Mobile platform for refueling robot and refueling robot

Abstract

The present invention discloses a mobile platform for a refueling robot and a refueling robot, comprising a support frame and a mechanical arm workbench, wherein the support frame moves along the x-axis, two connecting rod mechanisms are arranged on one side of the support frame, and the two ends of the connecting rod mechanism are respectively connected to the support frame and the mechanical arm workbench for rotation, and the connecting rod mechanism drives the mechanical arm workbench to move on the y-axis and the z-axis. The present invention has a simple structure and is flexible to use. By setting a connecting rod mechanism, the movement of the mechanical arm workbench on the y-axis and the z-axis is simultaneously satisfied, and the movement of the three-degree-of-freedom is realized by cooperating with the movement of the support frame on the x-axis; the connecting rod mechanism can be extended and retracted on the y-axis, so that the space occupied by the mobile platform in the y-axis direction is reduced.

Description

Technical Field

[0001] The invention relates to the field of robot refueling, and in particular to a mobile platform for a refueling robot and a refueling robot. Background Art

[0002] Traditional refueling methods mainly rely on manual services, which have high labor costs and low intelligence levels. With the advancement of technology, existing technologies have also developed some semi-self-service refueling systems and methods, but the semi-self-service refueling method requires customers to operate it themselves after getting off the car, which, on the one hand, leads to a poor refueling experience for its customers, and on the other hand, the refueling efficiency is also low.

[0003] The Chinese invention patent application with publication number CN112299359A discloses a fully automatic refueling robot with a double-arm structure. By setting two mechanical arms, one of which is provided with a fuel tank cover opening and closing device for opening the fuel tank cover; and the other mechanical arm is provided with a refueling device for refueling, the full automation of vehicle refueling is realized. The above patent sets a three-axis moving device, which includes a walking frame arranged on a base for lateral movement by a lateral moving motor, a lifting seat arranged on the walking frame for up and down movement by a lifting motor, and a front-to-back moving platform arranged on the lifting seat for front-to-back movement by a front-to-back moving motor. The structure of this three-axis moving device is relatively complex, the device occupies a large space, and it is relatively inconvenient to use. Therefore, it is necessary to make technical improvements to the structure of the existing three-axis moving device to simplify its structure, improve its flexibility of use, and reduce the space it occupies. Summary of the invention

[0004] The purpose of the present invention is to propose a mobile platform and a refueling robot for a refueling robot. By setting a connecting rod mechanism, the movement of the robot arm workbench on the y-axis and the z-axis can be simultaneously satisfied, and the movement of the support frame on the x-axis is coordinated to realize three-degree-of-freedom movement; the connecting rod mechanism can be extended and retracted on the y-axis, so that the space occupied by the mobile platform in the y-axis direction is reduced, solving the problems raised in the background technology.

[0005] To achieve the above-mentioned objectives, on one hand, the present invention provides a mobile platform for a refueling robot, including a support frame and a robotic arm workbench, wherein the support frame moves along the x-axis, and two connecting rod mechanisms are arranged on one side of the support frame, and the two ends of the connecting rod mechanism are respectively rotatably connected to the support frame and the robotic arm workbench, and the connecting rod mechanism drives the robotic arm workbench to move on the y-axis and the z-axis.

[0006] Furthermore, the connecting rod mechanism includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the support frame, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the robotic arm workbench.

[0007] Furthermore, the connection between the first connecting rod and the second connecting rod is a bending point, and the bending points of the two connecting rod mechanisms are relatively bent inward, which can reduce the space occupied by the connecting rod mechanism. Those skilled in the art can set the distance between the upper and lower connecting rod mechanisms as needed to prevent them from colliding with each other.

[0008] Furthermore, a driving device is provided at the connection between the connecting rod mechanism and the support frame, and the driving device drives the connecting rod mechanism to rotate so that the robot arm worktable moves on the y-axis and the z-axis. The connecting rod mechanism only needs to be provided with a driving device at one end to meet the use requirements. Preferably, a driving device is provided at the connection between the support frame and the connecting rod mechanism, and the driving device and the support frame driving device that drives the support frame to move along the x-axis are integrated in the support frame for unified management. Of course, those skilled in the art can set the position of the driving device for driving the connecting rod mechanism to rotate as needed, for example, the driving device is provided at the connection between the connecting rod mechanism and the robot arm worktable.

