CN110182746B - Intelligent full-automatic oiling robot and intelligent full-automatic oiling system - Google Patents
Intelligent full-automatic oiling robot and intelligent full-automatic oiling system Download PDFInfo
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- CN110182746B CN110182746B CN201910610583.2A CN201910610583A CN110182746B CN 110182746 B CN110182746 B CN 110182746B CN 201910610583 A CN201910610583 A CN 201910610583A CN 110182746 B CN110182746 B CN 110182746B
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- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 239000000945 filler Substances 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 9
- 239000004579 marble Substances 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000003502 gasoline Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/42—Filling nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/0419—Fuelling nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0444—Sensors
- B67D2007/0455—Sensors recognising the position
- B67D2007/0467—Sensors recognising the position of the fuel tank flap and/or fuel tank opening
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
- Manipulator (AREA)
Abstract
The application relates to the technical field of automobile oiling, in particular to an intelligent full-automatic oiling robot and an intelligent full-automatic oiling system, wherein the intelligent full-automatic oiling robot comprises an installation cabinet body, a manipulator, an automatic outer cover opening mechanism, an automatic inner cover rotating mechanism, a quick-change male connector and a plurality of quick-change female connectors; the quick-change male connector is arranged on the manipulator to be connected with or separated from the quick-change female connector, so that the manipulator can be selectively connected with an automatic inner cap screwing mechanism or oil guns corresponding to different oil products. The intelligent full-automatic oiling system comprises an oil supply machine, an oil gun, a visual identification device, a controller and the intelligent full-automatic oiling robot. The full-automatic oiling system of intelligence in this application need not special personnel on duty, has saved personnel's cost, just full-automatic oiling robot of intelligence can the quick clamping with change the oil gun, and can open the oil filler inner cup more easily, has improved the emergence of the dangerous accident that the manual operation mistake arouses greatly and has refueled efficiency.
Description
[ field of technology ]
The application relates to the technical field of automobile oiling, in particular to an intelligent full-automatic oiling robot and an intelligent full-automatic oiling system.
[ background Art ]
Automobiles are gradually popularized to every household, and filling the automobiles to a filling station is becoming a daily operation, while the current filling station is generally attended by staff, and manual operation is needed when an owner enters the station to fill the oil.
When the worker is not enough or is not in time, the refueling time is delayed, long queuing teams are caused when the worker is serious, and in addition, although the gas station is operated for 24 hours, the refueling vehicles are rarely used in late night, so that the worker waste is caused. Therefore, with the development of technology, the oiling robot has advanced, but the difficulty of opening the inner cover and clamping the oil gun by the oiling robot to perform oiling is greatly increased due to the irregular shape of the oil gun, the different depth of the inner cover of the oil filling port and the like.
[ invention ]
The purpose of this application is in providing full-automatic oiling robot of intelligence and full-automatic oiling system of intelligence, full-automatic oiling system of intelligence need not the special personnel and has saved personnel's cost, just full-automatic oiling robot of intelligence can the quick centre gripping with change the oil gun, and can open the oil filler inner cup more easily.
The application is realized by the following technical scheme:
the intelligent full-automatic oiling robot comprises an installation cabinet body, a manipulator, an automatic outer cover opening mechanism, an automatic inner cover rotating mechanism, a quick-change male connector and a plurality of quick-change female connectors;
the automatic cover opening mechanism is used for opening and closing an outer cover of the automobile oil filling port, the automatic cover opening mechanism is used for opening and closing an inner cover of the automobile oil filling port, and the quick-change female connector is used for respectively connecting the automatic cover opening mechanism and oil guns corresponding to different oil products;
the quick-change male connector is arranged on the manipulator to be connected with or separated from the quick-change female connector, so that the manipulator can be selectively connected with the automatic inner cap screwing mechanism or oil guns corresponding to different oil products;
the automatic inner cap screwing mechanism comprises a clamping jaw support, a rotating device arranged on the clamping jaw support and a clamping jaw driving device arranged on the rotating device, clamping jaws capable of being clamped or loosened relatively are arranged on the clamping jaw driving device, and an elastic telescopic mechanism capable of extending and retracting along the rotating shaft direction of the rotating device is arranged between the clamping jaws and the clamping jaw driving device.
