CN112299359A - Full-automatic oiling robot with double-arm structure - Google Patents
Full-automatic oiling robot with double-arm structure Download PDFInfo
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- CN112299359A CN112299359A CN202011159843.8A CN202011159843A CN112299359A CN 112299359 A CN112299359 A CN 112299359A CN 202011159843 A CN202011159843 A CN 202011159843A CN 112299359 A CN112299359 A CN 112299359A
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- oil tank
- cover
- pull rope
- control system
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/0405—Opening devices
- B67D2007/0407—Opening devices for fuel tank flaps
- B67D2007/0411—Opening devices for fuel tank flaps using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/0417—Manipulator arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
Abstract
The invention discloses a full-automatic oiling robot with a double-arm structure, which comprises a control box internally provided with a control system, a three-axis moving device, a first visual identification device, an oil tank cover opening and closing device and an oiling device, wherein the three-axis moving device, the first visual identification device, the oil tank cover opening and closing device and the oiling device are respectively connected with the control system, the three-axis moving device comprises a base which is fixedly arranged, a walking frame which is arranged on the base and can realize transverse movement through a transverse moving motor, a lifting seat which is arranged on the walking frame and can realize up-and-down movement through a lifting motor, and a front-and-back moving platform which is arranged on the lifting seat and can realize front-and-back movement through a front-and-back moving motor, the fuel tank cap opening and closing device comprises a first mechanical arm arranged on the front-back moving platform and a fuel tank cap opening and closing mechanism connected to the front end of the first mechanical arm, the oiling device comprises a second mechanical arm arranged on the front-back moving platform and an oiling gun connected to the front end of the second mechanical arm. The invention realizes the full automation of vehicle oiling.
Description
Technical Field
The invention relates to the technical field of vehicle oiling, in particular to a full-automatic oiling robot with a double-arm structure.
Background
The traditional refueling mode mainly takes manual service as the main part, and its human cost is higher, intelligent level is lower. With the progress of the technology, some semi-self-service refueling systems and refueling methods are developed in the prior art, but the semi-self-service refueling method requires the customer to get off the vehicle and operate the system, so that the refueling experience of the customer is poor, and the refueling efficiency is low.
Therefore, technical improvement on the existing refueling system and refueling method is needed to realize full automation of vehicle refueling.
Disclosure of Invention
In order to solve the problems, the invention provides a full-automatic oiling robot with a double-arm structure, which aims to realize full automation of vehicle oiling. The specific technical scheme is as follows:
a full-automatic oiling robot with a double-arm structure comprises a control box internally provided with a control system, a three-axis moving device, a first visual recognition device, an oil tank cover opening and closing device and an oiling device which are respectively connected with the control system, the three-axis moving device comprises a base which is fixedly arranged, a walking frame which is arranged on the base and can realize transverse movement through a transverse moving motor, a lifting seat which is arranged on the walking frame and can realize up-and-down movement through a lifting motor, and a front-and-back moving platform which is arranged on the lifting seat and can realize front-and-back movement through a front-and-back moving motor, the fuel tank cap opening and closing device comprises a first mechanical arm arranged on the front-back moving platform and a fuel tank cap opening and closing mechanism connected to the front end of the first mechanical arm, the oiling device comprises a second mechanical arm arranged on the front-back moving platform and an oiling gun connected to the front end of the second mechanical arm.
Preferably, the first visual recognition device is arranged at the top of the walking frame, and the first mechanical arm and the second mechanical arm are arranged at the left side and the right side of the front-back moving table.
According to the oil tank cover opening and closing mechanism, the first mechanical arm is a multi-shaft mechanical arm with a plurality of rotating joints, a front-end rotating shaft is arranged at the front end of the multi-shaft mechanical arm, the oil tank cover opening and closing mechanism comprises an oil tank outer cover manipulator and an oil tank inner cover manipulator, the oil tank outer cover manipulator comprises a support arranged at the front end of the multi-shaft mechanical arm, an electric push rod arranged on the support, and a sucker arranged at the front end of a telescopic rod of the electric push rod, and the oil tank inner cover manipulator comprises a pneumatic chuck arranged on the front-end rotating shaft of the multi-shaft mechanical arm.
As a further improvement of the invention, a second visual recognition device for accurately judging the position of the oil tank inner cover relative to the oil tank outer cover is further arranged on the front-back moving platform, and the second visual recognition device is connected with the control system.
