CN113894802B - Snake-shaped arm oiling robot - Google Patents
Snake-shaped arm oiling robot Download PDFInfo
- Publication number
- CN113894802B CN113894802B CN202010573353.6A CN202010573353A CN113894802B CN 113894802 B CN113894802 B CN 113894802B CN 202010573353 A CN202010573353 A CN 202010573353A CN 113894802 B CN113894802 B CN 113894802B
- Authority
- CN
- China
- Prior art keywords
- snake
- clamping
- oil
- shaped arm
- arm robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B67D7/38—Arrangements of hoses, e.g. operative connection with pump motor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to automatic energy supply equipment, in particular to a snake-shaped arm oiling robot. Comprises a snake-shaped arm robot, an end effector, an oil supply system, an oil pipe and an oil gun; the snake-shaped arm robot is arranged on the oil supply system, and the end effector is arranged at the execution end of the snake-shaped arm robot; the oil gun is arranged on the end effector; one end of the oil pipe is connected with the oil supply system, and the other end of the oil pipe penetrates through the snake-shaped arm robot and is connected with the oil gun. The invention has small occupied area, small occupied space, compact structure, built-in oil way and high efficiency, integrates the traditional oiling machine and the snake-shaped arm robot, and has strong comprehensive applicability.
Description
Technical Field
The invention relates to automatic energy supply equipment, in particular to a snake-shaped arm oiling robot.
Background
In the field of automated energy supply, articulated fuelling robots (industrial robots) are a common solution. But the industrial robot with the explosion-proof function has the technical defects of large occupied area, large occupied space and low efficiency (a mode of grabbing an oil gun) due to the fact that the industrial robot is large in structural size, large in whole machine weight and low in load capacity. The existing industrial robot can only stay in the verification stage of the experimental principle prototype, and cannot be truly applied to the field of actual energy supply (gas stations).
Disclosure of Invention
In view of the above, an object of the present invention is to provide a serpentine arm refueling robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a snake-shaped arm oiling robot comprises a snake-shaped arm robot, an end effector, an oil supply system, an oil pipe and an oil gun;
the snake-shaped arm robot is arranged on the oil supply system, and the end effector is arranged at the execution end of the snake-shaped arm robot;
the oil gun is arranged on the end effector;
one end of the oil pipe is connected with the oil supply system, and the other end of the oil pipe penetrates through the snake-shaped arm robot and is connected with the oil gun.
The snake-shaped arm robot comprises a snake-shaped arm robot body, a driving unit and a plurality of traction steel wire ropes; the driving unit is arranged on the oil supply system; one end of the snake-shaped arm robot body is connected with the driving unit, and the other end of the snake-shaped arm robot body is connected with the end effector;
one end of each traction wire rope is connected with the driving unit, and the other end of each traction wire rope is accommodated in the snake-shaped arm robot body and is connected with each joint of the snake-shaped arm robot body;
the driving unit drives the snake-shaped arm robot body to perform bending action through the traction steel wire rope.
The snake-shaped arm robot body comprises a rigid fixed arm, a flexible arm long section, a flexible arm short section and a flexible arm end section which are sequentially hinged, wherein the rigid fixed arm is connected with the driving unit, and the flexible arm end section is connected with the end effector;
each joint of the snake-shaped arm robot body is connected with three traction steel wire ropes uniformly distributed along the circumferential direction.
The driving unit comprises a driving unit frame and a plurality of linear driving mechanisms which are arranged in the driving unit frame and respectively connected with the traction steel wire ropes, and the linear driving mechanisms drive the snake-shaped arm robot body to bend through the traction steel wire ropes.
The end effector comprises a connecting block, and an oil gun clamping mechanism and a steering mechanism which are arranged on the connecting block, wherein the steering mechanism is provided with an outer switch oil tank cover mechanism and an inner switch oil tank cover mechanism, and the steering mechanism is used for position conversion between the outer switch oil tank cover mechanism and the inner switch oil tank cover mechanism;
the oil gun clamping mechanism is connected with the execution end of the snake-shaped arm robot and used for clamping the oil gun.