The intelligent full-automatic oiling robot comprises the driving connecting part connected with the clamping jaw driving device, the telescopic shaft arranged at the rear end of the clamping jaw and the elastic piece arranged between the driving connecting part and the clamping jaw, and the telescopic shaft is telescopically sleeved on the driving connecting part.
As described above, the intelligent full-automatic oiling robot is provided with the movable long hole on the driving connection part, and the telescopic shaft is provided with the protruding pin moving along the movable long hole at the part sleeved with the driving connection part.
The intelligent full-automatic oiling robot is characterized in that the quick-change male connector is provided with the connecting sleeve, the periphery of the connecting sleeve is provided with the marble protruding out of the outer peripheral wall, the quick-change female connector is provided with the connecting guide hole, and the inner peripheral side of the connecting guide hole is provided with the ball locking groove;
the connecting sleeve is connected with a marble driving mechanism, so that when the connecting sleeve stretches into the connecting guide hole, the marble driving mechanism drives the marble to be clamped into the lock ball groove, and the quick-change male connector and the quick-change female connector are locked.
The intelligent full-automatic oiling robot further comprises a placing seat, a plurality of placing positions are arranged on the placing seat, each placing position comprises a guiding and positioning seat, a guiding and positioning groove and a first spring pin and a second spring pin which are located above the guiding and positioning groove are arranged on each guiding and positioning seat, and a pressing head of the first spring pin and a pressing head of the second spring pin are used for clamping an oil gun from two sides.
The intelligent full-automatic oiling robot further comprises an oil gun fixing frame fixedly connected with the oil gun, concave holes are respectively formed in the two sides of the oil gun fixing frame, and the first spring pins and the second spring pins are respectively clamped into the corresponding concave holes when extending relatively.
The intelligent full-automatic oiling robot is characterized in that the guiding positioning seat is provided with the guiding limiting groove, and pulleys capable of rolling into the guiding limiting groove are further arranged on two sides of the oil gun fixing frame;
the inlet of the guide limit groove is arranged at the upward turning guide part;
the tail end of the guide limiting groove is provided with a gear part for stopping the pulley from advancing.
As described above, the automatic cover opening mechanism comprises an elastic rod arranged on the manipulator and a vacuum chuck arranged at the tail end of the elastic rod.
The embodiment of the application also provides an intelligent full-automatic oiling system, which comprises an oiling machine, an oil gun, a visual identification device, a controller and the intelligent full-automatic oiling robot, wherein the oil gun is connected with the oiling machine through an oil pipe, and the controller is electrically connected with the oiling machine, the visual identification device and the intelligent full-automatic oiling robot.
According to the intelligent full-automatic oiling system, the door is arranged on one side of the installation cabinet body, which is used for oiling, the photoelectric detection devices are arranged on two sides of the door, and the photoelectric detection devices are used for sending out emergency stop signals to stop oiling when objects are detected to enter from two sides.
Compared with the prior art, the application has the following advantages:
1. the intelligent full-automatic oiling system does not need to be attended by a special person, so that personnel cost is saved, and the intelligent full-automatic oiling robot can rapidly clamp and replace an oil gun and can open an inner cover of an oiling port more easily.
2. Because the automatic inner cap screwing mechanism or the oil guns corresponding to different oil products are respectively connected with the quick-change female connector, the manipulator can quickly and accurately change the oil guns corresponding to the different oil products by the quick-change male connector and the quick-change female connector, so that the opening of the inner cap of the oil filling port and the oil filling operation are carried out, and the possibility of the oil products being misplaced due to the manual error of the oil guns is avoided.
3. The elastic telescopic mechanism can enable the clamping jaw for clamping the inner cap of the oil filler to elastically telescopic within a certain range, so that the automatic inner cap screwing mechanism is ensured not to cause unstable clamping of the inner cap of the oil filler due to insufficient extending depth, or damage the automatic inner cap screwing mechanism or the inner cap of the oil filler due to excessive extending.
4. The oil gun positioning structure preliminarily limits the position of the oil gun through the guide limiting groove, then the oil gun is further jacked by the jacking heads capable of clamping from two sides, the oil gun can be effectively prevented from toppling forward and backward, the positioning of the oil gun is more reliable and accurate, and the manipulator is favorable for grabbing the oil gun to carry out oiling operation.
