CN113428826B

CN113428826B - Refueling robot, control method, system and storage medium

Info

Publication number: CN113428826B
Application number: CN202110852474.9A
Authority: CN
Inventors: 林泽恩; 王维杭; 郑俊杰; 李江东
Original assignee: Henan Yinggao Energy Technology Co ltd; Shenzhen Kangdao Intelligenet Holdings Co ltd
Current assignee: Henan Yinggao Energy Technology Co ltd; Shenzhen Kangdao Intelligenet Holdings Co ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2023-03-28
Anticipated expiration: 2041-07-27
Also published as: CN113428826A

Abstract

The invention provides an oiling robot, a control method, a system and a storage medium, wherein the oiling robot comprises a mechanical arm, a camera and an oiling execution mechanism, the oiling execution mechanism is arranged on the mechanical arm, the mechanical arm drives the oiling execution mechanism to move, the camera takes pictures of an oiled automobile, and guides the mechanical arm to move and the oiling execution mechanism to oil the automobile. The invention has the beneficial effects that: the refueling robot of the invention automatically identifies the position of the vehicle oil tank cover, automatically opens the vehicle outer oil tank cover, automatically opens the vehicle inner oil tank cover, automatically fetches the oil gun in the gun stock, automatically refuels, automatically puts the oil gun back into the gun stock, automatically closes the vehicle inner oil tank cover and automatically closes the vehicle outer oil tank cover, and the refueling robot automatically resets to complete the vehicle automatic refueling work.

Description

Refueling robot, control method, system and storage medium

Technical Field

The invention relates to the technical field of robots, in particular to an oiling robot, a control method, a control system and a storage medium.

Background

The tradition of filling station is refueled the car through artifical service and is refueled, follows the science and technology development progress, and people's standard of living improves also in recent years filling station and has played car automatic oiling technical development, has just had the sediment of filling station for vehicle automatic oiling technique, and it is only at the research and development experimental stage that general technology stops at present, can not realize that filling station drops into automatic oiling and uses.

The existing automatic oiling technology:

1. at the present stage, a plurality of devices are used for realizing the automatic refueling function of vehicles, but the device which is in line with the high-risk working environment of a gas station and has the explosion-proof safety performance has never been used.

2. The existing technology can successfully realize the opening/closing of the external oil tank cover of a single-style vehicle, but has difficulty in realizing the opening/closing of the external oil tank cover of a plurality of models.

3. The existing technology can successfully realize the opening/closing of the oil tank cover in a single-style vehicle, but is difficult to realize the opening/closing of the oil tank cover in a plurality of models.

4. The current technology realizes the process of taking a gun, filling oil to a vehicle and hanging an oil gun, and the main technology has 4 modes

Mode 1: an oil gun is fixed on a robot paw, and the multi-joint robot is guided by vision to realize oiling.

Mode 2: the oil gun is fixed in the oil gun tooling fixture, the robot claw grabs the gun tooling fixture, and the vision-guided multi-joint robot realizes oiling.

Mode 3: and (3) fixing a special type oiling gun capable of switching oil numbers on a robot paw, and visually guiding the multi-joint robot to realize oiling.

Mode 4: the oil gun is placed on a special gun bracket, the multi-joint robot clamping jaw grabs the oil gun on the gun bracket, and the multi-joint robot is guided visually to realize oiling.

5. At present, the oil control mode of an oil gun has 3 modes:

the first method is as follows: and a special tool clamp is adopted to stir the oil gun to control the oil.

The second method comprises the following steps: a single cylinder is adopted to stir the oil gun to control oil.

The third method comprises the following steps: the special oil gun is matched with special cylinder oil control.

6. The automatic refueling area has the advantages that the automatic refueling area has the whole process of vehicle stopping position degree, outer fuel tank cover opening/closing, inner fuel tank cover opening/closing and fuel gun taking/feeding/gun hanging, and is suitable for automatic refueling of multiple vehicle types, the technology stops in the current stage at the experimental test stage of a single vehicle type, the refueling stability and testability technology is not mature, the equipment cost is high, the process arrangement is scattered, and the defects exist in oil product switching.

In summary, the background art mainly has the following defects:

1. the explosion-proof safety level of the automatic refueling equipment does not meet the standard requirement of high-risk working environment places of gas stations.

2. The automatic oiling of multiple types of vehicles at an oil station cannot be met if the opening/closing of the outer oil tank and the inner oil tank cover of the multiple types of vehicles cannot be realized.

3. Get rifle, vehicle refuels, hang oil gun technical problem and defect:

problem defect 1: the oil gun is fixed on the robot paw, and the oil number variety can not be switched.

Problem defect 2: the oil gun is fixed in the oil gun tool clamp, the positioning accuracy of the oil gun taking and hanging is high, the manufacturing cost is high, the working efficiency is low, and the later maintenance cost is high.

Problem defect 3: a specially-made oil gun capable of changing oil types is fixed on a robot paw, and oil mixing of the oil types is easy to occur in an oil outlet pipeline.

4. The technical problems and defects of oil control of an oil gun are as follows:

problem defect 1: the oil gun is stirred to control oil by adopting the special tool clamp, and the manual oiling mode is difficult to switch quickly if needed under the emergency condition.

Problem defect 2: the single cylinder is adopted to stir the oil gun to control oil by adding the poking rod, the cylinder push rod is stressed greatly, the use is short in service life and not easy to maintain, the oil gun oil control fault is easy to occur, and the oil filling stability is poor.

Problem defect 3: the special oil gun is matched with special cylinder oil control, and the manufacturing cost is high.

5. The automatic oiling equipment has high requirement on the accuracy of the parking position of the vehicle, and is difficult to operate by a driver driving the vehicle;

6. because the automatic technology is immature for realizing each process of the existing automatic oiling technology, the oiling process arrangement is dispersed, the cost of the whole automatic oiling equipment is high, the maintenance cost is high, the oiling stability is poor, the working efficiency is low, the automatic oiling of multiple vehicle types cannot be realized, the safety level is low and the like.

7. The discernment of oil tank enclosing cover has only been done to current theory, has had very big distance in addition from realizing automatic oiling, and the oil tank enclosing cover appearance change greatly simultaneously: the size is different (the motorcycle type is not of a uniform size), the shape is different (there is circular, the fillet is square etc.) and the fuel tank port position of car also has great change, only the identification of profiling discernment not accomplished the discernment of market multiple car yet.

8. The parking position posture of the automobile is not considered, and the parking position of the automobile is different every time, which brings trouble to the identification of the camera.

9. The gas station is an outdoor space, and external factors such as the intensity of illumination also influence the accuracy of visual identification.

Disclosure of Invention

The invention provides an oiling robot which comprises a mechanical arm, a camera and an oiling executing mechanism, wherein the oiling executing mechanism is arranged on the mechanical arm, the mechanical arm drives the oiling executing mechanism to move, the camera shoots an oiled automobile, and guides the mechanical arm to move and the oiling executing mechanism to oil the automobile.

As a further improvement of the present invention, the refueling actuating mechanism includes an oil tank outer cover opening and closing device, an oil gun grabbing gun digging oil control device and an oil tank inner cover opening and closing device, the oil tank outer cover opening and closing device is used for opening and closing an automobile oil tank outer cover, the oil tank inner cover opening and closing device is used for opening and closing an automobile inner oil tank cover, the oil gun grabbing gun digging oil control device is used for simulating a person to hold a refueling gun for refueling, the oil tank outer cover opening and closing device, the oil gun grabbing gun digging oil control device and the oil tank inner cover opening and closing device are installed together to form a composite paw, and the camera is installed on the composite paw.