[0009] Furthermore, a driving device is provided at the connection between the connecting rod mechanism and the support frame, and a driving device is provided at the connection between the connecting rod mechanism and the robotic arm workbench. The driving device drives the connecting rod mechanism to rotate, so that the robotic arm workbench moves on the y-axis and the z-axis.

[0010] Furthermore, a robotic arm is arranged on the robotic arm workbench.

[0011] Furthermore, a visual recognition device is provided on the robot arm workbench.

[0012] Another aspect of the present invention provides a refueling robot, comprising the above-mentioned mobile platform for the refueling robot.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] (1) The present invention has a simple structure and is flexible to use. By setting a connecting rod mechanism, the robot arm worktable can move on the y-axis and z-axis at the same time, and cooperates with the movement of the support frame on the x-axis to achieve three-degree-of-freedom movement;

[0015] (2) The linkage mechanism can be extended and retracted on the y-axis, so that the space occupied by the mobile platform in the y-axis direction is reduced;

[0016] (3) The two connecting rod mechanisms set up above and below can enable the robot arm workbench to maintain balance during the movement process.

[0017] (4) By controlling the rotation angle of the connecting rod mechanism, the first connecting rod of the connecting rod mechanism located at the top is kept parallel to the second connecting rod of the connecting rod mechanism located at the bottom, and the second connecting rod of the connecting rod mechanism located at the top is kept parallel to the first connecting rod of the connecting rod mechanism located at the bottom, so that the robot arm workbench is always kept parallel to the support frame, and the robot arm workbench is always in a vertical position, which can ensure the stability of the work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A front view of a mobile platform for a refueling robot according to the present invention;

[0019] Figure 2 It is a top view of the mobile platform for the refueling robot of the present invention.

[0020] In the figure: 1. base; 2. support frame; 3. robot arm workbench; 31. robot arm; 32. visual recognition device; 4. connecting rod mechanism; 41. first connecting rod; 42. second connecting rod; 43. bending part. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The following description of the specific implementation is only exemplary, and it should be understood that the specific implementation described herein is only used to explain the present invention, and is by no means a limitation of the present invention and its application or usage.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a centered element at the same time. On the contrary, when an element is referred to as being "directly on" another element, there is no intermediate element. On the contrary, when an element is referred to as being "directly" connected to another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0023] In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] Figure 1 A schematic structural diagram of a mobile platform for a refueling robot of this embodiment is shown, comprising a base 1 and a robotic arm workbench 3, a support frame 2 is provided on the base 1, the support frame 2 moves on the x-axis through a driving device such as a lead screw, and a robotic arm 31 and a visual recognition device 32 are provided on the robotic arm workbench 3.

[0025] like Figure 1 As shown, two link mechanisms 4 are arranged on one side of the support frame 2 in the y-axis direction, and the two ends of the link mechanism 4 are respectively rotatably connected to the support frame 2 and the robot arm worktable 3, and the link mechanism 4 drives the robot arm worktable 3 to move on the y-axis and the z-axis. Specifically, the link mechanism 4 includes a first link 41 and a second link 42, one end of the first link 41 is rotatably connected to the support frame 2, the other end of the first link 41 is rotatably connected to one end of the second link 42, and the other end of the second link 42 is rotatably connected to the robot arm worktable 3.

[0026] The connection between the first connecting rod 41 and the second connecting rod 42 is a bending part 43, and the bending parts 43 of the two connecting rod mechanisms 4 are relatively bent inwards, which can reduce the occupied space of the connecting rod mechanisms 4. Of course, in other embodiments, the bending parts 43 can also be bent relatively outwards.

[0027] The connecting rod mechanism 4 only needs to be provided with a driving device at one end thereof to meet the use requirements. Preferably, the driving device is provided at the connection between the support frame 2 and the connecting rod mechanism 4, and the driving device and the supporting frame 2 driving device for driving the supporting frame 2 to move along the x-axis are integrated and provided in the supporting frame 2 for easy unified management. Of course, those skilled in the art can set the position of the driving device for driving the connecting rod mechanism 4 to rotate as needed, for example, the driving device is provided at the connection between the connecting rod mechanism 4 and the robot arm worktable 3.