5. The automatic outer cover opening mechanism adapts to an included angle which changes when the outer cover is opened through the elastic rod, and can reset after the outer cover is opened, in addition, when the outer cover is closed, the elastic rod can be used for closing the outer cover in a pushing mode, and the action design of the manipulator is simpler and more effective.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of an embodiment of the present application;
FIG. 2 is a schematic view of a use scenario according to an embodiment of the present application;
FIG. 3 is a schematic view of the manipulator of the present embodiment having clamped an oil gun;
fig. 4 is an enlarged view of a portion a of fig. 3;
FIG. 5 is a schematic view of the manipulator of the present embodiment having clamped the automatic inner cap screwing mechanism;
fig. 6 is an enlarged view of a portion B of fig. 5;
fig. 7 is a schematic structural diagram of a manipulator according to an embodiment of the present application;
fig. 8 is an enlarged view of a portion C of fig. 7;
FIG. 9 is a schematic structural view of a placement base according to an embodiment of the present application, wherein the placement base is provided with the automatic inner cap screwing mechanism and oil guns corresponding to different oil products;
fig. 10 is an enlarged view of a portion D of fig. 9;
FIG. 11 is a schematic diagram showing a separation structure of the placement base and the oil gun holder according to the embodiment of the present application, wherein the oil gun holder is provided with an oil gun;
fig. 12 is a schematic structural view of the oil gun fixing frame with the oil gun according to the embodiment of the application.
[ detailed description ] of the invention
In order to make the technical problems, technical schemes and beneficial effects solved by the application more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
As shown in fig. 1 to 12, the embodiment of the application provides an intelligent full-automatic oiling robot, which comprises an installation cabinet body 1, a manipulator 2, an automatic outer cover opening mechanism 3, an automatic inner cover screwing mechanism 4, a quick-change male connector 5 and a plurality of quick-change female connectors 6.
The automatic outer cover opening mechanism 3 is used for opening and closing an outer cover of an automobile oil filler, and the automatic outer cover opening mechanism 3 comprises an elastic rod 31 arranged on the manipulator and a vacuum chuck 32 arranged at the tail end of the elastic rod 31. The elastic rod 31 may be a stretch spring, the vacuum chuck 32 is connected with the vacuum generator, the vacuum chuck 32 sucks and pulls the outer cover of the oil filler in operation, because the outer cover is hinged on one side of the automobile, when the outer cover rotates to be opened, a variable included angle is formed between the outer cover and the pulling direction of the vacuum chuck 32, and the elastic rod 31 is a flexible rod with elasticity, so that the variable included angle can be adapted, and the outer cover is reset after being opened; in addition, when the outer cover is closed, the elastic rod 31 can be used for closing the outer cover in a pushing manner, and the action design of the manipulator is simpler and more effective.
The automatic inner cap screwing mechanism 4 is used for opening and closing an inner cap of an automobile oil filling port, the quick-change female connector 6 is used for respectively connecting the automatic inner cap screwing mechanism 4 and oil guns 10 corresponding to different oil products, such as No. 92, no. 95 or No. 98 gasoline, and the manipulator 2 can adopt a four-axis manipulator.
The quick-change male connector 5 is arranged on the manipulator 2 to be connected with or separated from the quick-change female connector 6, so that the manipulator 2 can be selectively connected with the automatic inner cap screwing mechanism 4 or the oil gun 10 corresponding to different oil products.
The automatic inner cap screwing mechanism 4 comprises a clamping jaw support 41, a rotating device 42 arranged on the clamping jaw support 41 and a clamping jaw driving device 43 arranged on the rotating device 42, clamping jaws 431 capable of being clamped or loosened relatively are arranged on the clamping jaw driving device 43, and an elastic telescopic mechanism 44 capable of stretching and retracting along the rotating shaft direction of the rotating device 42 is arranged between the clamping jaws 431 and the clamping jaw driving device 43. Specifically, the rotating device 42 includes a rotating base and a rotating motor for driving the rotating base to rotate, and belt transmission is arranged between the rotating base and the rotating motor.
Because the automatic inner cap screwing mechanism 4 or the oil guns 10 corresponding to different oil products are respectively connected with the quick-change female connector, the manipulator 2 can quickly and accurately change the oil guns 10 corresponding to the different oil products by the quick-change male connector 5 and the quick-change female connector 6, so that the opening of the inner cap 20 of the oil filling port and the oil filling operation are carried out, and the possibility of oil product wrong filling caused by manual wrong oil gun taking is avoided.