In the invention, a third sensing recognition device for recognizing the license plate number of the vehicle is arranged in front of the refueling parking area of the vehicle, the third sensing recognition device is connected with the control system, the control system is connected with a vehicle information system, and the control system distinguishes the license plate number of the vehicle through the third sensing recognition device and obtains the type of the vehicle and the refueling type corresponding to the license plate number through the vehicle information system.
Preferably, the sucker is a vacuum sucker, a circle of outer annular surface is arranged around a suction port of the vacuum sucker, a vacuum suction groove for sucking a rope body is formed in the outer annular surface and used for sucking the pull rope and shifting the pull rope to a normal position when the position of the pull rope on an inner cover of the oil tank is abnormal, and a suction hole communicated with a vacuum pipeline is formed in the vacuum suction groove.
As a further improvement of the invention, the pull rope is hung on the outer cover of the oil tank, a pull rope abnormal winding detection device is arranged on the outer cover manipulator of the oil tank, the pull rope abnormal winding detection device comprises a resistance strain gauge sensor which is pasted on the excircle of the front end of the telescopic rod of the electric push rod and is used for detecting the stress bending of the telescopic rod, and the resistance strain gauge sensor is connected with the control system; after the outer oil tank cover is opened, the inner oil tank cover is clamped by a pneumatic chuck on the manipulator of the inner oil tank cover, and meanwhile, a sucker on the manipulator of the outer oil tank cover is adjusted to be positioned at the inner side position of the opened outer oil tank cover through the electric push rod so as to be used for detecting abnormal winding conditions of the pull rope; the detection of the abnormal winding condition of the pull rope is that in the process of opening the oil tank inner cover in a rotating way, the oil tank outer cover is pulled by the pull rope after the pull rope is wound abnormally, so that the inner side of the oil tank outer cover presses one side of the sucker at the front end of the electric push rod, the telescopic rod of the electric push rod is stressed laterally, and the bending stress of the telescopic rod is sensed by the resistance strain gauge sensor attached to the excircle at the front end of the telescopic rod and is known by the control system.
In the invention, the oil filling steps of the full-automatic oil filling robot are as follows:
(1) obtaining the vehicle type and the refueling type: after the vehicle enters the refueling parking area to be in place, the control system identifies the license plate of the vehicle through the third visual identification device, and the vehicle type corresponding to the license plate of the vehicle and the type of oil needing refueling are obtained through the vehicle information system;
(2) opening an outer cover of the oil tank: the control system identifies the position of an outer cover of an oil tank of a vehicle through a first visual identification device, drives a three-axis moving device and a first mechanical arm to adjust an opening and closing mechanism of the oil tank cover to a proper position, then opens an outer cover manipulator of the oil tank on the opening and closing mechanism of the oil tank cover, and opens the outer cover of the oil tank by utilizing a sucker at the front end of a telescopic rod of an electric push rod on the outer cover manipulator of the oil tank;
(3) opening an inner cover of the oil tank: the control system accurately judges the position of the oil tank inner cover relative to the oil tank outer cover through a second visual recognition device, then an oil tank inner cover manipulator on an oil tank cover opening and closing mechanism is opened, and a pneumatic chuck on a front-end rotating shaft of the multi-shaft mechanical arm clamps the oil tank inner cover and screws the oil tank inner cover out in a rotating mode;
(4) oiling by an oil gun: the control system adjusts the oil gun to a proper position through the three-axis moving device and the second mechanical arm, the oil gun is inserted into the oil filling port of the oil tank through the second mechanical arm to fill oil, and the oil gun is automatically closed and withdrawn after oil filling;
(5) closing the oil tank cover: the control system closes the oil tank inner cover through the first mechanical arm and the oil tank inner cover manipulator on the first mechanical arm, and closes the oil tank outer cover through the first mechanical arm and the oil tank outer cover manipulator on the first mechanical arm.
Preferably, before the oil tank inner cover in the step (3) is opened, the control system identifies whether the position of the pull rope on the oil tank inner cover is abnormal through a second visual identification device, and when the position of the pull rope is abnormal, drives a suction cup on the oil tank outer cover manipulator, sucks the pull rope through a vacuum suction groove on the suction cup, and adjusts the pull rope to a normal position.
Similarly, in the closing of the tank cap in the step (5), the abnormality detection of the pull-cord position and the adjustment of the pull-cord position may be performed before the tank cap is closed.
