gun fixture 1 realizes loosening and pressing from both sides tight nozzle 4 through loosening and pressing from both sides tight two oil gun staple bolts 6, as the assistance-localization real-time frock when snatching the oil gun.

Preferably, the first actuator 3 is a compact cylinder or an electric cylinder, which can reduce the burden on the robot.

The oil gun clamping mechanism 1 comprises a rack clamping arm 11 connected with the oil gun hoop 6 and the transmission structure 2 and a chuck 12 connected with the rack clamping arm 11, and the oil gun hoop 6 is clamped and loosened through the chuck 12. The rack clamping arm 11 is driven by the transmission structure 2 to separate and close the two chucks 12 so as to clamp and release the fuel filling gun 4.

As shown in fig. 2-4, the transmission structure 2 includes two upper and lower fixing plates 21 connected to the first driver 3, a connecting rod 27 disposed between the two fixing plates 21, a connecting member 22 for connecting the connecting rod 27 and the output end of the first driver 3, and a sector gear 23 connected to an end of the connecting rod 27 away from the connecting member 22, wherein the sector gear 23 is rotatably connected to the two upper and lower fixing plates 21 and engaged with the rack clamping arm 11. The output end of the first driver 3 extends and retracts along with the operation of the first driver 3, so that the connecting rod 27 is driven by the connecting piece 22, and the connecting rod 27 drives the sector gear 23 to rotate, so that the two rack clamping arms 11 are driven to approach or move away from each other.

Preferably, the upper and lower fixing plates 21 are separated by a spacer 24 for mounting the transmission structure 2. Wherein, two upper and lower fixed plates 21 pass through the screw connection, the centre separates through spacer 24, first driver 3 passes through the screw fixation respectively on two upper and lower fixed plates 21, connecting piece 22 is fixed at the cylinder pole tip at first driver 3, connecting rod 27 one end is articulated with connecting piece 22 through the hinge pin, the other end passes through the hinge pin with sector gear 23 and articulates, sector gear 23 passes through locating pin 25 handing-over with two upper and lower fixed plates 21 simultaneously, so make sector gear 23 can use locating pin 25 to swing as the center under the drive of first driver 3, rack arm lock 11 is spacing through flat key 26 on two upper and lower fixed plates 21 simultaneously, so that rack arm lock 11 can be at the round trip movement on flat key 26 length direction, keep the meshing of sector gear 23 and rack arm lock 11, there is chuck 12 through the screw fixation on rack arm lock 11.

The pulling mechanism 5 is arranged on the transmission structure 2 and is positioned on a different plane from the oil gun clamping mechanism 1 so as to respectively clamp and release the oil gun 4 and pull the trigger 41; the pulling mechanism 5 is movably connected with the oil gun clamping mechanism 1, so that the pulling mechanism 5 can be opened and closed along with the oil gun clamping mechanism 1.

In the present embodiment, the pulling mechanism 5 includes a pull rod 51 for pulling the trigger 41 of the fuel gun 4, a push rod 52 for locking the trigger 41 of the fuel gun 4, a second driver 53 for driving the push rod 52 to move, a third driver 54 for driving the pull rod 51 to move, and a bearing housing 55 for mounting the pull rod 51, the push rod 52, the first driver 3, and the second driver 53 on one of the fixing plates 21. The pull rod 51 pulls the trigger 41 of the fuel gun 4 by the driving of the third driver 54.

The pull rod pin seat 13 is fixedly connected to the chuck 12 by screws, the pull rod pin 56 is fixedly connected to the pull rod pin seat 13, the rotating shaft pin 57 is fixed to the upper fixing plate 21 by interference fit, the bearing seat 55 is arranged on the rotating shaft pin 57, so that the bearing seat 55 can swing on the rotating shaft pin 57, the push rod 52 and the pull rod 51 are arranged on the bearing seat 55 and can extend and retract on the bearing seat 55, the second driver 53 and the third driver 54 are respectively fixedly connected to the respective bearing seat 55, the push rod 52 is fixedly connected to the second driver 53 through a connecting plate 58, and the pull rod 51 is fixedly connected to the third driver 54 through a connecting plate 58. The second driver 53 and the third driver 54 are both a pen type air cylinder or a pen type electric cylinder.

In order to realize the linkage of the pull rod 51, the push rod 52 and the rack clamping arm 11, the pull rod 51 and the push rod 52 are both provided with a sliding groove 59, and are both connected with the pull rod pin seat 13 of the chuck 12 through the sliding groove 59 and the pull rod pin 56, the pull rod 51 and the push rod 52 respectively correspond to one pull rod pin seat 13, and the positions of the sliding groove 59 of the pull rod 51 and the sliding groove 59 of the push rod 52 from the bearing seat 55 are different.