The invention also discloses a control method of the oiling robot, which comprises the following steps:

step 1: the method comprises the steps that a camera is used for shooting an automobile stopped in an oiling area, an outer cover of an automobile oil tank is identified, and the position of the outer cover of the automobile oil tank is obtained;

and 2, step: controlling an oil tank outer cover opening and closing device to open the oil tank outer cover of the automobile according to the position of the oil tank outer cover of the automobile;

and 3, step 3: photographing the automobile through a camera, judging whether the outer cover of the automobile oil tank is opened or not, if so, executing the step 4, otherwise, returning to execute the step 2;

and 4, step 4: identifying an automobile inner fuel tank cover, acquiring the position of the automobile inner fuel tank cover, and controlling an oil tank inner cover opening and closing device to open the automobile inner fuel tank cover according to the position of the automobile inner fuel tank cover;

and 5: photographing the automobile through a camera, judging whether an oil tank cover in the automobile is opened or not, if so, executing the step 6, otherwise, returning to execute the step 4;

and 6: acquiring oil filling port position information, and controlling an oil gun grabbing gun oil control device to pick up an oil gun to fill the oil gun into the oil filling port according to the oil filling port position information;

and 7: after oiling is finished, the oil gun is controlled to grab the gun digging oil control device to place the oil gun back into the gun stock of the oiling machine;

and step 8: controlling an oil tank inner cover opening and closing device to cover the oil tank cover in the automobile;

and step 9: the automobile is photographed through a camera, whether an oil tank cover in the automobile is well covered or not is judged, if yes, the step 10 is executed, and if not, the step 8 is executed;

step 10: the opening and closing device of the outer cover of the oil tank is controlled to cover the outer cover of the oil tank of the automobile;

step 11: and (3) photographing the automobile through a camera, judging whether the outer cover of the automobile oil tank is well covered, if so, finishing, and otherwise, returning to the step 10.

The invention provides a control system of a refueling robot, which comprises: a memory, a processor and a computer program stored on the memory, the computer program being configured to implement the steps of the control method of the invention when called by the processor.

The present invention provides a computer-readable storage medium having stored thereon a computer program configured to, when invoked by a processor, implement the steps of the control method of the invention.

The invention has the beneficial effects that: the refueling robot of the invention automatically identifies the position of the vehicle oil tank cover, automatically opens the vehicle outer oil tank cover, automatically opens the vehicle inner oil tank cover, automatically fetches the oil gun in the gun stock, automatically refuels, automatically puts the oil gun back into the gun stock, automatically closes the vehicle inner oil tank cover and automatically closes the vehicle outer oil tank cover, and the refueling robot automatically resets to complete the vehicle automatic refueling work.

Drawings

FIG. 1 is a schematic view of a robotic arm configuration;

FIG. 2 is a schematic view of a disassembled structure of an articular mold component;

FIG. 3 is a schematic structural diagram of a joint module;

FIG. 4 is a schematic cross-sectional view of a joint module;

FIG. 5 is an exploded view of the opening and closing device for the outer cover of the fuel tank;

FIG. 6 is a schematic view of the opening and closing device for the outer cover of the fuel tank, without the shield installed;

FIG. 7 is a schematic view of the opening and closing apparatus of the outer lid of the fuel tank with the cover installed;

FIG. 8 is a sectional view of the opening and closing apparatus of the outer lid of the fuel tank;

FIG. 9 is a cross-sectional view of an oil gun gripping and oil control device;

fig. 10 is a three-dimensional structure schematic diagram of an oil gun grabbing and digging gun oil control device;

FIG. 11 is a schematic structural view of an oil gun grabbing, digging and oil controlling device;

FIG. 12 is a schematic view showing the construction of an inner lid opening and closing device for a fuel tank;

fig. 13 is a sectional view of the opening and closing device of the inner lid of the fuel tank;

FIG. 14 is an enlarged view at A of FIG. 13;

fig. 15 is an exploded view of the inner lid opening and closing device of the fuel tank;

FIG. 16 is a schematic view of the open state structure of the chuck;

FIG. 17 is a schematic view of the closed state structure of the chuck;

FIG. 18 is a perspective view of the chuck;

FIG. 19 is a schematic view of a composite finger configuration;

FIG. 20 is a schematic view of a refueling robot;

fig. 21 is a control method flowchart.

Detailed Description

The invention discloses an oiling robot which comprises a mechanical arm 100, an oil tank outer cover opening and closing device 200, an oil gun grabbing gun digging oil control device 300 and an oil tank inner cover opening and closing device 400.

As shown in fig. 1, the robot arm 100 includes six joint modules, a first connecting arm 107 and a second connecting arm 108, the six joint modules have the same structural principle, each joint module can independently perform a rotational motion, and the six joint modules are respectively a first joint module 101, a second joint module 102, a third joint module 103, a fourth joint module 104, a fifth joint module 105 and a sixth joint module 106; the second joint module 102 is connected with the first joint module 101, and the rotation of the first joint module 101 drives the second joint module 102 to synchronously rotate; one end of the first connecting arm 107 is connected to the second joint module 102, the other end of the first connecting arm 107 is connected to the third joint module 103, and the second joint module 102 drives the third joint module 103 to rotate synchronously through the first connecting arm 107; the second connecting arm 108 is connected with the fourth joint module 104, and the third joint module 103 drives the second connecting arm 108 to rotate; the fourth joint module 104 is connected to the fifth joint module 105, and the fourth joint module 104 drives the fifth joint module 105 to rotate; the fifth joint module 105 is connected to the sixth joint module 106, and the fifth joint module 105 drives the sixth joint module 106 to rotate.

As shown in fig. 2-4, the joint module includes a motor 109, a motor base 110, a base 111, and a motor protection cover 112, the motor protection cover 112 is installed on the motor base 110, so that a cavity is formed inside the motor protection cover, the motor 109 is installed in the cavity, and the motor 109 is used for driving the base 111 to rotate.

The joint module further comprises a first synchronizing wheel 113, a second synchronizing wheel 114, a first synchronizing belt 115 and a first speed reducer, an output shaft of the motor 109 is connected with the first synchronizing wheel 113, the first synchronizing belt 115 is sleeved on the outer surface of the first synchronizing wheel 113 and the outer surface of the second synchronizing wheel 114, the first speed reducer is connected with the second synchronizing wheel 114, and the base 111 and the first speed reducer are installed together.

The first reducer is a harmonic reducer comprising a rigid gear 116, a flexible gear 117 and a wave generator 118.

When the motor works, an external servo driver controls the motor 109 to supply power, an output shaft of the motor 109 drives the first synchronizing wheel 113 to rotate, the first synchronizing belt 115 drives the second synchronizing wheel 114 to rotate, and the second synchronizing wheel 114 drives the rigid wheel 116 and the flexible wheel 117 to rotate, so that the base 111 and the motor base 110 perform relative rotation motion. The first timing belt 115 is preferably an antistatic first timing belt.

The joint module further comprises a motor fixing plate 119 and a motor supporting plate 120, wherein the motor supporting plate 120 is installed on the motor base 110, the motor fixing plate 119 is installed on the motor supporting plate 120, and the motor 109 is installed on the motor fixing plate 119.

When the first timing belt 115 is installed, in order to conveniently install the first timing belt 115, the first timing belt 115 is not in a tensioned state, and after the first timing belt 115 is installed, the tensioning of the first timing belt 115 is completed through the tension adjusting member 121 and the tension adjusting stop bar 125, specifically: the motor fixing plate 119 is pre-fastened to the motor supporting plate 120, the motor fixing plate 119 can move on the motor supporting plate 120 at the moment, and the tension adjusting member 121 is clamped between the motor fixing plate 119 and the tension adjusting stop bar 125, so that the motor fixing plate 119 can move backwards, the first synchronizing wheel 113 is driven to move backwards, and the first synchronizing belt 115 is tensioned.