Preferably, after the oil tank outer cover in the step (2) is opened and before the oil tank inner cover in the step (3) is opened, a pneumatic chuck on the oil tank inner cover manipulator clamps the oil tank inner cover, and meanwhile, a suction cup on the oil tank outer cover manipulator is adjusted to be located at the inner side position of the opened oil tank outer cover through the electric push rod for detecting the abnormal winding condition of the pull rope; the detection of the abnormal winding condition of the pull rope is that in the process that the inner cover of the oil tank in the step (3) is rotated and opened, the pull rope pulls the outer cover of the oil tank after the pull rope is abnormally wound, so that the inner side of the outer cover of the oil tank presses one side of a sucker at the front end of the electric push rod, the telescopic rod of the electric push rod is stressed laterally, and the bending stress of the telescopic rod is sensed by a resistance strain gauge sensor attached to the excircle at the front end of the telescopic rod and is known by the control system; the control system immediately stops the rotation of the inner cover of the oil tank to be opened after learning that the pull rope is abnormally wound, and disengages the pneumatic chuck on the front-end rotating shaft of the multi-shaft mechanical arm from the inner cover of the oil tank, and identifies the position of the pull rope on the inner cover of the oil tank through the second visual identification device, and the pull rope is sucked through the vacuum suction groove on the suction disc of the outer cover manipulator of the oil tank and is adjusted to the normal position, and then the opening operation of the inner cover of the oil tank is implemented again.
Similarly, in the step (5) of closing the fuel tank cap, the detection of the abnormal winding of the pull rope and the adjustment of the position of the pull rope may be performed before the fuel tank inner cap is closed.
In the invention, the motors used in the transverse moving motor, the lifting motor, the front-back moving motor and the electric push rod are all servo motors, and the servo motors are connected with a control system.
The invention has the beneficial effects that:
first, the full-automatic oiling robot with a double-arm structure of the present invention is provided with two mechanical arms on a front-back moving table of a three-axis moving device, wherein one mechanical arm is used for opening a fuel tank cap, and the other mechanical arm is used for oiling. The front-back moving platform can move back and forth, so that the flexibility of the two mechanical arms is improved, and the adaptability is good.
Secondly, the full-automatic oiling robot with the double-arm structure is provided with three visual recognition devices which are respectively used for vehicle recognition, oil tank outer cover position recognition and oil tank inner cover position recognition, wherein the second visual recognition device is closest to the oil tank cover and can move to the optimal camera shooting position through the three-axis moving device, so that the oil tank inner cover can be accurately positioned, and the reliability of the full-automatic oiling robot is improved.
Thirdly, the full-automatic oiling robot with the double-arm structure is provided with the vacuum suction grooves on the outer ring surface around the suction port of the vacuum suction disc, and the pull rope can be sucked and shifted to the normal position when the position of the pull rope of the inner cover of the oil tank is abnormal by matching with the second visual recognition device, so that the pull rope of the inner cover of the oil tank is protected, and the pull rope is prevented from being clamped by mistake or broken when the pull rope is wound abnormally.
Fourthly, the full-automatic oiling robot with the double-arm structure is provided with the pull rope abnormal winding detection device, so that the pull rope of the inner cover of the oil tank is further protected, and the reliability of the full-automatic oiling robot is improved.
Drawings
FIG. 1 is a schematic structural diagram of a full-automatic oiling robot with a double-arm structure according to the present invention;
FIG. 2 is a schematic structural diagram of a main body part of the full-automatic fueling robot of FIG. 1;
FIG. 3 is a schematic view of a first arm with a fuel cap opening and closing device (including a fuel cap outer manipulator and a fuel cap inner manipulator);
fig. 4 is a schematic structural view of the full-automatic oiling robot in fig. 1, further provided with a second visual recognition device on the front and rear moving tables;
fig. 5 is a schematic view of a structure in which a vacuum suction groove is provided in a vacuum chuck.