The working principle is as follows: the first driver 3 extends out of the cylinder rod under the action of compressed air and drives the connecting piece 22 at the same time, the connecting piece 22 drives the sector gear 23 to rotate through the connecting rod 27, the sector gear 23 drives the rack clamping arm 11 to horizontally move outwards along the direction of the flat key 26 through tooth-shaped meshing, at the moment, the chuck 12 opens, and the pull rod pin 56 fixed on the chuck 12 pulls the push rod 52 and the pull rod 51 to open outwards. The collet 12 in the open posture moves to the front of the oil gun 4, the collet 12 is aligned with two oil gun hoops 6 (the two oil gun hoops 6 are provided with triangular positioning grooves corresponding to the shapes of the collet 12), the cylinder rod retracts under the action of compressed air by the first driver 3, the collet 12 is closed, at the moment, the connecting piece 22, the connecting rod 27 and the sector gear 23 just form a dead point mechanism, and the collet 12 can very firmly clamp the oil gun hoops 6. The push rod 52 and the pull rod 51 are driven by the pull rod pin 56 to swing to enter the operating position of the trigger 41 of the fuel gun 4, the third driver 54 drives the pull rod 51 under the action of compressed air, the pull rod 51 drives the trigger 41 of the fuel dispenser to act, the second driver 53 drives the push rod 52 to act under the action of compressed air, as shown in fig. 7, the push rod 52 pushes the baffle plate 42 of the fuel gun 4 to clamp the trigger 41 of the fuel gun 4 (because the fuel gun 4 is provided with the toothed iron sheet 43, the baffle plate 42 can be clamped, and the trigger 41 can be fixed due to the clamping of the baffle plate 42), at the moment, the chuck 12 can be loosened, and the fuel gun 4 can still normally fill fuel to jump gun.

The part of the utility model which is not described in detail is the prior art, so the utility model does not detail the part.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Although the terms oil gun clamping mechanism 1, transmission mechanism 2, first driver 3, oil gun 4, pulling mechanism 5, oil gun hoop 6, rack clamping arm 11, clamping head 12, pull rod pin seat 13, fixing plate 21, connecting piece 22, sector gear 23, spacer 24, positioning pin 25, flat key 26, connecting rod 27, trigger 41, pull rod 51, push rod 52, second driver 53, third driver 54, bearing seat 55, pull rod pin 56, pivot pin 57, connecting plate 58, sliding groove 59 and the like are used more frequently, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.

The present invention is not limited to the above-mentioned preferred embodiments, and any person can obtain other products in various forms without departing from the scope of the present invention, but any change in shape or structure is made, and all the technical solutions identical or similar to the present application fall within the protection scope of the present invention.

Claims (10)

1. A fuel gun grasping and operating mechanism for an automatic fuel filling robot is characterized by comprising a fuel gun clamping mechanism, a first driver, a pulling mechanism and two fuel gun hoops, wherein the first driver is used for connecting through a transmission structure and driving the fuel gun clamping mechanism to loosen and clamp, the pulling mechanism is used for pulling a trigger of a fuel gun to fill fuel, and the two fuel gun hoops are matched with the fuel gun clamping mechanism;

the two oil gun hoops are fixedly connected to the oil gun, and the oil gun clamping mechanism realizes the loosening and clamping of the oil gun by loosening and clamping the two oil gun hoops;

the pulling mechanism is arranged on the transmission structure and is positioned on a different plane from the oil gun clamping mechanism so as to respectively clamp and release the oil gun and pull the trigger;

the pulling mechanism is movably connected with the oil gun clamping mechanism, so that the pulling mechanism can be opened and closed along with the oil gun clamping mechanism.

2. The grasping and manipulating mechanism for a fuel gun of an automatic fuel filling robot as claimed in claim 1, wherein said fuel gun gripping mechanism comprises a rack clamp arm connecting said fuel gun anchor ear and said transmission structure and a collet connected to said rack clamp arm, whereby said fuel gun anchor ear is gripped and released by said collet.

3. The grasping and manipulating mechanism for a fuel gun of an automatic fuel filling robot as set forth in claim 2, wherein said transmission structure includes upper and lower two fixing plates connected to said first actuator, a connecting rod disposed between said two fixing plates, a connecting member for connecting said connecting rod to an output end of said first actuator, and a sector gear connected to an end of said connecting rod remote from said connecting member, said sector gear being rotatably connected to said upper and lower two fixing plates, respectively, and engaging with said rack and clamp arm.

4. A gripping and manipulating mechanism for an automatic fuel filling robot nozzle as claimed in claim 3, wherein said pulling mechanism comprises a pull rod for pulling a trigger of said nozzle, a push rod for locking said trigger of said nozzle, a second driver for driving said push rod to move, a third driver for driving said pull rod to move, and a bearing housing for mounting said pull rod, said push rod, said first driver and said second driver on one of said stationary plates.

5. The gripping and manipulating mechanism for the fuel gun of an automatic fuel filling robot as claimed in claim 4, wherein the pull rod and the push rod are provided with sliding grooves and connected with a pull rod pin seat on the chuck through the sliding grooves and a pull rod pin, and the pull rod and the push rod correspond to one pull rod pin seat respectively.

6. A grip and operating mechanism for an automatic fuel filling robot gun according to claim 5 wherein the slide slot of the pull rod and the slide slot on the push rod are located at different positions from the bearing seat.

7. The mechanism of claim 4, wherein said bearing housing is connected to said stationary plate by a pivot pin.

8. The mechanism as claimed in any one of claims 1 to 7, wherein said first actuator is a pneumatic or electric cylinder.

9. The robotic fuel gun grasping and manipulating mechanism according to any one of claims 4-6, wherein the second actuator and the third actuator are both pen-type air cylinders or pen-type electric cylinders.

10. The fuel gun grasping and operating mechanism for an automatic fuel filling robot as claimed in any one of claims 3 to 7 wherein the upper and lower mounting plates are separated by a spacer to allow for mounting of the transmission structure.

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