The automatic inner cap screwing mechanism 4 is required to extend into the direction of the oil filling opening to clamp the protruding handle of the inner cap 20 of the oil filling opening when the inner cap 20 of the oil filling opening is clamped, then the inner cap 20 of the oil filling opening is opened by rotating, the setting depth of the inner caps of the oil filling openings of different vehicle types is slightly different, the clamping jaw 431 for clamping the inner cap 20 of the oil filling opening can elastically stretch out and draw back in a certain range through the elastic stretching mechanism 44, and the automatic inner cap screwing mechanism 4 is ensured not to cause unstable clamping of the inner cap of the oil filling opening due to insufficient extending depth, or damage the automatic inner cap screwing mechanism 4 or the inner cap of the oil filling opening due to excessive extending.
Further, the elastic telescopic mechanism 44 includes a driving connection portion 441 connected to the jaw driving device 43, a telescopic shaft 442 disposed at a rear end of the jaw 431, and an elastic member 443 disposed between the driving connection portion 441 and the jaw 431, wherein the telescopic shaft 442 is telescopically sleeved on the driving connection portion 441. Specifically, the elastic member 443 is a compression spring sleeved on the telescopic shaft 442. The elastic telescopic mechanism 44 has a simple structure and provides a proper elastic movement distance for the automatic inner cap screwing mechanism 4. The clamping jaw 431 is provided with two clamping fingers which can be relatively close to or far away from each other.
Further, the driving connection portion 441 is provided with a movable long hole 4411, and the telescopic shaft 442 is provided with a protruding pin 4421 along the movable long hole 4411 at a portion sleeved with the driving connection portion 441. When the clamping jaw 431 moves in a telescopic manner through the elastic telescopic mechanism 44, the protruding pin 4421 moves in the movable long hole 4411, so that the movement of the clamping jaw 431 is more stable.
More preferably, the rotation center of the rotation device 42 is provided with a wiring hole 421, and the jaw support 41 is provided with a wiring channel 411 communicating with the wiring hole 421. The rotating device 42 and the power-on wires, gas circuits, signal wires and the like at the front end of the rotating device can enter the wiring channel 411 through the wiring holes 421 and then are connected to a power supply, a gas source and a controller along the manipulator, so that wiring is simpler, and later maintenance is facilitated.
In this embodiment, the quick-change male connector 5 is provided with a connection sleeve 52, a marble 53 protruding from the outer peripheral wall is provided around the connection sleeve 52, the quick-change female connector 6 is provided with a connection guide hole 62, and the inner peripheral side of the connection guide hole 62 is provided with a locking groove 621.
The connecting sleeve 52 is connected with a marble driving mechanism, so that when the connecting sleeve 52 extends into the connecting guide hole 62, the marble driving mechanism drives the marble 53 to be clamped into the locking groove 621, so that the quick-change male connector 5 and the quick-change female connector 6 are locked.
The marble actuating mechanism adopts current pneumatic quick-operation joint structure, specifically does: the ball driving mechanism comprises a jacking conical shaft and a sleeve shaft cylinder, the jacking conical shaft is sleeved on the inner side of the connecting sleeve 52 and is provided with an air chamber with the connecting sleeve 52, and the sleeve shaft cylinder drives the jacking conical shaft to press the balls 53 to protrude out of the peripheral wall of the connecting sleeve 52 when the jacking conical shaft moves axially.
The manipulator 2, the quick-change male connector 5 and the quick-change female connectors 6 form a quick-change structure together, the quick-change male connector 5 on the manipulator 2 is respectively and quickly combined and separated with the quick-change female connectors 6, so that the manipulator 2 and external equipment such as an automatic inner cap screwing mechanism or an oil gun corresponding to different oil products can be replaced, the action process is quick and accurate, and the smoothness of oiling operation is ensured.
Further, the quick-change male connector 5 has a connection male surface 51, the connection sleeve 52 is located at the center of the connection male surface 51, the quick-change female connector 6 has a connection female surface 61 corresponding to the connection male surface 51, the connection guide hole 62 is located at the center of the connection female surface 61, and when the quick-change male connector 5 and the quick-change female connector 6 are locked, the connection male surface 51 is attached to the connection female surface 61. In particular, the connection male surface 51 and the connection female surface 61 are both planar to facilitate processing.