In the figure: 1. the device comprises a three-axis moving device, 2, a first visual identification device, 3, a fuel tank cover opening and closing device, 4, a fuel filling device, 5, a base, 6, a walking frame, 7, a lifting seat, 8, a front and back moving platform, 9, a first mechanical arm, 10, a fuel tank cover opening and closing mechanism, 11, a second mechanical arm, 12, a fuel filling gun, 13, a front end rotating shaft, 14, a fuel tank outer cover manipulator, 15, a fuel tank inner cover manipulator, 16, a support, 17, an electric push rod, 18, a suction cup, 19, a pneumatic chuck, 20, a vacuum suction groove, 21, a resistance strain gauge sensor, 22, a control box, 23, a vehicle refueling parking area, 24, an electric push rod telescopic rod, 25, a second visual identification device, 26, a suction port of the vacuum suction cup, 27, an outer annular surface, 28 and a suction hole.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 5, an embodiment of a full-automatic refueling robot with a double-arm structure according to the present invention includes a control box 22 with a built-in control system, a three-axis moving device 1, a first visual recognition device 2, a tank cap opening and closing device 3 and a refueling device 4, wherein the three-axis moving device 1 includes a base 5 fixedly installed, a traveling frame 6 installed on the base 5 and capable of moving transversely through a transverse moving motor, a lifting base 7 installed on the traveling frame 6 and capable of moving up and down through a lifting motor, and a front and rear moving platform 8 installed on the lifting base 7 and capable of moving back and forth through a front and rear moving motor, the tank cap opening and closing device 3 includes a first mechanical arm 9 installed on the front moving platform 8 and a tank cap opening and closing mechanism 10 connected to a front end of the first mechanical arm 9, the oiling device 4 comprises a second mechanical arm 11 arranged on the front-back moving platform 8 and an oiling gun 12 connected to the front end of the second mechanical arm 11.
In this embodiment, the control box is disposed on one side of the three-axis moving device.
Preferably, the first visual recognition device 2 is disposed on the top of the walking frame 6, and the first mechanical arm 9 and the second mechanical arm 11 are disposed on the left and right sides of the back-and-forth moving stage 8.
In this embodiment, the first arm 9 is a multi-axis arm having a plurality of rotational joints, a front end rotation shaft 13 is provided at a front end of the multi-axis arm, the tank cap opening and closing mechanism 10 includes an oil tank outer cap manipulator 14 and an oil tank inner cap manipulator 15, the oil tank outer cap manipulator 14 includes a bracket 16 provided at a front end of the multi-axis arm, an electric push rod 17 mounted on the bracket 16, and a suction cup 18 provided at a front end of an expansion link 24 of the electric push rod 17, and the oil tank inner cap manipulator 15 includes a pneumatic chuck 19 provided at the front end rotation shaft 13 of the multi-axis arm.
As a further improvement of this embodiment, a second visual recognition device 25 for accurately determining the position of the inner cover of the fuel tank relative to the outer cover of the fuel tank is further arranged on the front-back moving table 8, and the second visual recognition device 25 is connected with the control system.
In this embodiment, a third sensing and recognizing device for recognizing the license plate number is further disposed in front of the refueling parking area 23, the third sensing and recognizing device is connected to the control system, the control system is connected to the vehicle information system, and the control system identifies the license plate number through the third sensing and recognizing device and obtains the vehicle type and the refueling type corresponding to the license plate number through the vehicle information system.
Preferably, the suction cup 18 is a vacuum suction cup, a circle of outer annular surface 27 is arranged around a suction port 26 of the vacuum suction cup 18, a vacuum suction groove 20 for sucking a rope body is arranged on the outer annular surface 27, so that the rope body can be sucked by the suction groove and can be shifted to a normal position when the position of the rope on the inner cover of the oil tank is abnormal, and a suction hole 28 communicated with a vacuum pipeline is arranged on the vacuum suction groove 20.
As a further improvement of this embodiment, the pull rope is hung on the outer cover of the oil tank, the outer cover manipulator 14 of the oil tank is provided with a pull rope abnormal winding detection device, the pull rope abnormal winding detection device includes a resistance strain gauge sensor 21 adhered to an outer circle of the front end of the telescopic rod 24 of the electric push rod for detecting the forced bending of the telescopic rod 24, and the resistance strain gauge sensor 21 is connected to the control system; after the oil tank outer cover is opened, the oil tank inner cover is clamped by a pneumatic chuck 19 on the oil tank inner cover manipulator 15, and meanwhile, a suction cup 18 on the oil tank outer cover manipulator 14 is adjusted to be positioned at the inner side position of the opened oil tank outer cover through an electric push rod 17 so as to be used for detecting abnormal winding of a pull rope; the abnormal winding condition of the pull rope is detected by pulling the outer cover of the oil tank by the pull rope after the abnormal winding of the pull rope in the process of rotating and opening the inner cover of the oil tank, so that the inner side of the outer cover of the oil tank presses one side of the suction disc 18 at the front end of the electric push rod 17, the telescopic rod 24 of the electric push rod 17 is stressed in the lateral direction, and the bending stress of the telescopic rod 24 is sensed by the resistance strain gauge sensor 21 attached to the excircle at the front end of the telescopic rod 24 and is known by the control system.