[0028] In a preferred embodiment, both ends of the connecting rod mechanism 4 are provided with a driving device, and the rotation angle of the connecting rod mechanism 4 is adjusted by the driving device, so that the first connecting rod 31 of the connecting rod mechanism 4 located at the top is parallel to the second connecting rod 42 of the connecting rod mechanism 4 located at the bottom, and the second connecting rod 42 of the connecting rod mechanism 4 located at the top is parallel to the first connecting rod 41 of the connecting rod mechanism 4 located at the bottom, so that the manipulator workbench 3 is always kept parallel to the support frame 2, so that the manipulator workbench 3 is always in a vertical position, and the working stability can be ensured. For example, the first connecting rod 31 of the connecting rod mechanism 4 located at the top rotates clockwise by a preset angle, and at this time, the second connecting rod 32 of the connecting rod mechanism 4 located at the bottom is controlled to rotate clockwise, so that the manipulator workbench 3 can be moved upward, and the manipulator workbench 3 is kept parallel to the support frame 2.

[0029] When the robot arm workbench 3 is not in use, the connecting rod mechanism 4 is in a retracted state, and the upper and lower connecting rod mechanisms 4 are relatively bent inward and retracted to the vicinity of the support frame 2 along the y-axis direction. At this time, the entire mobile platform occupies a small space. When the robot arm workbench 3 needs to be refueled, the support frame 2 moves to the target position along the x-axis, and the driving device drives the connecting rod mechanism 4 to rotate. The first connecting rod 41 drives the robot arm workbench 3 to move to the target position on the y-axis and z-axis through the second connecting rod 42, and the robot 31 set on the robot arm workbench 3 starts to work. During this process, the upper and lower connecting rod mechanisms 4 respectively support the upper and lower parts of the robot arm workbench 3, which can keep the robot arm workbench 3 balanced during movement.

[0030] This embodiment also provides a refueling robot, including the above-mentioned mobile platform for the refueling robot.

[0031] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0032] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A mobile platform for a refueling robot, comprising a support frame (2) and a robot arm workbench (3), wherein the support frame (2) moves along the x-axis, and is characterized in that: Two connecting rod mechanisms (4) are arranged on one side of the support frame (2) in an upper and lower position, and the two ends of the connecting rod mechanism (4) are rotatably connected to the support frame (2) and the robot arm workbench (3) respectively, and the connecting rod mechanism (4) drives the robot arm workbench (3) to move on the y-axis and the z-axis; The connecting rod mechanism (4) comprises a first connecting rod (41) and a second connecting rod (42), one end of the first connecting rod (41) is rotatably connected to the support frame (2), the other end of the first connecting rod (41) is rotatably connected to one end of the second connecting rod (42), and the other end of the second connecting rod (42) is rotatably connected to the mechanical arm workbench (3); A driving device is provided at the connection between the connecting rod mechanism (4) and the support frame (2), and a driving device is provided at the connection between the connecting rod mechanism (4) and the robot arm workbench (3), wherein the driving device drives the connecting rod mechanism (4) to rotate, so that the robot arm workbench (3) moves on the y-axis and the z-axis; Both ends of the connecting rod mechanism (4) are provided with driving devices, and the rotation angle of the connecting rod mechanism (4) is adjusted by the driving device, so that the first connecting rod (41) of the connecting rod mechanism (4) located at the top and the second connecting rod (42) of the connecting rod mechanism (4) located at the bottom remain parallel, and the second connecting rod (42) of the connecting rod mechanism (4) located at the top and the first connecting rod (41) of the connecting rod mechanism (4) located at the bottom remain parallel, so that the robot arm workbench (3) always remains parallel to the support frame (2), so that the robot arm workbench (3) is always in a vertical position, and the working stability can be guaranteed.

2. The mobile platform according to claim 1, characterized in that: The connection point between the first connecting rod (41) and the second connecting rod (42) is a bending point (43), and the bending points (43) of the two connecting rod mechanisms (4) are bent inwards relative to each other.

3. The mobile platform according to claim 1, characterized in that: A mechanical arm (31) is arranged on the mechanical arm workbench (3).

4. The mobile platform according to claim 1, characterized in that: The mechanical arm workbench (3) is provided with a visual recognition device (32).

5. A refueling robot, characterized in that: It comprises a mobile platform for a refueling robot as described in any one of claims 1-4.

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