The switch oil tank outer cover mechanism comprises a vacuum chuck, a mechanical touch probe, a shell I, a pushing cylinder, a switching mechanism and a chuck connecting rod, wherein the shell I is connected with the steering mechanism, and the mechanical touch probe and the chuck connecting rod are arranged in parallel and are both in sliding connection with the shell I;
the pushing cylinder is arranged in the shell I, and the output end of the pushing cylinder is connected with one end of the sucker connecting rod; the vacuum sucker is connected with the other end of the sucker connecting rod and is positioned at the outer side of the shell I;
the switching mechanism is arranged in the shell I and is connected with the mechanical touch probe and the sucker connecting rod; the switching mechanism is used for driving the mechanical touch probe to stretch and retract, and the stretching direction is opposite to that of the sucker connecting rod.
The switching mechanism comprises a rotating shaft and a swinging rod, wherein the swinging rod is arranged in the shell I through the rotating shaft and is positioned between the mechanical touch probe and the sucker connecting rod;
and sliding grooves are formed in the two ends of the swing rod, and the mechanical touch probe and the sucker connecting rod are respectively connected with the sliding grooves in the two ends of the swing rod in a sliding manner.
The switch oil tank inner cover mechanism comprises an explosion-proof torque motor, a clamping cylinder, a gear transmission mechanism, an angle flexible adjusting mechanism, a clamping jaw, a traction rope, a rotating sleeve and a shell II, wherein one end of the shell II is connected with the steering mechanism, and the rotating sleeve is rotatably arranged at the other end of the shell II; the clamping jaw is connected with the rotating sleeve through an angle flexible adjusting mechanism;
the explosion-proof torque motor and the clamping cylinder are arranged in the shell II, and the explosion-proof torque motor is connected with the rotating sleeve through a gear transmission mechanism;
the traction rope passes through the rotating sleeve, and two ends of the traction rope are respectively connected with the clamping cylinder and the clamping jaw; the clamping cylinder drives the clamping jaw to open or close through the traction rope.
The clamping oil gun mechanism comprises a clamping base, a clamping unit and a hooking unit;
the clamping base is connected with the connecting block, the clamping unit is arranged on the clamping base, and the hooking unit is arranged on the clamping unit;
the hooking unit comprises a hooking cylinder and a switch bolt, and the switch bolt is arranged at the output end of the hooking cylinder; the hooking cylinder drives the switch bolt to stretch and retract, so that a trigger of the oil gun is pulled.
The snake-shaped arm oiling robot further comprises a visual identification positioning system and an electric control system; the visual recognition positioning system is used for recognizing the position and the gesture of the vehicle fuel tank cover and the fuel port and outputting the position and the gesture; the electronic control system is used for receiving the position and posture information of the vehicle fuel tank cover and the fuel port output by the visual recognition positioning system and controlling the snake-shaped arm robot to perform the refueling action according to the position and posture information.
The invention has the advantages and beneficial effects that:
the snake-shaped arm oiling robot provided by the invention is suitable for providing a series of operations such as automatic oil tank cover opening and oiling for an oiling vehicle under the existing traditional arrangement of a filling station. The invention has small occupied area, small occupied space, compact structure, built-in oil way and high efficiency, integrates the traditional oiling machine and the snake-shaped arm robot, and has strong comprehensive applicability.
Drawings
FIG. 1 is a schematic diagram of a serpentine arm fueling robot of the present invention;
FIG. 2 is an isometric view of a serpentine arm robot of the present invention;
FIG. 3 is an enlarged view of FIG. 2 at I;
FIG. 4 is one of the isometric views of the end effector of the present invention;
FIG. 5 is a second perspective view of an end effector of the present invention;
FIG. 6 is a schematic view of the structure of the switch tank cover mechanism of the present invention;
FIG. 7 is a schematic view of the structure of the switch tank inner cap mechanism of the present invention;
FIG. 8 is an isometric view of a clip-on gun mechanism of the present invention;
fig. 9 is a schematic view of the structure of the oil supply system of the present invention.