In this embodiment, the step of refueling of full-automatic refueling robot is:
(1) obtaining the vehicle type and the refueling type: after the vehicle enters the refueling parking area 23 to be in place, the control system identifies the license plate of the vehicle through the third visual identification device, and the vehicle type corresponding to the license plate of the vehicle and the type of oil needing refueling are obtained through the vehicle information system;
(2) opening an outer cover of the oil tank: the control system identifies the position of the outer cover of the oil tank of the vehicle through the first visual identification device 2, drives the three-axis moving device 1 and the first mechanical arm 9 to adjust the opening and closing mechanism 10 of the oil tank cover to a proper position, then opens the outer cover manipulator 14 of the oil tank on the opening and closing mechanism 10 of the oil tank cover, and opens the outer cover of the oil tank through the suction disc 18 at the front end of the telescopic rod 24 of the electric push rod 17 on the outer cover manipulator 14 of the oil tank;
(3) opening an inner cover of the oil tank: the control system accurately judges the position of the oil tank inner cover relative to the oil tank outer cover through a second visual recognition device 25, then the oil tank inner cover manipulator 15 on the oil tank cover opening and closing mechanism 10 is opened, and a pneumatic chuck 19 on a front end rotating shaft 13 of the multi-shaft mechanical arm clamps the oil tank inner cover to rotate and screw out the oil tank inner cover;
(4) oiling by an oil gun: the control system adjusts the oil gun to a proper position through the three-axis moving device 1 and the second mechanical arm 11, the oil gun 12 is inserted into the oil filling port of the oil tank through the second mechanical arm 11 to fill oil, and the oil gun is automatically closed and withdrawn after oil filling;
(5) closing the oil tank cover: the control system closes the tank lids by means of the first robot 9 and the tank lid manipulator 15 on said first robot 9 and closes the tank lids by means of the first robot 9 and the tank lid manipulator 14 on said first robot 9.
Preferably, before the oil tank inner lid in the step (3) is opened, the control system recognizes whether the position of the pull rope on the oil tank inner lid is abnormal by the second visual recognition device 25, and when the position of the pull rope is abnormal, drives the suction cup 18 on the oil tank outer lid manipulator 14 and sucks the pull rope by the vacuum suction groove 20 on the suction cup 18 and adjusts the pull rope to a normal position.
Similarly, in the closing of the tank cap in the step (5), the abnormality detection of the pull-cord position and the adjustment of the pull-cord position may be performed before the tank cap is closed.
Preferably, after the oil tank outer cover in the step (2) is opened and before the oil tank inner cover in the step (3) is opened, the oil tank inner cover is clamped by a pneumatic chuck 19 on the oil tank inner cover manipulator 15, and meanwhile, a suction cup 18 on the oil tank outer cover manipulator 14 is adjusted to be positioned at the inner side position of the opened oil tank outer cover through the electric push rod 17 for detecting the abnormal winding condition of the pull rope; the detection of the abnormal winding condition of the pull rope is that in the process that the inner cover of the oil tank in the step (3) is rotated and opened, the outer cover of the oil tank is pulled by the pull rope after the pull rope is abnormally wound, so that the inner side of the outer cover of the oil tank presses one side of the suction disc 18 at the front end of the electric push rod 17, the telescopic rod 24 of the electric push rod 17 is stressed laterally, and the bending stress of the telescopic rod 24 is sensed by the resistance strain gauge sensor 21 attached to the excircle at the front end of the telescopic rod 24 and is known by the control system; the control system immediately stops the rotation of the inner cover of the oil tank to open after knowing that the pull rope is abnormally wound, separates a pneumatic chuck 19 on a front-end rotating shaft 13 of the multi-shaft mechanical arm from the inner cover of the oil tank, identifies the position of the pull rope on the inner cover of the oil tank through a second visual identification device 25, sucks the pull rope through a vacuum suction groove 20 on a suction disc 18 of the outer cover manipulator 14 of the oil tank, adjusts the pull rope to a normal position, and then carries out the opening operation of the inner cover of the oil tank again.