After the connection male surface 51 is attached to the connection female surface 61, the quick-change male connector 5 and the quick-change female connector 6 are matched more tightly, and the combination precision is higher.
Further, the male connection surface 51 is provided with guide pins 55 symmetrically disposed on both sides of the connection sleeve 52, and the female connection surface 61 is provided with guide holes 63 corresponding to the guide pins 55. The male connection surface 51 is provided with a plurality of calibration concave holes 56 symmetrically arranged on two sides of the connection sleeve 52, and the female connection surface 61 is provided with calibration protrusions 64 corresponding to the calibration concave holes 56. Specifically, the guide pins 55 are truncated cone-shaped and are provided in 2 pieces. The correction projections 64 are in a truncated cone shape and are 6.
When the male connection surface 51 is attached to the female connection surface 61, the guide pin 55 extends into the guide hole 63, and the correction protrusion 64 extends into the correction recess 56, so that the connection accuracy of the male quick-change connector 5 and the female quick-change connector 6 can be greatly improved.
In this embodiment, the full-automatic oiling robot of intelligence still include and place seat 7, place and be equipped with a plurality of positions 71 of placing on the seat 7, place and be equipped with direction spacing groove 7111 and be located on the direction positioning seat 711 the top pressure head 712 of direction spacing groove 7111 top, top pressure head 712 is used for chucking oil gun 10 from both sides.
The oil gun positioning structure at least comprises a guide positioning seat 711, a guide limiting groove 7111 and a top pressing head 712 on the placing seat 7, the oil gun positioning structure preliminarily limits the position of the oil gun through the guide limiting groove 7111, and then the oil gun is further pressed by the top pressing head 712 capable of clamping from two sides, so that the oil gun can be effectively prevented from toppling forwards and backwards, the positioning of the oil gun is more reliable and accurate, and a manipulator is facilitated to grab the oil gun for oiling operation.
Specifically, the pressing head 712 is a first spring pin and a second spring pin that are relatively elastically extendable. The intelligent full-automatic oiling robot further comprises an oil gun fixing frame 8 fixedly connected with the oil gun 10, concave holes 81 are respectively formed in the two sides of the oil gun fixing frame 8, and the first spring pins and the second spring pins are respectively clamped into the corresponding concave holes 81 when extending relatively. The first spring pin and the second spring pin are respectively clamped into the corresponding concave holes 81 from two sides to be propped, and the propping ends of the first spring pin and the second spring pin are of round-head structures, so that the effect of prohibiting free movement of the oil gun and allowing forced movement of the oil gun is achieved, the oil gun can be effectively prevented from toppling forwards and backwards, and the oil gun can be separated from the placing seat by the mechanical arm only by enough pulling force when needed.
In order to ensure that the process of the oil gun fixing frame 8 entering the placing seat is smoother, pulleys 82 capable of rolling into the guiding limiting grooves 7111 are further arranged on two sides of the oil gun fixing frame 8. Moreover, the entrance of the guiding and limiting groove 7111 is provided with an upward folded guiding portion 7112, which can guide the pulley 82 into the guiding and limiting groove 7111, thereby further ensuring the smoothness of the process of the oil gun fixing frame 8 entering the placing seat.
In order to make the placement position of the oil gun more accurate, the end of the guiding and limiting groove 7111 is provided with a gear portion 7113 for stopping the pulley 82 from advancing.
Correspondingly, the oil gun fixing frame 8 is provided with a pulling mechanism 83 for pulling the trigger of the oil gun, the pulling mechanism 83 comprises a first pulling cylinder 831 and a second pulling cylinder 832 which are respectively positioned at two sides of the oil gun fixing frame 8, and a pulling rod 833 which is used for extending into the trigger of the oil gun 10 is connected between the output ends of the first pulling cylinder 831 and the second pulling cylinder 832. According to the technical scheme, the oil gun is started and stopped by driving the air cylinder, so that the operation is simple, and the structure is reliable.
More preferably, the placement location 71 further includes a gun positioning notch 710 for limiting the gun 10. And the placement position 71 is arranged on the placement seat 7 in a gradient manner. The gradient arrangement of the placement positions 71 can effectively reduce interference conditions between corresponding oil guns for different oil products.