In the figure: 1 is a snake-shaped arm robot, 11 is a snake-shaped arm robot body, 111 is a rigid fixed arm, 112 is a flexible arm long joint, 113 is a flexible arm short joint, 114 is a flexible arm tail joint, 115 is a hooke joint cross shaft, 12 is a driving unit, 121 is a driving unit frame, 122 is a driving fixed block, 123 is a linear guide rail, 124 is a coupler, 125 is a speed reducer, 126 is a motor, 127 is a steel wire rope fixed end, 13 is a traction steel wire rope, 2 is an end effector, 21 is a switch oil tank outer cover mechanism, 211 is a vacuum chuck, 212 is a mechanical touch probe, 213 is a shell I, 214 is a sensor, 215 is a pushing cylinder, 216 is a rotating shaft, 217 is a swinging rod, 218 is a chuck connecting rod, 22 is a switch oil tank inner cover mechanism, 221 is an explosion-proof torque motor, 222 is a coupler, 223 is a clamping cylinder, 224 is a pinion, 225 is a large gear, 226 is an angle flexible adjusting mechanism, 227 is a clamping jaw, 228 is a steel wire rope, 229 is a fixing piece, 2210 is a sleeve I, 2211 is a sleeve II, 2212 is a rotating sleeve, 2213 is a shell II, 23 is a clamping oil gun mechanism, 231 is a clamping unit, 2311 is a clamping oil gun cylinder, 2312 is an oil gun clamping jaw, 232 is a hooking unit, 2321 is a hooking cylinder, 2322 is a switching bolt, 233 is a clamping base, 24 is a connecting block, 25 is a steering mechanism, 251 is a steering base, 252 is a steering cylinder, 26 is a connecting flange, 3 is a visual recognition positioning system, 31 is a binocular camera, 32 is a camera bracket, 4 is an electric control system, 5 is an oil supply system, 51 is an outer cover, 52 is a motor, 53 is an oil pump, 54 is an electromagnetic valve, 55 is a flowmeter, 56 is a snap-off valve, 6 is an oil pipe, 7 is an oil gun, and 8 is an intelligent interaction system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in FIG. 1, the invention provides a snake-shaped arm oiling robot, which comprises a snake-shaped arm robot 1, an end effector 2, an oil supply system 5, an oil pipe 6 and an oil gun 7; the snake-shaped arm robot 1 is arranged on the oil supply system 5, and the end effector 2 is arranged at the execution end of the snake-shaped arm robot 1; the oil gun 7 is arranged on the end effector 2; one end of the oil pipe 6 is connected to the oil supply system 5, and the other end passes through the serpentine arm robot 1 and is connected to the oil gun 7.
In the embodiment of the invention, the snake-shaped arm oiling robot further comprises a visual identification positioning system 3, an electric control system 4 and an intelligent interaction system 8; the visual recognition positioning system 3 is used for recognizing the position and the gesture of the vehicle fuel tank cover and the fuel port and outputting the position and the gesture; the electronic control system 4 is used for receiving the position and posture information of the vehicle fuel tank cover and the fuel port output by the visual recognition positioning system 3, and controlling the snake-shaped arm robot 1 to perform the refueling action according to the position and posture information.
Specifically, the visual recognition positioning system 3 includes a binocular camera and a camera mount on which the binocular camera is mounted.
In the embodiment of the present invention, as shown in fig. 2, the serpentine arm robot 1 includes a serpentine arm robot body 11, a driving unit 12, and a plurality of traction steel wire ropes 13; the driving unit 12 is arranged on the oil supply system 5, one end of the snake-shaped arm robot body 11 is connected with the driving unit 12, and the other end is connected with the end effector 2; one end of each traction wire rope 13 is connected with the driving unit 12, and the other end is accommodated in the snake-shaped arm robot body 11 and is connected with each joint of the snake-shaped arm robot body 11; the driving unit 12 drives the snake-shaped arm robot body 11 to perform bending motion through the traction wire rope 13.
Specifically, as shown in fig. 2-3, the serpentine arm robot body 11 includes a rigid fixed arm 111, a flexible arm long section 112, a flexible arm short section 113 and a flexible arm end section 114 that are hinged in sequence, wherein the rigid fixed arm 111 is connected with the driving unit 12, the flexible arm long section 112 and the flexible arm short section 113 can be multi-sectioned, and the flexible arm end section 114 is connected with the end effector 2.
Specifically, each joint of the snake-shaped arm robot body 11 is provided with a hooke joint cross shaft 115, and two adjacent flexible arms are connected by the hooke joint cross shaft 115.
Further, each joint of the snake-shaped arm robot body 11 is connected with three traction steel wire ropes 13 uniformly distributed along the circumferential direction, and bending action of the joint is achieved through traction of the three traction steel wire ropes 13.