The robot arm 100 further comprises a connecting member 129, the base 111 of the sixth joint module 106 is connected to the connecting member 129, and the connecting member 129 is preferably a flange.

The base 111 of the second joint module 102 is connected to the motor base 110 of the first joint module 101, one end of the first connecting arm 107 is connected to the motor base 110 of the second joint module 102, the other end of the first connecting arm 107 is connected to the motor base 110 of the third joint module 103, the base 111 of the third joint module 103 is connected to one end of the second connecting arm 108, the other end of the second connecting arm 108 is connected to the motor base 110 of the fourth joint module 104, the base 111 of the fourth joint module 104 is connected to the motor base 110 of the fifth joint module 105, and the base 111 of the fifth joint module 105 is connected to the motor base 110 of the sixth joint module 106.

The mechanical arm 100 further comprises a robot fixing seat 130, the base 111 of the first joint module 101 is connected with the robot fixing seat 130, and the robot fixing seat 130 is provided with an explosion-proof junction box.

The motor 109 is an explosion-proof servo motor.

The connecting member 129 is moved in X, Y, and Z coordinates by the joint module, the first connecting arm 107, and the second connecting arm 108.

According to the invention, the explosion-proof servo motor is applied to the mechanical arm, so that the explosion-proof level of the refueling robot is reached, and the safety standard of a refueling station is met.

As shown in fig. 5 to 8, the oil tank cover opening and closing device 200 includes a suction cup fixing seat 201 and a suction cup 202, wherein the suction cup 202 is connected to the suction cup fixing seat 201, and the suction cup 202 is used for sucking the oil tank cover of the automobile.

This oil tank enclosing cover is opened and closing device 200 still includes negative pressure and produces mechanism, sucking disc connecting rod 203 one end with sucking disc fixing base 201 links to each other, the sucking disc connecting rod 203 other end with sucking disc 202 links to each other, sucking disc connecting rod 203 is equipped with the hole, sucking disc connecting rod 203 the hole with sucking disc 202 intercommunication, install air cock 204 on the sucking disc connecting rod 203, air cock 204 with the hole intercommunication of sucking disc connecting rod 203, negative pressure produce the mechanism pass through the connecting pipe with air cock 204 links to each other, the air compressor machine is used for producing the negative pressure. The negative pressure generating mechanism is connected with an air compressor and a vacuum generator connected with the air compressor. The sucking disc 202 sucks the outer cover of the automobile oil tank through negative pressure, so that the outer cover of the automobile oil tank can be opened conveniently.

The oil tank outer lid opening and closing apparatus 200 further includes two pressing heads 205, and the suction cup 202 is disposed between the two pressing heads 205. After the refueling is finished, the automobile fuel tank outer cover is closed through the pressing head 205.

The pressing head 205 is preferably made of a polyurethane material.

This oil tank enclosing cover is opened and closing device 200 still includes pendulum rod support 206, swing arm piece 207, flexible pendulum rod 208, extension spring 209, and swing arm piece 207 can swing on the pendulum rod support 206 (for example, swing arm piece 207 installs on pendulum rod support 206 through the pivot to make swing arm piece 207 can swing), extension spring 209 one end with swing arm piece 207 links to each other, the extension spring 209 other end with pendulum rod support 206 links to each other, and swing arm piece 207 is equipped with the cavity, flexible pendulum rod 208 stretches into in the cavity of swing arm piece 207, and flexible pendulum rod 208 can move in swing arm piece 207's the cavity, flexible pendulum rod 208 one end with sucking disc fixing base 201 links to each other.

In order to enable the telescopic swing rod 208 to smoothly move longitudinally in the cavity of the swing arm 207, the outer surface of the telescopic swing rod 208 is sleeved with a linear bearing 216 and a compression spring 210.

If the sucker fixing seat 201 rotates, the connecting pipe also rotates, and in order to prevent the sucker fixing seat 201 and the connecting pipe from rotating, the sucker fixing seat 201 is prevented from rotating through the anti-rotation mechanism.

The anti-rotation mechanism comprises an anti-rotation limiting block 211, one end of the anti-rotation limiting block 211 is mounted with the suction cup fixing seat 201, and the other end of the anti-rotation limiting block 211 is attached to the upper surface of the swinging arm piece 207, so that the suction cup fixing seat 201 is prevented from rotating.

Saddle type nylon ribbon fixing base 212 is installed on anti-rotation stopper 211, and saddle type nylon ribbon fixing base 212 is used for fixed connecting pipe.

The oil tank outer cap opening and closing apparatus 200 further includes two pressing head fixtures 213, the two pressing head fixtures 213 are respectively installed at both sides of the swing rod bracket 206, and the two pressing heads 205 are respectively installed at the two pressing head fixtures 213.

The tank cover opening and closing apparatus 200 further includes a fixed base plate 214 and a cover 215, the cover 215 is mounted on the fixed base plate 214, two holes are opened in the cover 215, and the two pressing heads 205 respectively protrude from the two holes of the cover 215. The swing link bracket 206 is mounted on the fixed seat plate 214.

The oil tank outer cover opening and closing device 200 is controlled by a control system to move, the pressing head 205 presses the surface of the outer cover of the automobile oil tank to enable the outer cover of the oil tank to be bounced, the sucking disc 202 is adsorbed on the surface of the bouncing part of the surface of the outer cover of the automobile oil tank, the sucking disc 202 is always adsorbed on the surface of the outer cover of the oil tank along with the overturning angle process of the outer cover of the oil tank by the self-swing arm mechanism provided with the sucking disc 202, the function of pulling the outer cover of the automobile oil tank is successfully realized, and the self-swing arm mechanism provided with the sucking disc 202 is automatically reset at the moment.

The control system controls the movement of the oil tank outer cover opening and closing device 200 to close the outer oil tank cover, the pressing head 205 toggles the oil tank outer cover to return, and the pressing head 205 presses the bouncing part area on the surface of the automobile oil tank outer cover to realize the function of closing the oil tank outer cover.

Because multi-vehicle type oil tank enclosing cover is of a great variety, adopt the self-swing arm mechanism who is equipped with sucking disc 202 to adsorb on the oil tank enclosing cover surface along with oil tank enclosing cover rotation angle process sucking disc 202 always, reduce and refuel the robot required precision, improved sucking disc 202 adsorption efficiency, practical multi-vehicle type oil tank enclosing cover is uncapped. The sucking disc has the automatic re-setting function from the swing arm mechanism, and the process of uncapping makes things convenient for sucking 202 location of sucking disc, is difficult for producing the touching with the oil tank enclosing cover when closing the lid and interferes and influence the lid of closing.

The tank cover opening and closing apparatus 200 is mounted on the robot arm 100, and particularly, the stationary seat plate 214 is mounted together with the connection member 129.

As shown in fig. 9-11, the oil gun grabbing and oil-digging oil control device 300 includes a base plate 301, a first driving module 302, a second driving module 303, an oil gun clamping static member 304, an oil gun clamping dynamic member 305, and an oil-digging rod 306, wherein the oil gun clamping static member 304 is installed on the base plate 301, the first driving module 302 is connected with the oil gun clamping dynamic member 305, the first driving module 302 is used for driving the oil gun clamping dynamic member 305 to be buckled or separated with the oil gun clamping static member 304, when the oil gun clamping dynamic member 305 is buckled with the oil gun clamping static member 304, the oil gun clamping dynamic member 305 is used for clamping a handle of an oil gun, the second driving module 303 is used for driving the oil-digging rod 306 to move, and the oil-digging rod 306 is used for buckling a wrench of the oil gun to perform oil filling.