The embodiment also provides an intelligent full-automatic oiling system, which comprises an oiling machine, an oil gun 10, a visual identification device 40, a controller and the intelligent full-automatic oiling robot, wherein the oil gun 10 is connected with the oiling machine through an oil pipe, and the controller is electrically connected with the oiling machine, the visual identification device 40 and the intelligent full-automatic oiling robot. The visual recognition device 40 comprises a binocular stereo camera and an infrared laser positioner, and is used for scanning and positioning the position of the oil filling opening of the automobile, and after the automobile enters the scanning area, the visual recognition device 40 obtains the position information of the oil filling opening of the automobile through scanning and sends the position information to the controller, and the controller controls the intelligent full-automatic oil filling robot to perform oil filling operation.
The visual recognition device adopts an intelligent learning algorithm, and automatically scans and builds a model according to different fuel tank covers of the fuel tank vehicle, so that the vehicle can be matched quickly when the same fuel tank cover model is used for filling fuel next time, and the recognition speed is improved through continuous learning, optimization.
It should be noted that, two opposite gates are provided on two sides of the installation cabinet body 1, so that the vehicles on two sides can be fueled respectively, two sides of the installation cabinet body 1 are provided with two placing seats respectively, two manipulators are also provided, and the visual recognition device 40 is provided with a rotatable device for scanning and recognizing vehicles on two sides alternately.
The intelligent full-automatic oiling system does not need to be attended by a special person, so that personnel cost is saved, and the intelligent full-automatic oiling robot can rapidly clamp and replace an oil gun and can open an inner cover of an oiling port more easily.
The intelligent full-automatic oiling system further comprises an information interaction system, the information interaction system comprises an information input module, a payment module and a bill printing module, the information input module is used for selecting oil products, inputting oil filling quantity and the like, and the payment module has the functions of two-dimensional scanning payment, unionpay card payment, noninductive payment, banknote payment and the like, so that the unmanned payment oil function is realized.
The installation cabinet body 1 is equipped with the gate 30 in the one side that carries out the operation of refueling, the gate 30 both sides are equipped with photoelectric detection device 301 for when detecting that there is the object to get into from both sides send scram signal in order to stop the operation of refueling, reinforcing the security performance of refueling system.
More preferably, the doorway is provided with an electric rolling shutter waterproof cloth which can hover up and down in a remote control manner. The intelligent full-automatic oiling system can control the electric roller shutter waterproof cloth to close the gate when not used, and plays a role in protection, and the intelligent full-automatic oiling system adopts a full-closed structure to meet the explosion-proof requirement.
The process of adopting the intelligent full-automatic oiling system comprises the following steps:
s1, an automobile enters a scanning area in front of a cabinet body 1, and a visual recognition device 40 acquires position information of an automobile oil filler through scanning and sends the position information to a controller;
s2, the driver finishes the payment of the fee through the information interaction system;
s3, the controller controls the manipulator 2 to move to the place seat 7, and enables the quick-change male connector 5 of the manipulator 2 and the quick-change female connector 6 of the automatic inner cap screwing mechanism 4 to be connected with the automatic inner cap screwing mechanism 4, then controls the automatic outer cap opening mechanism 3 to open the outer cap of the oil filling port, controls the automatic inner cap screwing mechanism 4 to unscrew the inner cap, and enables the automatic inner cap screwing mechanism 4 to be placed in the place seat 7 and then separates the quick-change male connector 5 from the quick-change female connector 6 of the automatic inner cap screwing mechanism 4;
s4, the manipulator 2 is connected with a corresponding oil gun on the placing seat 7 through the quick-change male connector 5 and the quick-change female connector 6, and is transferred to an oil filling port for filling oil, and the oil gun is reset after the oil filling is finished;
s5, the manipulator is connected with the automatic inner cap screwing mechanism 4 on the placing seat 7 through the quick-change male connector 5 and the quick-change female connector 6 so as to sequentially close the inner cap and the outer cap of the oil filling port;
s6, resetting the automatic inner cap screwing mechanism 4 by a mechanical arm;
s7, resetting the manipulator.
In summary, the present application has, but is not limited to, the following benefits:
1. the intelligent full-automatic oiling system does not need to be attended by a special person, so that personnel cost is saved, and the intelligent full-automatic oiling robot can rapidly clamp and replace an oil gun and can open an inner cover of an oiling port more easily.