In the embodiment of the present invention, as shown in fig. 2, the driving unit 12 includes a driving unit frame 121 and a plurality of linear driving mechanisms disposed in the driving unit frame 121 and respectively connected to the traction wire ropes 13, and the linear driving mechanisms drive the serpentine arm robot body 11 to bend through the traction wire ropes 13.
Specifically, the linear driving mechanism comprises a linear guide rail 123, a screw nut driving mechanism and a steel wire rope fixing end 127, wherein the screw nut driving mechanism comprises a screw, a screw nut, a coupler 124, a speed reducer 125 and a motor 126, wherein the motor 126 is connected with the speed reducer 125, the speed reducer 125 is connected with one end of the screw nut through the coupler 124, the other end of the screw nut is connected with the driving unit frame 121 through a driving fixing block 122, and the screw nut is in threaded connection with the screw nut to form a thread pair. The steel wire rope fixed end 127 is in sliding connection with the linear guide rail 123, and meanwhile, the steel wire rope fixed end 127 is connected with a nut; the motor 126 drives the screw rod to rotate, so that the wire rope fixing end 127 is driven by the screw rod to slide along the linear guide rail 123; the wire rope fixed end 127 is connected with a traction wire rope 13, so that the joint of the snake-shaped arm robot body 11 is pulled to bend by the traction wire rope 13, and the snake-shaped arm robot body 11 executes corresponding functional actions.
In the embodiment of the invention, as shown in fig. 4-5, the end effector 2 comprises a connecting block 24, and a clamping oil gun mechanism 23 and a steering mechanism 25 which are arranged on the connecting block 24, wherein the steering mechanism 25 is provided with a switch oil tank outer cover mechanism 21 and a switch oil tank inner cover mechanism 22, and the steering mechanism 25 is used for switching the positions of the switch oil tank outer cover mechanism 21 and the switch oil tank inner cover mechanism 22; the clamping oil gun mechanism 23 is connected to the execution end of the serpentine arm robot 1 for clamping the oil gun 7.
As shown in fig. 5, the steering mechanism 25 includes a steering base 251 and a steering cylinder 252, wherein the steering base 251 is rotatably connected with the connection block 24, the steering cylinder 252 is provided in the connection block 24, and an output end is connected with the steering base 251, and the steering base 251 is driven to rotate. The switch tank cover mechanism 21 and the switch tank inner cover mechanism 22 are provided on the steering base 251 and form an angle of 90 degrees.
In the embodiment of the present invention, as shown in fig. 6, the switch oil tank cover mechanism 21 includes a vacuum chuck 211, a mechanical touch probe 212, a housing i 213, a pushing cylinder 215, a switching mechanism, and a chuck link 218, wherein the housing i 213 is connected to the steering mechanism 25, and the mechanical touch probe 212 and the chuck link 218 are disposed in parallel and are slidably connected to the housing i 213. The pushing cylinder 215 is arranged in the shell I213, and the output end of the pushing cylinder is connected with one end of the sucker connecting rod 218; the vacuum chuck 211 is elastically connected with the other end of the chuck link 218 and is positioned outside the housing I213; the pushing cylinder 215 can drive the sucker rod 218 to perform telescopic action. The switching mechanism is arranged in the shell I213 and is connected with the mechanical touch probe 212 and the sucker connecting rod 218; the switching mechanism is used for driving the mechanical touch probe 212 to stretch and retract, and the stretching direction is opposite to that of the sucker rod 218. The opening and closing oil tank cover mechanism 21 senses the oil tank cover through the touch of the mechanical touch probe 212, and the vacuum chuck 211 holds the cover to execute opening and closing actions.
In the embodiment of the invention, the switching mechanism comprises a rotating shaft 216 and a swinging rod 217, wherein the swinging rod 217 is arranged in the shell I213 through the rotating shaft 216 and is positioned between the mechanical touch probe 212 and the sucker connecting rod 218; the two ends of the swing rod 217 are provided with sliding grooves, and the mechanical touch probe 212 and the sucker connecting rod 218 are respectively connected with the sliding grooves at the two ends of the swing rod 217 in a sliding manner. When the pushing cylinder 215 drives the sucker connecting rod 218 and the vacuum sucker 211 to extend forwards, the mechanical touch probe 212 is driven by the swing rod 217 to retract backwards; when the pushing cylinder 215 drives the sucker rod 218 and the vacuum sucker 211 to retract backward, the mechanical touch probe 212 is driven by the swing rod 217 to extend forward.