The oil gun clamping static piece 304 and the oil gun clamping movable piece 305 are both C-shaped, and when the oil gun clamping movable piece 305 and the oil gun clamping static piece 304 are buckled together, the inner part of the oil gun clamping movable piece is in a hollow arc shape.

The oil gun clamping piece 305 is movably connected with the substrate 301, and specifically, the oil gun clamping piece 305 is connected with the substrate 301 through a rotating shaft 307. .

The first driving module 302 is a first cylinder, an output shaft of the first cylinder is connected to the oil gun clamping member 305, and the first driving module 302 drives the oil gun clamping member 305 to rotate on the substrate 301.

The gun clamp stator 304 is made of a strip of rubber material.

This oil gun snatchs and scratches rifle accuse oil device 300 still includes oil gun accuse oil pull rod 308, second drive module 303 is the second cylinder, second cylinder output shaft with oil gun accuse oil pull rod 308 links to each other, accuse oil is scratched rifle bar 306 and is installed on the oil gun accuse oil pull rod 308.

The second cylinder output shaft through first cylinder adapter 309 with oil gun accuse oil pull rod 308 links to each other, accuse oil is scratched stock rod 306 and is passed through the mounting screw on oil gun accuse oil pull rod 308.

The oil gun oil control pull rod 308 is provided with a pull rod cover plate 310 and a protective cover 311, and the oil gun control pull rod 306 is adjacent to the oil gun clamping static piece 304.

The oil gun snatchs and scratches the function that rifle accuse oil device 300 realized and is: the control system controls the automatic oil gun taking, the automatic oil feeding and the automatic oil gun hanging in the gun stock of the oiling machine.

The oil gun grabbing, digging and oil controlling device 300 simulates the process of manually holding a gun to refuel, combines a thumb oil gun holding manipulation, a real finger oil gun grasping manipulation and a middle finger oil gun digging manipulation, realizes the two functions by a simple and small mechanism, is practical and is transformed from a current-stage general refueling machine, and has low cost and strong practicability.

As shown in fig. 12 to 15, the tank inner lid opening and closing apparatus 400 includes an apparatus body including a first driving unit 401, a second driving unit 402, a collet 403, the first driving unit 401 for driving the collet 403 to rotate, and the second driving unit 402 for opening or closing the collet 403.

The device 400 for opening and closing the inner lid of the fuel tank further includes a sleeve 404 and a pull rod 405, the pull rod 405 extends into the sleeve 404, a gap is formed between the outer surface of the pull rod 405 and the inner surface of the sleeve 404, the first driving unit 401 is used for driving the sleeve 404 to rotate, the clamp 403 is installed with the sleeve 404, the second driving unit 402 is used for driving the pull rod 405 to move, and the clamp 403 is opened or closed through the pull rod 405.

The first driving unit 401 is a servo motor, the servo motor is used for driving the sleeve 404 to rotate, and the servo motor is preferably an explosion-proof servo motor.

The equipment body further comprises a second speed reducer 406, a third synchronizing wheel 407, a fourth synchronizing wheel 408 and a second synchronous belt 409, the output shaft of the servo motor is connected with the second speed reducer 406, the second speed reducer 406 drives the third synchronizing wheel 407 to rotate, the second synchronous belt 409 is sleeved on the outer surface of the third synchronizing wheel 407 and the outer surface of the fourth synchronizing wheel 408, synchronous rotation of the fourth synchronizing wheel 408 and the third synchronizing wheel 407 is achieved through the second synchronous belt 409, the sleeve 404 and the fourth synchronizing wheel 408 are mounted together, and the sleeve 404 and the fourth synchronizing wheel 408 rotate synchronously.

The second driving unit 402 is a third cylinder, and the third cylinder is used for driving the pull rod 405 to move.

The equipment body still connects 410, second cylinder adapter 411 including floating, the third cylinder output shaft with floating connects 410 and links to each other, second cylinder adapter 411 one end with floating connects 410 and links to each other, the second cylinder adapter 411 other end with pull rod 405 links to each other. When the pull rod 405 rotates along with the chuck 403, the output shaft of the third cylinder is connected with the floating joint 410, and according to the structural principle of the floating joint 410, when the floating joint 410 rotates along with the pull rod 405, the output shaft of the third cylinder does not rotate along with the floating joint 410.

The device body further comprises a bearing 412, and the bearing 412 is sleeved on the outer surface of the sleeve 404.

The equipment body further comprises a motor seat plate 413, a butt joint plate 414, an adjusting top plate 415, a fixed bottom plate 416 and an air cylinder fixing seat 426, when the second synchronous belt 409 is installed, in order to conveniently install the second synchronous belt 409, the second synchronous belt 409 is not in a tensioning state, and after the second synchronous belt 409 is installed, the tensioning of the second synchronous belt 409 is completed by adjusting the top plate 415, and the equipment body specifically comprises: second reduction gear 406 is installed on motor bedplate 413, motor bedplate 413 is installed on cylinder fixing base 426, motor bedplate 413 does not die with cylinder fixing base 426 fixedly, motor bedplate 413 pretension is on cylinder fixing base 426, motor bedplate 413 can move on cylinder fixing base 426 this moment, will adjust roof 415 and install on motor bedplate 413, adjust the threaded hole of roof 415 and install adjusting screw 428, withstand butt-joint plate 414 through adjusting screw 428, so alright make motor bedplate 413 remove backward, and then drive third synchronizing wheel 407 and remove backward to tensioning second hold-in range 409.

The apparatus body 400 further comprises a sensor fixing plate 417, a photoelectric switch 418 and a sensor 419, wherein the sensor fixing plate 417 is connected with the fixing bottom plate 416, the photoelectric switch 418 is connected with the sensor fixing plate 417, a light blocking plate 427 is installed on the outer surface of the sleeve 404, and the photoelectric switch 418 and the light blocking plate 427 are matched for detecting whether the sleeve 404 is reset to the original point; and a sensor 419 is arranged on the third cylinder, and the sensor 419 is used for sensing the state of the output shaft of the third cylinder and detecting whether the output shaft of the third cylinder is in a pushing or pulling state.

The tank inner lid opening and closing apparatus 400 further includes a housing 425, the apparatus body is mounted in the housing 425, the cartridge 403 protrudes from the housing 425, and the housing 425 is constituted by a lid body 420 and a cover plate 421 assembled together.

An adapter plate 422 is installed on a shell 425, a cylinder fixing piece 423 is installed inside the shell, and a third cylinder is installed on the cylinder fixing piece 423.

As shown in fig. 16-18, the chuck 403 includes a chuck body 4031 and two clamping components, each of the two clamping components includes a first connecting rod 4032, a second connecting rod 4033, a third connecting rod 4034, a clamping block 4035, a clamping head 4036, a first connecting component 4037, a second connecting component 4038, a third connecting component 4039, and a fourth connecting component 4040, one end of the first connecting rod 4032 is rotatably connected to the pull rod 405, the other end of the first connecting rod 4032 is rotatably connected to the chuck body 4031 through the first connecting component 4037, one end of the second connecting rod 4033 is rotatably connected to the other end of the first connecting rod 4032, the other end of the second connecting rod 4033 is rotatably connected to the clamping block 4035 through the fourth connecting component 4040, one end of the third connecting rod 4034 is rotatably connected to the chuck body 4031 through the second connecting component 4038, the other end of the third connecting rod 4034 is rotatably connected to the clamping block 4035 through the third connecting component 4039, the first connecting rod 4037, the second 4038 and the fourth connecting rod 4036 are arranged in parallel to the clamping block 4036, and the clamping components are arranged in parallel.