Similarly, in the step (5) of closing the fuel tank cap, the detection of the abnormal winding of the pull rope and the adjustment of the position of the pull rope may be performed before the fuel tank inner cap is closed.
In this embodiment, the motors used in the transverse moving motor, the lifting motor, the front-back moving motor and the electric push rod 17 are all servo motors, and the servo motors are connected with a control system.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a full-automatic oiling robot with double-arm structure, its characterized in that, including built-in control system's control box, connect respectively control system's triaxial mobile device, first visual identification device, fuel tank cap headstock gear and filling device, triaxial mobile device is including fixed base, the setting that sets up realize lateral shifting's walking frame, setting through the lateral shifting motor on the base and be in realize the lift seat that reciprocates through elevator motor on the walking frame, set up and be in realize the back-and-forth movement platform of back-and-forth movement through the back-and-forth movement motor on the lift seat, fuel tank cap headstock gear is including installing first arm on the back-and-forth movement platform, connect in the fuel tank cap headstock gear of first arm front end, filling device is including installing second arm, the oil tank cap headstock gear on the back-and-forth movement platform, And the oil gun is connected to the front end of the second mechanical arm.
2. The robot of claim 1, wherein the first visual recognition device is disposed on a top of the walking frame, and the first robot arm and the second robot arm are disposed on left and right sides of the back-and-forth moving stage.
3. The robot of claim 2, wherein the first arm is a multi-axis arm having a plurality of rotational joints, a front end of the multi-axis arm is provided with a front end rotational shaft, the tank cap opening and closing mechanism includes an outer tank cap manipulator and an inner tank cap manipulator, the outer tank cap manipulator includes a bracket provided at a front end of the multi-axis arm, an electric push rod mounted on the bracket, and a suction cup provided at a front end of a telescopic rod of the electric push rod, and the inner tank cap manipulator includes a pneumatic chuck provided at the front end rotational shaft of the multi-axis arm.
4. A full-automatic oiling robot with a double-arm structure according to claim 3, wherein the back-and-forth moving platform is further provided with a second visual recognition device for accurately judging the position of the inner tank cover relative to the outer tank cover, and the second visual recognition device is connected with the control system.
5. The robot of claim 4, further comprising a third sensing device for identifying the license plate number of the vehicle, wherein the third sensing device is connected to the control system, the control system is connected to the vehicle information system, and the control system identifies the license plate number of the vehicle through the third sensing device and obtains the type of the vehicle and the type of the fuel to be added corresponding to the license plate number through the vehicle information system.
6. The robot as claimed in claim 3, wherein the suction cup is a vacuum suction cup, the suction opening of the vacuum suction cup is surrounded by an outer circumferential surface, the outer circumferential surface is provided with a vacuum groove for sucking the rope and shifting the rope to a normal position when the position of the rope on the inner lid of the oil tank is abnormal, and the vacuum groove is provided with a suction hole for communicating with a vacuum pipeline.
7. The full-automatic oiling robot with the double-arm structure as claimed in claim 6, wherein the pull rope is hung on the outer cover of the oil tank, a pull rope abnormal winding detection device is arranged on the outer cover manipulator of the oil tank, the pull rope abnormal winding detection device comprises a resistance strain gauge sensor which is pasted on the excircle of the front end of the telescopic rod of the electric push rod and is used for detecting the stress bending of the telescopic rod, and the resistance strain gauge sensor is connected with the control system; after the outer oil tank cover is opened, the inner oil tank cover is clamped by a pneumatic chuck on the manipulator of the inner oil tank cover, and meanwhile, a sucker on the manipulator of the outer oil tank cover is adjusted to be positioned at the inner side position of the opened outer oil tank cover through the electric push rod so as to be used for detecting abnormal winding conditions of the pull rope; the detection of the abnormal winding condition of the pull rope is that in the process of opening the oil tank inner cover in a rotating way, the oil tank outer cover is pulled by the pull rope after the pull rope is wound abnormally, so that the inner side of the oil tank outer cover presses one side of the sucker at the front end of the electric push rod, the telescopic rod of the electric push rod is stressed laterally, and the bending stress of the telescopic rod is sensed by the resistance strain gauge sensor attached to the excircle at the front end of the telescopic rod and is known by the control system.