In the embodiment of the present invention, as shown in fig. 7, the switch oil tank inner cover mechanism 22 includes an explosion-proof torque motor 221, a clamping cylinder 223, a gear transmission mechanism, an angle flexible adjustment mechanism 226, a clamping jaw 227, a traction rope 228, a rotating sleeve 2212, and a housing ii 2213, wherein one end of the housing ii 2213 is connected with a steering base 251 of the steering mechanism 25, and the rotating sleeve 2212 is rotatably disposed at the other end of the housing ii 2213; the clamping jaw 227 is connected with the rotating sleeve 2212 through an angle flexible adjusting mechanism 226; the explosion-proof torque motor 221 and the clamping cylinder 223 are both arranged in the shell II 2213, and the explosion-proof torque motor 221 is connected with the rotating sleeve 2212 through a gear transmission mechanism; the pulling rope 228 passes through the rotating sleeve 2212, and both ends are respectively connected with the clamping cylinder 223 and the clamping jaw 227, and the clamping cylinder 223 drives the clamping jaw 227 to open or close through the pulling rope 228.
Specifically, the gear transmission mechanism includes a pinion 224 and a bull gear 225, wherein the bull gear 225 is fixed in a housing ii 2213 by a fixture 229 and is connected to a rotating sleeve 2212; pinion 224 is connected to the output shaft of explosion proof torque motor 221 through coupling 222 and is meshed with gear wheel 225.
The explosion proof torque motor 221 drives the rotating sleeve 2212 to rotate through a gear transmission mechanism, so as to drive the clamping jaw 227 to rotate.
Further, the outer side of the traction rope 228 is sleeved with a sleeve I2210 and a sleeve II 2211, one end of the sleeve I2210 is inserted into the fixing piece 229, and the other end is inserted into the rotating sleeve 2212; sleeve ii 2211 is disposed between angularly flexible adjustment mechanism 226 and jaws 227, and pull cable 228 is free to move within sleeve i 2210 and sleeve ii 2211.
The opening and closing tank inner cap mechanism 22 clamps the tank inner cap by driving the clamping jaw 227 by the clamping cylinder 223, and the pinion 224, the large gear 225 and the angle flexible adjusting mechanism 226 are driven by the explosion-proof torque motor 221 to enable the clamping jaw 227 to screw the inner cap in a state of clamping the tank inner cap, thereby executing the action of opening and closing the tank inner cap.
In the embodiment of the present invention, as shown in fig. 8, the clamping oil gun mechanism 23 includes a clamping base 233, a clamping unit 231, and a hooking unit 232, the clamping base 233 is connected to the connection block 24, the clamping unit 231 is disposed on the clamping base 233, and the hooking unit 232 is disposed on the clamping unit 231.
In this embodiment, the clamping unit 231 is a prior art, and includes a clamping oil gun cylinder 2311 and an oil gun clamping jaw 2312 connected to the clamping oil gun cylinder 2311, wherein the clamping oil gun cylinder 2311 drives the oil gun clamping jaw 2312 to open or close.
In this embodiment, the hooking unit 232 includes a hooking cylinder 2321 and a switch bolt 2322, the hooking cylinder 2321 is disposed on the oil gun clamping jaw 2312, and the switch bolt 2322 is disposed at an output end of the hooking cylinder 2321; the hooking cylinder 2321 drives the switch bolt 2322 to extend and retract, thereby pulling the trigger of the oil gun 7.
The clamping gun mechanism 23 clamps the gun by a clamping gun cylinder 231 and drives the gun to perform a fueling operation by a hooking cylinder 232.
In the embodiment of the invention, as shown in fig. 9, the oil supply system 5 comprises a housing 51, and a motor 52, an oil pump 53, an electromagnetic valve 54, a flow meter 55 and a breaking valve 56 which are arranged in the housing 51, wherein the motor 52 is connected with the oil pump 53, the flow meter 55 and the breaking valve 56 are arranged at the infusion port of the oil pump 53, and the breaking valve 56 is connected with the oil pipe 6. The oil supply system 5 provides oil delivery for the serpentine arm refueling robot when performing a refueling operation, and the snap-off valve 56 can provide oil shut-off and protection in emergency situations (e.g., when the vehicle is accidentally pulling the gun).