When the pull rod 405 is pushed downward, the two clamping blocks 4035 are moved outward, so that the clamp heads 403 are opened. When the pull rod 405 is pulled upward, the two clamping blocks 4035 are driven to move inward, so that the clamping heads 403 are closed to clamp the torsion handle of the automobile inner fuel tank cover 424.

The shape of the twist grip of the fuel tank cover 424 in an automobile may be different, and in order to make the clamping block 4035 better adhere to the twist grip, the clamping head 4036 is movably connected to the clamping block 4035, and the clamping head 4036 can swing on the clamping block 4035, for example, the clamping head 4036 is installed on the rotating shaft of the clamping block 4035, so that the clamping head 4036 can better adhere to the clamping twist grip.

The one end of the first connecting rod 4032 is rotatably connected to the pull rod 405, which means that one end of the first connecting rod 4032 is connected to the pull rod 405, and one end of the first connecting rod 4032 can rotate on the pull rod 405.

The other end of the first connecting rod 4032 is rotatably connected to the chuck body 4031 by a first connecting member 4037, which means that the other end of the first connecting rod 4032 can be rotatably connected to the chuck body 4031 by the first connecting member 4037, for example, the first connecting member 4037 is a rotating shaft.

The second 4033 and the first 4032 connecting rods may be two pieces connected, but of course the second 4033 and the first 4032 connecting rods may also be integrally formed.

The other end of the second connecting bar 4033 is rotatably connected to the clamping block 4035 by the fourth connecting part 4040, which means that the other end of the second connecting bar 4033 can rotate on the clamping block 4035 by the fourth connecting part 4040, for example, the fourth connecting part 4040 is a rotating shaft.

The one end of the third connecting bar 4034 is rotatably connected to the chuck body 4031 by the second connecting member 4038, which means that the one end of the third connecting bar 4034 can be rotatably connected to the chuck body 4031 by the second connecting member 4038, for example, the second connecting member 4038 is a rotating shaft.

The other end of the third connecting bar 4034 is rotatably connected to the clamping block 4035 by the third connecting member 4039, which means that the other end of the third connecting bar 4034 can rotate on the clamping block 4035 by the third connecting member 4039, for example, the third connecting member 4039 is a rotating shaft.

When the oil tank inner cover opening and closing device 400 works, a servo motor driver controls an explosion-proof servo motor to supply electricity to rotate, the end part of an output shaft of the explosion-proof servo motor is connected to a second speed reducer 406, the end part of the output shaft of the second speed reducer 406 drives a third synchronous wheel 407 to rotate, the fourth synchronous wheel 408 is driven to rotate through transmission of a second synchronous belt 409, rotating force is transmitted to a sleeve 404 to drive a chuck 403 to rotate, the rotating motion of a twisting/tightening automobile inner oil tank cover 424 is achieved, a photoelectric switch 418 detects the position of the origin of the correction chuck 403, the position characteristics of the automobile inner oil tank cover 424 are identified through robot motion and vision, the chuck 403 is aligned to a twisting handle of the automobile inner oil tank cover 424, a third air cylinder drives a pull rod 405 to move, and the chuck 403 is enabled to clamp the twisting handle of the automobile inner oil tank cover 424 or loosen the twisting handle of the automobile inner oil tank cover 424 through the pull rod 405. The opening or closing of the clamp 403, the rotation of the clamp 403 and the movement of the mechanical arm realize the function of opening or closing the fuel tank cover 424 in the automobile in a rotating way.

The oil tank inner lid opening and closing device 400 has the following technical features:

1. the torque force during the rotation of the fuel tank cover 424 in the automobile is controllable.

2. The twist grip of the fuel tank cap 424 in the vehicle can be automatically aligned by means of a visual recognition mechanism.

3. The chuck 403 is small in size, the process of rotating the fuel tank cover 424 in the automobile is not easy to generate touch interference with the inner edge of the fuel tank opening of the automobile, and the multifunctional fuel tank cover torsion-prevention internal cover space condition is adapted.

4. The tank inner lid opening and closing device 400 uses mechanical movement, improving the safety level.

As shown in fig. 19, the oil tank outer lid opening and closing device 200, the oil gun grasping and lance digging oil control device 300, and the oil tank inner lid opening and closing device 400 are mounted together to constitute a composite gripper. The adapter plate 422 on the housing 425 is connected to the connector 129 to enable the composite gripper to be mounted on the base 111 of the sixth joint module 106.

The composite paw is beneficial to realizing the automatic oiling motion control of the oiling robot, simplifying the action, reducing the manufacturing cost of equipment and improving the working efficiency.

As shown in fig. 20, the fueling robot further includes a camera 500, the camera 500 being mounted on a compound gripper mounted on the robot arm 100.

The refueling robot can meet the field operation of high-risk environments of gas stations, and realizes the intelligent automatic refueling function of multiple vehicle types.

The refueling robot is triggered by a background intelligent electric control equipment program (control system) to automatically identify the position of a vehicle oil tank cover, automatically open an external vehicle oil tank cover, automatically open an internal vehicle oil tank cover, automatically take an oil gun in a gun stock, automatically refuel, automatically put the oil gun back into the gun stock, automatically close the internal vehicle oil tank cover and automatically close the external vehicle oil tank cover, and automatically reset to finish the automatic refueling work of the vehicle.

As shown in fig. 21, the present invention also discloses a control method of the refueling robot, which comprises the following steps:

step 1: the method comprises the steps that a camera 500 is used for shooting an automobile stopped in an oiling area, an outer cover of an automobile oil tank is identified, and the position of the outer cover of the automobile oil tank is obtained;

step 2: controlling the tank cover opening and closing device 200 to open the tank cover of the automobile according to the position of the tank cover of the automobile;

and step 3: photographing the automobile through the camera 500, judging whether the outer cover of the automobile oil tank is opened or not, if so, executing the step 4, otherwise, returning to execute the step 2;

and 4, step 4: recognizing the inner tank cap 424 of the vehicle, acquiring the position of the inner tank cap 424 of the vehicle, and controlling the inner tank cap opening and closing device 400 to open the inner tank cap 424 of the vehicle according to the position of the inner tank cap 424 of the vehicle;

and 5: the automobile is photographed through the camera 500, whether the oil tank cover 424 in the automobile is opened or not is judged, if yes, the step 6 is executed, and if not, the step 4 is executed;

and 6: acquiring oil filler position information, and controlling an oil gun grabbing gun oil control device 300 to pick up an oil gun to fill the oil filler into the oil filler according to the oil filler position information;

and 7: after refueling is completed, the oil gun is controlled to grab the gun digging and oil controlling device 300 to place the oil gun back into the gun stock of the refueling machine;

and 8: the tank cap opening and closing device 400 is controlled to cover the tank cap 424 in the vehicle;

and step 9: the camera 500 is used for photographing the automobile, whether the oil tank cover 424 in the automobile is covered is judged, if yes, the step 10 is executed, and if not, the step 8 is executed;

step 10: the oil tank outer cover opening and closing control device 200 covers the automobile oil tank outer cover;

step 11: and (3) photographing the automobile through the camera 500, judging whether the outer cover of the automobile oil tank is covered well, if so, ending, and otherwise, returning to execute the step 10.