2. Because the automatic inner cap screwing mechanism 4 or the oil guns 10 corresponding to different oil products are respectively connected with the quick-change female connector, the manipulator 2 can quickly and accurately change the oil guns 10 corresponding to the different oil products by the quick-change male connector 5 and the quick-change female connector 6, so that the opening of the inner cap 20 of the oil filling port and the oil filling operation are carried out, and the possibility of oil product wrong filling caused by manual wrong oil gun taking is avoided.
3. The elastic telescopic mechanism 44 can enable the clamping jaw 431 for clamping the inner cap 20 of the oil filler to elastically telescopic within a certain range, so that the inner cap mechanism 4 can not cause unstable clamping of the inner cap of the oil filler due to insufficient extending depth, or damage the inner cap mechanism 4 or the inner cap of the oil filler due to excessive extending.
4. The oil gun positioning structure preliminarily limits the position of the oil gun through the guide limiting groove 7111, and then the oil gun is further jacked by the jacking heads 712 capable of clamping from two sides, so that the oil gun can be effectively prevented from toppling forwards and backwards, the positioning of the oil gun is more reliable and accurate, and the manipulator is favorable for grabbing the oil gun to carry out oiling operation.
5. The automatic outer cover opening mechanism 3 adapts to the included angle which changes when the outer cover is opened through the elastic rod 31, and can reset after the outer cover is opened, in addition, when the outer cover is closed, the elastic rod 31 can be used for closing the outer cover in a pushing mode, and the action design of the manipulator is simpler and more effective.
It should be understood that the terms "first," "second," and the like are used in this application to describe various information, but the information should not be limited to these terms, which are used only to distinguish one type of information from another. For example, a "first" message may also be referred to as a "second" message, and similarly, a "second" message may also be referred to as a "first" message, without departing from the scope of the present application. Furthermore, references to orientations or positional relationships by the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc. are based on the orientation or positional relationships shown in the drawings, and are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
The foregoing description of one or more embodiments provided in connection with the specific disclosure is not intended to limit the practice of this application to such description. Any approximation, or substitution of techniques for the methods, structures, etc. of the present application or for the purposes of making a number of technological deductions based on the concepts of the present application should be considered as the scope of protection of the present application.
Claims (6)
1. The intelligent full-automatic oiling robot is characterized by comprising an installation cabinet body (1), a manipulator (2), an automatic outer cover opening mechanism (3), an automatic inner cover rotating mechanism (4), a quick-change male connector (5), a plurality of quick-change female connectors (6) and a placing seat (7);
the automatic outer cover opening mechanism (3) is used for opening and closing an outer cover of an automobile oil filler, the automatic inner cover rotating mechanism (4) is used for opening and closing an inner cover of the automobile oil filler, and the quick-change female connector (6) is used for respectively connecting the automatic inner cover rotating mechanism (4) and oil guns corresponding to different oil products;
the quick-change male connector (5) is arranged on the manipulator (2) to be connected with or separated from the quick-change female connector (6), so that the manipulator (2) can be selectively connected with the automatic inner rotating cover mechanism (4) or oil guns corresponding to different oil products, a connecting sleeve (52) is arranged on the quick-change male connector (5), a marble (53) protruding out of the outer peripheral wall is arranged on the periphery of the connecting sleeve (52), a connecting guide hole (62) is arranged on the quick-change female connector (6), a locking ball groove (621) is formed in the inner peripheral side of the connecting guide hole (62), and a marble driving mechanism is connected with the connecting sleeve (52) so that when the connecting sleeve (52) stretches into the connecting guide hole (62), the marble driving mechanism drives the marble (53) to be clamped into the locking ball groove (621) to enable the quick-change male connector (5) and the quick-change female connector (6) to be locked;
the automatic inner cap screwing mechanism (4) comprises a clamping jaw support (41), a rotating device (42) arranged on the clamping jaw support (41) and a clamping jaw driving device (43) arranged on the rotating device (42), clamping jaws (431) capable of being clamped or loosened relatively are arranged on the clamping jaw driving device (43), an elastic telescopic mechanism (44) capable of stretching along the rotating shaft direction of the rotating device (42) is arranged between the clamping jaws (431) and the clamping jaw driving device (43), the elastic telescopic mechanism (44) comprises a driving connecting part (441) connected with the clamping jaw driving device (43), a telescopic shaft (442) arranged at the rear end of the clamping jaws (431) and an elastic piece (443) arranged between the driving connecting part (441) and the clamping jaws (431), the telescopic shaft (442) is sleeved on the driving connecting part (441) in a telescopic mode, a movable long hole (4411) is formed in the part sleeved with the driving connecting part (441), and the movable long hole (4421) is arranged along the movable long hole (4411);
the oil gun is characterized in that a plurality of placing positions (71) are arranged on the placing seat (7), each placing position (71) comprises a guide positioning seat (711), a guide limiting groove (7111) and a first spring pin and a second spring pin which are arranged above the guide limiting groove (7111) are arranged on each guide positioning seat (711), and the first spring pin and the second spring pin are used for pushing the pressing heads (712) to clamp the oil gun from two sides.