The working principle of the invention is as follows:
when the refueling vehicle stops to a designated refueling station, the visual recognition positioning system 3 firstly recognizes the position and the gesture of the outer cover of the vehicle fuel tank, the snake-shaped arm robot 1 which receives the gesture information moves to the designated position of the outer cover of the vehicle fuel tank, and the snake-shaped arm robot 1 drives the end effector 2 to open the outer cover of the fuel tank. The visual recognition positioning system 3 recognizes the position and the gesture of the inner cover of the vehicle oil tank, and the snake-shaped arm robot 1 drives the end effector 2 to unscrew and open the inner cover of the oil tank. The visual recognition positioning system 3 recognizes the position and the posture of the oil port of the vehicle, the serpentine arm robot 1 stretches the oil gun 7 into the oil tank port, the oil supply system 5 executes the oil filling operation, and the serpentine arm robot 1 pulls out the oil gun 7 after the oil filling is completed. The snake-shaped arm robot 1 drives the end effector 2 to put and twist the inner cover of the oil tank. The snake-shaped arm robot 1 drives the end effector 2 to close the outer cover of the oil tank, and the snake-shaped arm robot 1 resets to finish one oiling operation. The driving unit 12 drives the snake-shaped arm robot 1 to stretch out and draw back and execute actions, the electric control system 4 is responsible for power supply, distribution and control functions, and the oil supply system 5 provides required oil on the basis of metering and filtering. The driver does not need to get off the vehicle in the whole oiling process, and can complete the whole oiling process only by carrying out corresponding interactive operation with the intelligent interactive system 8.
According to the invention, the oil gun is fixed on the tail end actuator of the snake-shaped arm robot, and the gun grabbing action is not required when the snake-shaped arm robot executes the oiling action. The oil pipe and the wiring are both arranged in the hollow structure of the snake-shaped arm joint, no redundant pipeline is exposed outside the robot body structure, and the whole oiling process is flexible in action and simple in operation.
The snake-shaped arm oiling robot provided by the invention is suitable for providing a series of operations of automatically opening and closing an oil tank cover and oiling oil for an oiling vehicle under the existing traditional arrangement of a filling station. The invention has small occupied area, small occupied space, compact structure, built-in oil way, integrated oil gun and robot and high working efficiency.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The snake-shaped arm oiling robot is characterized by comprising a snake-shaped arm robot (1), an end effector (2), an oil supply system (5), an oil pipe (6) and an oil gun (7);
the snake-shaped arm robot (1) is arranged on the oil supply system (5), and the end effector (2) is arranged at the execution end of the snake-shaped arm robot (1);
the oil gun (7) is arranged on the end effector (2);
one end of the oil pipe (6) is connected with the oil supply system (5), and the other end of the oil pipe penetrates through the snake-shaped arm robot (1) and is connected with the oil gun (7);
the end effector (2) comprises a connecting block (24), and a clamping oil gun mechanism (23) and a steering mechanism (25) which are arranged on the connecting block (24), wherein the steering mechanism (25) is provided with a switch oil tank outer cover mechanism (21) and a switch oil tank inner cover mechanism (22), and the steering mechanism (25) is used for switching the positions of the switch oil tank outer cover mechanism (21) and the switch oil tank inner cover mechanism (22);
the oil gun clamping mechanism (23) is connected to the execution end of the serpentine arm robot (1) and used for clamping the oil gun (7);
the switch oil tank outer cover mechanism (21) comprises a vacuum chuck (211), a mechanical touch probe (212), a shell I (213), a pushing cylinder (215), a switching mechanism and a chuck connecting rod (218), wherein the shell I (213) is connected with the steering mechanism (25), and the mechanical touch probe (212) and the chuck connecting rod (218) are arranged in parallel and are both in sliding connection with the shell I (213);
the pushing cylinder (215) is arranged in the shell I (213), and the output end of the pushing cylinder is connected with one end of the sucker connecting rod (218); the vacuum chuck (211) is connected with the other end of the chuck connecting rod (218) and is positioned outside the shell I (213);
the switching mechanism is arranged in the shell I (213) and is connected with the mechanical touch probe (212) and the sucker connecting rod (218); the switching mechanism is used for driving the mechanical touch probe (212) to stretch and retract, and the stretching direction is opposite to the stretching direction of the sucker connecting rod (218).