Because the automobile is manually driven to a specified parking position, the position of each parking is a relatively large error, but if the position of the automobile changes, and the position of the camera 500 is fixed, the photographing is incomplete, the required information cannot be photographed, or the position of the automobile, such as the outer cover of the automobile oil tank, cannot be accurately acquired because the position and the posture of the automobile change too greatly. Therefore, the camera 500 of the present invention does not take a picture at a fixed place, for example, the vehicle amount is inclined, the camera 500 is installed on the composite paw, the position and the posture of the vehicle are determined by controlling the composite paw, then the composite paw is controlled to move the picture-taking position of the camera 500 to be parallel to the position and the posture of the vehicle (the best position and the posture of the picture-taking), the visual recognition under the highest precision is ensured, each picture-taking recognition of the camera 500 is automatically adjusted according to the position and the posture of the vehicle, so that the problem caused by the irregular parking can be corrected, and the precision and the stability of the recognition are ensured, and the specific embodiment is as follows:

in step 1, firstly, a vehicle entering a refueling area is photographed through a camera 500 (for example, the movement of a mechanical arm 100 and/or a composite paw can be controlled to drive the camera 500 to move, so as to photograph a plurality of pictures at a plurality of positions), the position and posture of the vehicle relative to the composite paw are calculated, so that the optimum position and posture for photographing are obtained, the composite paw is controlled to reach the optimum position and posture, the vehicle is photographed through the camera 500, the outer cover of the fuel tank of the vehicle is identified, and the position of the outer cover of the fuel tank of the vehicle is obtained;

in step 2, the tank cover opening and closing device 200 is controlled to open the tank cover of the automobile according to the position of the tank cover of the automobile;

in the step 3, firstly, the composite paw is controlled to reach the optimal position posture (the photographing position is right in front of and above the oil filling port of the automobile, the precision requirement is guaranteed), then the automobile is photographed through the camera 500, whether the outer cover of the oil tank of the automobile is opened or not is judged, if yes, the step 4 is executed, and if not, the step 2 is executed;

in step 4, the vehicle interior tank cap 424 is identified, the position of the vehicle interior tank cap 424 is obtained, and the tank interior cover opening and closing device 400 is controlled to open the vehicle interior tank cap 424 according to the position of the vehicle interior tank cap 424;

in step 5, firstly, the composite paw is controlled to reach the optimal position posture, the automobile is photographed through the camera 500, whether the oil tank cover 424 in the automobile is opened or not is judged, if yes, step 6 is executed, and if not, the step 4 is executed;

in step 6, the position information of the oil filling port is obtained, and the oil gun grabbing gun digging oil control device 300 is controlled to pick up the oil gun and fill the oil into the oil filling port according to the position information of the oil filling port;

in step 7, after the oiling is finished, the oil gun grabbing gun digging oil control device 300 is controlled to place the oil gun back into the gun stock of the oiling machine,

in step 8, the tank inner lid opening and closing device 400 is controlled to cover the vehicle inner tank lid 424;

in step 9, firstly, the composite paw is controlled to reach the optimal position posture, the automobile is photographed through the camera 500, whether the oil tank cover 424 in the automobile is well covered is judged, if yes, step 10 is executed, and if not, step 8 is executed;

in step 10, the tank cap opening and closing apparatus 200 is controlled to cap the automobile tank cap;

in the step 11, the composite paw is controlled to reach the optimum position and posture, the camera 500 is used for photographing the automobile, whether the outer cover of the automobile oil tank is covered is judged, if yes, the process is finished, and if not, the process returns to the step 10.

The automobile oil tank outer cover of the existing market vehicle has different sizes and shapes such as square, round corner square and the like, and the automobile inner oil tank cover 424 also has different sizes and shapes, so that great challenge is brought to the identification of the automobile oil tank outer cover and the automobile inner oil tank cover 424, and in order to solve the technical problem, the fuzzy identification is used in the invention, and the fuzzy identification specifically comprises the following steps: when the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 are/is identified, firstly, the outline of the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 is extracted, the size and the shape of the outline are identified to form feature data, the feature data are compared with data in a database, whether the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 are/is intelligently judged, the feature data are stored to the database once every time the automobile oil tank outer cover and/or the automobile inner oil tank cover 424 are intelligently judged, so that more and more data are stored in the database, convenience is brought to next identification, and accuracy is improved.

Because the image of the existing vision coming out when the light changes greatly, such as at night and in the daytime, the weather with sunlight and the weather without sunlight have great influence, the single exposure and other parameters cannot be identified, and even any image cannot be seen, in order to solve the technical problem, the invention uses the light intensity sensor to detect the intensity of the external light, and adjusts the exposure value of the camera 500 according to the intensity of the external light; meanwhile, according to the sunshine duration at that time, the optimal exposure value parameter at the moment is generated through a deep learning neural algorithm, so that the camera 500 obtains the optimal picture, the recognition rate and the recognition effect are ensured, and the method can adapt to external interference such as light change of the environment, weather change and the like. Meanwhile, polarized light glass is added in front of the lens of the camera 500, so that the interference of external light is reduced in a certain degree.

When the automobile fuel filling robot works, a user (driver) can place an order through the mobile phone APP, the oil product (for example, no. 92 gasoline) and the refueled money are filled when the order is placed, and the fuel filling robot can automatically refuel the automobile according to the order placing information of the user.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, numerous simple deductions or substitutions may be made without departing from the spirit of the invention, which shall be deemed to belong to the scope of the invention.

Claims

1. An oiling robot is characterized in that: the automobile refueling system comprises a mechanical arm (100), a camera (500) and a refueling executing mechanism, wherein the refueling executing mechanism is installed on the mechanical arm (100), the mechanical arm (100) drives the refueling executing mechanism to move, the camera (500) photographs a refueled automobile, and the mechanical arm (100) is guided to move and the refueling executing mechanism refuels the automobile;

the oiling actuating mechanism comprises an oil tank outer cover opening and closing device (200), an oil gun grabbing gun scratching oil control device (300) and an oil tank inner cover opening and closing device (400), wherein the oil tank outer cover opening and closing device (200) is used for opening and closing an automobile oil tank outer cover, the oil tank inner cover opening and closing device (400) is used for opening and closing an automobile inner oil tank cover (424), the oil gun grabbing gun scratching oil control device (300) is used for imitating a person to hold an oil gun for oiling, the oil tank outer cover opening and closing device (200), the oil gun grabbing gun scratching oil control device (300) and the oil tank inner cover opening and closing device (400) are installed together to form a composite paw, and the camera (500) is installed on the composite paw;

the oil tank outer cover opening and closing device (200) comprises a sucker fixing seat (201), two suckers (202) and two pressing heads (205), wherein the sucker (202) is connected with the sucker fixing seat (201), the suckers (202) are used for adsorbing the outer cover of the oil tank of the automobile, and the suckers (202) are located between the two pressing heads (205);

the mechanical arm (100) comprises six joint modules, a first connecting arm (107), a second connecting arm (108) and a robot fixing seat (130), the six joint modules are identical in structural principle, the six joint modules are respectively a first joint module (101), a second joint module (102), a third joint module (103), a fourth joint module (104), a fifth joint module (105) and a sixth joint module (106), each joint module comprises a motor (109), a motor base (110), a base (111) and a motor protection cover (112), the motor protection cover (112) is installed on the motor base (110) to enable the motor base (110) to be internally provided with a cavity, the motor (109) is installed in the cavity, and the motor (109) is used for driving the base (111) to rotate; a base (111) of the second joint module (102) is connected with a motor base (110) of the first joint module (101), and the rotation of the first joint module (101) drives the second joint module (102) to synchronously rotate; one end of the first connecting arm (107) is connected with a motor base (110) of the second joint module (102), the other end of the first connecting arm (107) is connected with a motor base (110) of the third joint module (103), and the second joint module (102) drives the third joint module (103) to synchronously rotate through the first connecting arm (107); the second connecting arm (108) is connected with a motor base (110) of the fourth joint module (104), and the third joint module (103) drives the second connecting arm (108) to rotate; a base (111) of the fourth joint module (104) is connected with a motor base (110) of the fifth joint module (105), and the fourth joint module (104) drives the fifth joint module (105) to rotate; the robot joint structure is characterized in that a base (111) of the fifth joint module (105) is connected with a motor base (110) of the sixth joint module (106), the fifth joint module (105) drives the sixth joint module (106) to rotate, the base (111) of the sixth joint module (106) is connected with the composite paw, the base (111) of the first joint module (101) is connected with the robot fixing base (130), the robot fixing base (130) is provided with an explosion-proof junction box, and the motor (109) is an explosion-proof servo motor.

2. The fueling robot of claim 1, wherein: the joint module further comprises a first synchronizing wheel (113), a second synchronizing wheel (114), a first synchronizing belt (115) and a first speed reducer, an output shaft of the motor (109) is connected with the first synchronizing wheel (113), the first synchronizing belt (115) is sleeved on the outer surface of the first synchronizing wheel (113) and the outer surface of the second synchronizing wheel (114), the first speed reducer is connected with the second synchronizing wheel (114), the base (111) and the first speed reducer are installed together, and the first speed reducer is a harmonic speed reducer; the joint module further comprises a motor fixing plate (119) and a motor supporting plate (120), the motor supporting plate (120) is installed on the motor base (110), the motor fixing plate (119) is installed on the motor supporting plate (120), and the motor (109) is installed on the motor fixing plate (119); the joint module further comprises a tension adjusting piece (121) and a tension adjusting stop bar (125), the tension adjusting stop bar (125) is installed on the motor supporting plate (120), the motor (109) is installed on the motor fixing plate (119), the first synchronizing wheel (113) is installed below the motor fixing plate (119), and the tension adjusting piece (121) is clamped between the motor fixing plate (119) and the tension adjusting stop bar (125) so as to tension the first synchronizing belt (115).

3. The fueling robot of claim 1, wherein: the oil tank outer cover opening and closing device (200) further comprises a swing rod support (206), a swing arm piece (207), a telescopic swing rod (208) and a tension spring (209), wherein the swing arm piece (207) can swing on the swing rod support (206), one end of the tension spring (209) is connected with the swing arm piece (207), the other end of the tension spring (209) is connected with the swing rod support (206), the swing arm piece (207) is provided with a cavity, the telescopic swing rod (208) extends into the cavity of the swing arm piece (207), the telescopic swing rod (208) can move in the cavity of the swing arm piece (207), and one end of the telescopic swing rod (208) is connected with the sucker fixing seat (201); the oil tank outer cover opening and closing device (200) further comprises a negative pressure generating mechanism and a sucker connecting rod (203), one end of the sucker connecting rod (203) is connected with the sucker fixing seat (201), the other end of the sucker connecting rod (203) is connected with the sucker (202), a hole is formed in the sucker connecting rod (203), the hole of the sucker connecting rod (203) is communicated with the sucker (202), an air tap (204) is installed on the sucker connecting rod (203), the air tap (204) is communicated with the hole of the sucker connecting rod (203), the negative pressure generating mechanism is connected with the air tap (204) through a connecting pipe, and the negative pressure generating mechanism is used for generating negative pressure; the outer surface of the telescopic swing rod (208) is sleeved with a linear bearing (216) and a compression spring (210), and the linear bearing (216) and the compression spring (210) are positioned in a cavity of the swing arm piece (207); the oil tank outer cover opening and closing device (200) further comprises an anti-rotation limiting block (211), one end of the anti-rotation limiting block (211) is mounted with the sucker fixing seat (201), and the other end of the anti-rotation limiting block (211) abuts against the upper surface of the swinging arm piece (207), so that the sucker fixing seat (201) is prevented from rotating; the oil tank outer cover opening and closing device (200) further comprises two pressing head fixing pieces (213), the two pressing head fixing pieces (213) are respectively arranged on two sides of the swing rod support (206), and the two pressing heads (205) are respectively arranged on the two pressing head fixing pieces (213); the oil tank outer cover opening and closing device (200) further comprises a fixed seat plate (214) and a protective cover (215), wherein the protective cover (215) is installed on the fixed seat plate (214), two holes are formed in the protective cover (215), the two pressing heads (205) respectively extend out of the two holes in the protective cover (215), and the swing rod bracket (206) is installed on the fixed seat plate (214).

4. The fueling robot of claim 1, wherein: oil gun snatchs and digs rifle accuse oil device (300) and includes base plate (301), first drive module (302), second drive module (303), oil gun centre gripping quiet piece (304), oil gun centre gripping movable part (305), accuse oil and digs rifle bar (306), oil gun centre gripping quiet piece (304) is installed on base plate (301), first drive module (302) with oil gun centre gripping movable part (305) link to each other, first drive module (302) are used for the drive oil gun centre gripping movable part (305) with oil gun centre gripping quiet piece (304) carry out the lock or separate, work as oil gun centre gripping movable part (305) with the handle that is used for pressing from both sides the oil gun when oil gun centre gripping quiet piece (304) lock together, second drive module (303) are used for the drive accuse oil is digged rifle bar (306) motion, accuse oil is digged rifle bar (306) and is used for withholding the spanner of oil gun and carries out the oil gun.

5. The fueling robot of claim 4, wherein: the oil gun clamping moving piece (305) is movably connected with the base plate (301), the first driving module (302) is a first air cylinder, an output shaft of the first air cylinder is connected with the oil gun clamping moving piece (305), and the first driving module (302) drives the oil gun clamping moving piece (305) to rotate on the base plate (301); the oil gun snatchs and digs rifle accuse oil device (300) and still includes oil gun accuse oil pull rod (308), second drive module (303) are the second cylinder, second cylinder output shaft with oil gun accuse oil pull rod (308) link to each other, accuse oil is scratched stock (306) and is installed on oil gun accuse oil pull rod (308), second cylinder output shaft through first cylinder adapter (309) with oil gun accuse oil pull rod (308) link to each other.

6. The fueling robot of claim 1, wherein: the inner tank lid opening and closing device (400) includes an apparatus body including a first driving unit (401) and a second driving unit (402), a cartridge (403), the first driving unit (401) driving the cartridge (403) to rotate, the second driving unit (402) opening or closing the cartridge (403).

7. The fueling robot of claim 6, wherein: the device (400) for opening and closing the inner cover of the oil tank further comprises a sleeve (404) and a pull rod (405), wherein the pull rod (405) extends into the sleeve (404), a gap is reserved between the outer surface of the pull rod (405) and the inner surface of the sleeve (404), the first driving unit (401) is used for driving the sleeve (404) to rotate, the clamping head (403) is installed with the sleeve (404), the second driving unit (402) is used for driving the pull rod (405) to move, and the clamping head (403) is opened or closed through the pull rod (405); the first driving unit (401) is a servo motor, the servo motor is used for driving the sleeve (404) to rotate, the equipment body further comprises a second speed reducer (406), a third synchronizing wheel (407), a fourth synchronizing wheel (408) and a second synchronous belt (409), an output shaft of the servo motor is connected with the second speed reducer (406), the second speed reducer (406) drives the third synchronizing wheel (407) to rotate, the second synchronous belt (409) is sleeved on the outer surface of the third synchronizing wheel (407) and the outer surface of the fourth synchronizing wheel (408), the fourth synchronizing wheel (408) and the third synchronizing wheel (407) are synchronously rotated through the second synchronous belt (409), the sleeve (404) and the fourth synchronizing wheel (408) are installed together, the sleeve (404) and the fourth synchronizing wheel (408) are synchronously rotated, the second driving unit (402) is a third cylinder, the equipment body further comprises a floating joint (410) and a second adapter (411), the third cylinder is connected with the second adapter (410), one end of the third cylinder is connected with the floating joint (410), the other end of the oil tank (411) is connected with the floating joint (400), and the floating joint (411) is connected with the oil tank (400), the device body is arranged in the shell (425), the clamping head (403) extends out of the shell (425), and the shell (425) is formed by a cover body (420) and a cover plate (421) which are assembled together; the equipment body further comprises a motor seat plate (413), a butt joint plate (414), an adjusting top plate (415), a fixed bottom plate (416) and a cylinder fixing seat (426), the second speed reducer (406) is installed on the motor seat plate (413), the motor seat plate (413) is installed on the cylinder fixing seat (426), the adjusting top plate (415) is installed on the motor seat plate (413), an adjusting screw (428) installed on the adjusting top plate (415) abuts against the butt joint plate (414), and the butt joint plate (414) is connected with the fixed bottom plate (416); the device body further comprises a photoelectric switch (418) and an inductor (419), a light blocking sheet (427) is installed on the outer surface of the sleeve (404), and the photoelectric switch (418) is matched with the light blocking sheet (427) to detect whether the sleeve (404) is reset to rotate to the origin; the sensor (419) is arranged on the third cylinder, and the sensor (419) is used for sensing the state of the output shaft of the third cylinder and detecting whether the output shaft of the third cylinder is in a pushing or pulling state; the clamping head (403) comprises a clamping head body (4031) and two clamping components, each clamping component comprises a first connecting rod (4032), a second connecting rod (4033), a third connecting rod (4034), a clamping block (4035), a clamping head (4036), a first connecting component (4037), a second connecting component (4038), a third connecting component (4039) and a fourth connecting component (4040), one end of the first connecting rod (4032) is rotationally connected with the pull rod (405), the other end of the first connecting rod (4032) is rotationally connected with the clamping head body (4031) through the first connecting component (4037), one end of the second connecting rod (4033) is connected with the other end of the first connecting rod (4032), the other end of the second connecting rod (4033) is rotationally connected with the clamping block (4035) through the fourth connecting component (4040), one end of the third connecting rod (4034) is rotationally connected with the clamping head body (4031) through the second connecting component (4038), the other end of the third connecting rod (4034) is rotationally connected with the clamping head body (4031) through the fourth connecting component (4039) and the clamping block (4035), and the clamping block (4038) are arranged in parallel, the second connecting rod (4033) and the third connecting rod (4034) are arranged in parallel, the clamping head (4036) and the clamping block (4035) are movably connected, a torsion handle of an oil tank cover (424) in the automobile is clamped through the two clamping heads (4036), and polarized light glass is installed in front of a lens of the camera (500).

8. A control method of the fueling robot of any one of claims 1 to 7, comprising the steps of:

step 1: the method comprises the steps that a camera (500) is used for shooting an automobile stopped in an oiling area, an automobile oil tank outer cover is identified, and the position of the automobile oil tank outer cover is obtained;

step 2: controlling an oil tank outer cover opening and closing device (200) to open the oil tank outer cover of the automobile according to the position of the oil tank outer cover of the automobile;

and 3, step 3: photographing the automobile through a camera (500), judging whether the outer cover of the automobile oil tank is opened or not, if so, executing the step 4, otherwise, returning to execute the step 2;

and 4, step 4: identifying an automobile inner fuel tank cover (424), acquiring the position of the automobile inner fuel tank cover (424), and controlling a fuel tank inner cover opening and closing device (400) to open the automobile inner fuel tank cover (424) according to the position of the automobile inner fuel tank cover (424);

and 5: photographing the automobile through a camera (500), judging whether an oil tank cover (424) in the automobile is opened or not, if so, executing a step 6, otherwise, returning to execute the step 4;

step 6: the method comprises the steps of acquiring oil filling port position information, and controlling an oil gun to grab a gun digging oil control device (300) to pick up the oil gun to fill the oil into an oil filling port according to the oil filling port position information;

and 7: after refueling is completed, the oil gun is controlled to grab the gun digging oil control device (300) to place the oil gun back into the gun stock of the refueling machine;

and 8: controlling an inner tank cover opening and closing device (400) to cover an inner tank cover (424) of the automobile;

and step 9: photographing the automobile through a camera (500), judging whether an oil tank cover (424) in the automobile is covered well, if so, executing the step 10, otherwise, returning to execute the step 8;

step 10: the opening and closing device (200) of the outer cover of the oil tank is controlled to cover the outer cover of the oil tank of the automobile;

step 11: and (3) photographing the automobile through a camera (500), judging whether the outer cover of the automobile oil tank is well covered, if so, finishing, and if not, returning to execute the step 10.

9. The control method according to claim 8,

in the step 1, firstly, a camera (500) is used for photographing an automobile entering a refueling area, the position and posture of the automobile relative to the composite paw are calculated, so that the optimal photographing position and posture are obtained, the composite paw is controlled to reach the optimal position and posture, the camera (500) is used for photographing the automobile to identify the outer cover of the automobile oil tank, and the position of the outer cover of the automobile oil tank is obtained;

in the step 3, firstly, the composite paw is controlled to reach the optimal position posture, then the automobile is photographed through a camera (500), whether the outer cover of the automobile oil tank is opened or not is judged, if yes, the step 4 is executed, and if not, the step 2 is executed;

in the step 5, firstly, the composite paw is controlled to reach the optimal position posture, the automobile is photographed through a camera (500), whether an automobile inner fuel tank cover (424) is opened or not is judged, if yes, the step 6 is executed, and if not, the step 4 is executed;

in the step 9, firstly, the composite paw is controlled to reach the optimal position posture, the automobile is photographed through a camera (500), whether an oil tank cover (424) in the automobile is covered or not is judged, if yes, the step 10 is executed, and if not, the step 8 is executed;

in the step 11, the composite paw is controlled to reach the optimal position posture, the automobile is photographed through a camera (500), whether the outer cover of the automobile oil tank is covered is judged, if yes, the operation is finished, and if not, the operation returns to the step 10.

10. The control method according to claim 8, wherein when the outer cover of the automobile fuel tank and/or the inner fuel tank cover (424) of the automobile is identified, firstly, the outline of the outer cover of the automobile fuel tank and/or the inner fuel tank cover (424) of the automobile is extracted, the size and the shape of the outline are identified to form characteristic data, the characteristic data is compared with data in a database, whether the characteristic data is the outer cover of the automobile fuel tank and/or the inner fuel tank cover (424) is intelligently judged, and the characteristic data is stored into the database once every time the characteristic data is intelligently judged.

11. The control method according to claim 8, wherein before the camera (500) takes a picture, the intensity of the external light is acquired, and the exposure value of the camera (500) is adjusted according to the intensity of the external light.

12. The control method according to claim 11, characterized in that before the camera (500) takes a picture, the optimal exposure value parameter of the camera (500) at that moment is generated by a deep learning neural algorithm according to the sunshine duration at that moment.

13. A control system for a fueling robot, comprising: memory, a processor and a computer program stored on the memory, the computer program being configured to carry out the steps of the control method of any one of claims 8-12 when invoked by the processor.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program configured to, when invoked by a processor, implement the steps of the control method according to any one of claims 8 to 12.