8. The full-automatic oiling robot with a double-arm structure according to any one of claims 1 to 7, wherein the oiling steps of the full-automatic oiling robot are as follows:
(1) obtaining the vehicle type and the refueling type: after the vehicle enters the refueling parking area to be in place, the control system identifies the license plate of the vehicle through the third visual identification device, and the vehicle type corresponding to the license plate of the vehicle and the type of oil needing refueling are obtained through the vehicle information system;
(2) opening an outer cover of the oil tank: the control system identifies the position of an outer cover of an oil tank of a vehicle through a first visual identification device, drives a three-axis moving device and a first mechanical arm to adjust an opening and closing mechanism of the oil tank cover to a proper position, then opens an outer cover manipulator of the oil tank on the opening and closing mechanism of the oil tank cover, and opens the outer cover of the oil tank by utilizing a sucker at the front end of a telescopic rod of an electric push rod on the outer cover manipulator of the oil tank;
(3) opening an inner cover of the oil tank: the control system accurately judges the position of the oil tank inner cover relative to the oil tank outer cover through a second visual recognition device, then an oil tank inner cover manipulator on an oil tank cover opening and closing mechanism is opened, and a pneumatic chuck on a front-end rotating shaft of the multi-shaft mechanical arm clamps the oil tank inner cover and screws the oil tank inner cover out in a rotating mode;
(4) oiling by an oil gun: the control system adjusts the oil gun to a proper position through the three-axis moving device and the second mechanical arm, the oil gun is inserted into the oil filling port of the oil tank through the second mechanical arm to fill oil, and the oil gun is automatically closed and withdrawn after oil filling;
(5) closing the oil tank cover: the control system closes the oil tank inner cover through the first mechanical arm and the oil tank inner cover manipulator on the first mechanical arm, and closes the oil tank outer cover through the first mechanical arm and the oil tank outer cover manipulator on the first mechanical arm.
9. The robot of claim 8, wherein the control system recognizes whether there is an abnormality in the position of the pull rope on the inner tank lid by the second visual recognition means before the inner tank lid in the step (3) is opened, and when the position of the pull rope is abnormal, drives a suction cup on the outer tank lid manipulator and sucks the pull rope by using a vacuum groove on the suction cup and adjusts the pull rope to a normal position.
10. The robot of claim 8, wherein after the oil tank cover is opened in step (2) and before the oil tank cover is opened in step (3), the oil tank cover is clamped by a pneumatic chuck on the oil tank cover manipulator, and a suction cup on the oil tank cover manipulator is adjusted to a position inside the opened oil tank cover by the electric push rod for detecting abnormal winding of the pull rope; the detection of the abnormal winding condition of the pull rope is that in the process that the inner cover of the oil tank in the step (3) is rotated and opened, the pull rope pulls the outer cover of the oil tank after the pull rope is abnormally wound, so that the inner side of the outer cover of the oil tank presses one side of a sucker at the front end of the electric push rod, the telescopic rod of the electric push rod is stressed laterally, and the bending stress of the telescopic rod is sensed by a resistance strain gauge sensor attached to the excircle at the front end of the telescopic rod and is known by the control system; the control system immediately stops the rotation of the inner cover of the oil tank to be opened after learning that the pull rope is abnormally wound, and disengages the pneumatic chuck on the front-end rotating shaft of the multi-shaft mechanical arm from the inner cover of the oil tank, and identifies the position of the pull rope on the inner cover of the oil tank through the second visual identification device, and the pull rope is sucked through the vacuum suction groove on the suction disc of the outer cover manipulator of the oil tank and is adjusted to the normal position, and then the opening operation of the inner cover of the oil tank is implemented again.
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| CN113400975A (en) * | 2021-07-17 | 2021-09-17 | 苏州金钥匙测试系统有限公司 | Automatic charging system of new energy automobile |
| CN113400973A (en) * | 2021-07-17 | 2021-09-17 | 苏州金钥匙测试系统有限公司 | Automatic charging device of electric brush type new energy automobile |
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| CN114228481A (en) * | 2022-01-10 | 2022-03-25 | 北京雷神博峰信息技术有限责任公司 | Mechanical claw control method for opening fuel tank cover of automobile fuel port |
| CN114436199A (en) * | 2022-02-24 | 2022-05-06 | 正星科技股份有限公司 | Intelligent integrated robot oiling machine and oiling method |
| CN114735641A (en) * | 2022-04-07 | 2022-07-12 | 正星科技股份有限公司 | Composite tail end filling device and method for automatic robot filling equipment |
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