2. The snake-arm refueling robot according to claim 1, wherein the snake-arm robot (1) comprises a snake-arm robot body (11), a driving unit (12) and a plurality of traction steel wire ropes (13);
the driving unit (12) is arranged on the oil supply system (5);
one end of the snake-shaped arm robot body (11) is connected with the driving unit (12), and the other end of the snake-shaped arm robot body is connected with the end effector (2);
one end of each traction wire rope (13) is connected with the driving unit (12), and the other end of each traction wire rope is accommodated in the snake-shaped arm robot body (11) and is connected with each joint of the snake-shaped arm robot body (11);
the driving unit (12) drives the snake-shaped arm robot body (11) to perform bending action through the traction steel wire rope (13).
3. The snake-arm refueling robot according to claim 2, wherein the snake-arm robot body (11) comprises a rigid fixed arm (111), a flexible arm long joint (112), a flexible arm short joint (113) and a flexible arm end joint (114) which are hinged in sequence, wherein the rigid fixed arm (111) is connected with the driving unit (12), and the flexible arm end joint (114) is connected with the end effector (2);
each joint of the snake-shaped arm robot body (11) is connected with three traction steel wire ropes (13) which are uniformly distributed along the circumferential direction.
4. The snake-arm refueling robot according to claim 2, wherein the driving unit (12) comprises a driving unit frame (121) and a plurality of linear driving mechanisms which are arranged in the driving unit frame (121) and are respectively connected with the traction steel wire ropes (13), and the linear driving mechanisms drive the snake-arm robot body (11) to bend through the traction steel wire ropes (13).
5. The serpentine arm refueling robot as recited in claim 1, wherein the switching mechanism comprises a rotary shaft (216) and a swing link (217), wherein the swing link (217) is mounted within the housing i (213) by the rotary shaft (216) and is located between the mechanical touch probe (212) and the suction cup link (218);
the two ends of the swing rod (217) are provided with sliding grooves, and the mechanical touch probe (212) and the sucker connecting rod (218) are respectively connected with the sliding grooves at the two ends of the swing rod (217) in a sliding mode.
6. The snake-shaped arm refueling robot according to claim 1, wherein the switch oil tank inner cover mechanism (22) comprises an explosion-proof torque motor (221), a clamping cylinder (223), a gear transmission mechanism, an angle flexible adjusting mechanism (226), a clamping jaw (227), a traction rope (228), a rotating sleeve (2212) and a shell ii (2213), wherein one end of the shell ii (2213) is connected with the steering mechanism (25), and the rotating sleeve (2212) is rotatably arranged at the other end of the shell ii (2213); the clamping jaw (227) is connected with the rotating sleeve (2212) through an angle flexible adjusting mechanism (226);
the explosion-proof torque motor (221) and the clamping cylinder (223) are arranged in the shell II (2213), and the explosion-proof torque motor (221) is connected with the rotating sleeve (2212) through a gear transmission mechanism;
the traction rope (228) passes through the rotating sleeve (2212), and two ends of the traction rope are respectively connected with the clamping cylinder (223) and the clamping jaw (227); the clamping cylinder (223) drives the clamping jaw (227) to open or close through the traction rope (228).
7. The serpentine arm refueling robot as recited in claim 1, wherein the clamping gun mechanism (23) comprises a clamping base (233), a clamping unit (231) and a hooking unit (232);
the clamping base (233) is connected with the connecting block (24), the clamping unit (231) is arranged on the clamping base (233), and the hooking unit (232) is arranged on the clamping unit (231);
the hooking unit (232) comprises a hooking cylinder (2321) and a switch bolt (2322), and the switch bolt (2322) is arranged at the output end of the hooking cylinder (2321); the hooking cylinder (2321) drives the switch bolt (2322) to stretch and retract, so that a trigger of the oil gun (7) is pulled.