2. The intelligent full-automatic oiling robot according to claim 1, further comprising an oil gun fixing frame (8) fixedly connected with an oil gun, wherein concave holes (81) are respectively formed in two sides of the oil gun fixing frame (8), and the first spring pin and the second spring pin are respectively clamped into the corresponding concave holes (81) when relatively extending.
3. The intelligent full-automatic oiling robot according to claim 2, characterized in that the guiding positioning seat (711) is provided with a guiding limit groove (7111), and two sides of the oil gun fixing frame (8) are also provided with pulleys (82) capable of rolling into the guiding limit groove (7111);
an inlet of the guide limit groove (7111) is arranged at an upward turning guide-in part (7112);
the tail end of the guide limiting groove (7111) is provided with a gear part (7113) for stopping the pulley (82) from advancing.
4. An intelligent fully automatic oiling robot according to any one of claims 1-3, characterized in that the automatic cover opening mechanism (3) comprises an elastic rod (31) arranged on the manipulator and a vacuum chuck (32) arranged at the tail end of the elastic rod (31).
5. The intelligent full-automatic oiling system is characterized by comprising an oil supply machine, an oil gun, a visual identification device, a controller and the intelligent full-automatic oiling robot according to any one of claims 1-4, wherein the oil gun is connected with the oil supply machine through an oil pipe, and the controller is electrically connected with the oil supply machine, the visual identification device and the intelligent full-automatic oiling robot.
6. The intelligent full-automatic oiling system according to claim 5, wherein the installation cabinet body (1) is provided with a door opening at one side for oiling operation, and photoelectric detection devices are arranged at two sides of the door opening for sending out an emergency stop signal to stop oiling operation when detecting that an object enters from two sides.
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| CN201910610583.2A CN110182746B (en) | 2019-07-08 | 2019-07-08 | Intelligent full-automatic oiling robot and intelligent full-automatic oiling system |
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| CN112777554B (en) * | 2019-11-07 | 2022-06-17 | 中国石油化工股份有限公司 | Refueling auxiliary device and refueling system |
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| CN113894802B (en) * | 2020-06-22 | 2023-06-23 | 沈阳新松机器人自动化股份有限公司 | Snake-shaped arm oiling robot |
| CN113896162A (en) * | 2020-06-22 | 2022-01-07 | 沈阳新松机器人自动化股份有限公司 | Double-arm rectangular coordinate oiling robot |
| CN113880033A (en) * | 2020-07-01 | 2022-01-04 | 江阴市富仁高科股份有限公司 | Robot refueling or gas filling method |
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| CN117615886A (en) * | 2021-03-30 | 2024-02-27 | 奥特福尔有限公司 | Fuel dispenser adapter for auto-fueling |
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| CN113582121B (en) * | 2021-08-11 | 2022-03-04 | 军事科学院***工程研究院军事新能源技术研究所 | Gas station system monitored by remote terminal |
| CN114195083B (en) * | 2021-11-27 | 2024-04-12 | 正星科技股份有限公司 | Automatic robot oiling device and oiling method |
| CN114195084A (en) * | 2021-11-27 | 2022-03-18 | 正星科技股份有限公司 | Double-side automatic oiling robot and control method |
| CN114436199A (en) * | 2022-02-24 | 2022-05-06 | 正星科技股份有限公司 | Intelligent integrated robot oiling machine and oiling method |
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