8. Serpentine arm fueling robot as recited in any one of claims 1-7 further comprising a visual identification location system (3) and an electronic control system (4);
the visual recognition positioning system (3) is used for recognizing the position and the gesture of the vehicle fuel tank cover and the fuel port and outputting the position and the gesture;
the electronic control system (4) is used for receiving the position and posture information of the vehicle fuel tank cover and the fuel port output by the visual recognition positioning system (3) and controlling the snake-shaped arm robot (1) to perform the refueling action according to the position and posture information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573353.6A CN113894802B (en) | 2020-06-22 | 2020-06-22 | Snake-shaped arm oiling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573353.6A CN113894802B (en) | 2020-06-22 | 2020-06-22 | Snake-shaped arm oiling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113894802A CN113894802A (en) | 2022-01-07 |
| CN113894802B true CN113894802B (en) | 2023-06-23 |
Family
ID=79186160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010573353.6A Active CN113894802B (en) | 2020-06-22 | 2020-06-22 | Snake-shaped arm oiling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113894802B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115194743A (en) * | 2022-07-25 | 2022-10-18 | 北京航空航天大学 | A surplus thing suction device for snakelike arm robot is terminal |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE602007011075D1 (en) * | 2007-10-22 | 2011-01-20 | Rotec Engineering B V | Fuel nozzle and automatic tank system with it |
| CN106926223A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of snake-shaped robot |
| CN106517073B (en) * | 2016-08-31 | 2018-11-09 | 孙良云 | Automobile full-automatic oiling machine hand system |
| CN207738442U (en) * | 2018-01-11 | 2018-08-17 | 北京微油科技服务有限公司 | Group refueling automatic oiling device |
| CN108751107A (en) * | 2018-07-24 | 2018-11-06 | 广东天机工业智能***有限公司 | Oiling robot and intelligent refueling system |
| EP3870410A2 (en) * | 2018-10-26 | 2021-09-01 | KUKA Deutschland GmbH | Device for automatically charging a vehicle, in particular an electric vehicle |
| CN110182746B (en) * | 2019-07-08 | 2024-01-30 | 广东贝林能源设备有限公司 | Intelligent full-automatic oiling robot and intelligent full-automatic oiling system |
| CN110329979A (en) * | 2019-08-02 | 2019-10-15 | 广州市双枪智能科技有限公司 | Snakelike arm oiling robot apparatus and system |
-
2020
- 2020-06-22 CN CN202010573353.6A patent/CN113894802B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113894802A (en) | 2022-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113370245B (en) | Mechanical arm clamp holder capable of automatically bending and returning | |
| CN113894802B (en) | Snake-shaped arm oiling robot | |
| CN104209953A (en) | Robot electric gripper | |
| CN214167350U (en) | Automatic oiling device | |
| CN201597007U (en) | Electric press plier | |
| CN206703048U (en) | A kind of mechanical grip device suitable for grain pre-treatment | |
| CN210819578U (en) | Multifunctional gripper device for wind power bolt robot | |
| CN108312160A (en) | A kind of flexible robot for narrow space detection | |
| CN105904131A (en) | Full-automatic welding mechanical arm | |
| CN215756416U (en) | Refuel terminal assembly of robot and refuel robot | |
| CN112109928B (en) | Multi-size self-adaptive space flexible capture docking mechanism and capture method | |
| CN110842898A (en) | Underwater robot with manipulator | |
| CN102513997A (en) | Mechanical arm | |
| CN106181987A (en) | Natural buoyancy adjustable flexible underwater manipulator | |
| CN208179536U (en) | A kind of link mechanism formula catching robot | |
| CN201064904Y (en) | Bogie examining and repairing manipulator clamping mechanism | |
| CN111431097B (en) | Automatic installation device for wire clamp of live working robot and use method of automatic installation device | |
| CN109205542A (en) | A kind of automobile multifunctional oiling robot | |
| CN106514619B (en) | A kind of friction mechanism hand | |
| CN107498572B (en) | Rack idle stroke transmission parallel coupling switching self-adaptive robot finger device | |
| CN102120319B (en) | Electric press plier | |
| CN201722138U (en) | Wharf loading arm quick joint | |
| CN213532632U (en) | Mechanical, electric and hydraulic integrated manipulator | |
| CN101767324B (en) | Electric crimping tool | |
| CN209598523U (en) | A kind of five axis all-position welding industrial robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |