Automobile oil cap opening device and automatic refueling robot

Abstract

The present invention discloses an automobile inner oil cap opening device and an automatic refueling robot. The opening device includes a gripping mechanism and a rotating mechanism that drives the gripping mechanism to rotate and open the inner oil cap. The gripping mechanism extends forward with a plurality of parallel retractable ejector pins. When the gripping mechanism extends toward the automobile inner oil cap, at least some of the retractable ejector pins are squeezed and retracted. The ejector pins aligned with the inner oil cap gripping part retract more than the ejector pins on its side. In this way, the ejector pins on its side are juxtaposed with the inner oil cap gripping part. The rotating mechanism drives the gripping mechanism to rotate, so that the ejector pins juxtaposed with the inner oil cap gripping part push the inner oil cap gripping part to rotate, thereby unscrewing the inner oil cap. The above-mentioned opening device can push the inner oil cap gripping part to rotate and unscrew the inner oil cap without using a camera to identify the shape of the inner oil cap and the position of its gripping part.

Description

Technical Field

[0001] The invention relates to the technical field of automatic refueling robots, in particular to an automobile oil cap opening device and an automatic refueling robot. Background Art

[0002] With the improvement of economic level, more and more people buy cars as a means of transportation. At present, most cars on the market are fuel vehicles. After running out of fuel, you need to go to a gas station to refuel before you can continue on the road. At present, most gas stations are manually refueling, which has high labor costs. In order to save labor costs, most gas stations employ fewer workers than the number of gas pumps. If there are too many cars waiting to be refueled, there will be a shortage of manpower, and users will have to wait for a long time.

[0003] In order to save labor costs, technicians in the industry have developed some automatic refueling robots to achieve mechanical automation without manual operation. However, due to the different shapes of the inner oil caps of different cars, the current automatic refueling robots need to use cameras to identify the shape of the inner oil cap and the location of its gripping part, and then control the refueling robot's gripping fingers to rotate to an angle that can grip the gripping part of the inner oil cap, then extend and grip the gripping part of the inner oil cap, and then rotate and unscrew the inner oil cap. This way of opening the cap is cumbersome to operate. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automobile inner oil cap opening device and an automatic refueling robot including the opening device, which can push the inner oil cap grasping part to rotate and unscrew the inner oil cap without using a camera to recognize the shape of the inner oil cap and the position of its grasping part.

[0005] In order to solve the above technical problems, the present invention provides an inner oil cap opening device for an automobile, comprising a gripping mechanism and a rotating mechanism for driving the gripping mechanism to rotate and open the inner oil cap. The gripping mechanism extends forward with a plurality of retractable ejector pins arranged in parallel. When the gripping mechanism extends toward the inner oil cap of the automobile, at least some of the retractable ejector pins are squeezed and retracted. The ejector pin aligned with the gripping portion of the inner oil cap retracts more than the ejector pins on its side. In this way, the ejector pins on its side are juxtaposed with the gripping portion of the inner oil cap. The rotating mechanism drives the gripping mechanism to rotate, so that the ejector pins juxtaposed with the gripping portion of the inner oil cap push the gripping portion of the inner oil cap to rotate, thereby unscrewing the inner oil cap.

[0006] Optionally, the grasping mechanism has a retractable air pipe extending forward, and a suction cup for sucking the inner oil cover is connected to the front end of the retractable air pipe.

[0007] Optionally, the gripping mechanism includes a locking member for locking the retractable ejector pin, wherein the locking member locks the ejector pin to prevent the ejector pin from resetting and extending forward during the process of rotating and unscrewing the inner oil cap.

[0008] Optionally, the gripping mechanism includes a locking drive device for driving the locking member to lock the ejector pin.

[0009] Optionally, the locking member is a card plate having a plurality of card holes for a plurality of ejector pins to pass through respectively, and a plurality of card protrusions are arranged along the needle axis at the rear of each ejector pin. When the card plate moves radially, the side walls of the card holes on the card plate are respectively clamped on a card protrusion on the corresponding ejector pin, thereby locking all the ejector pins.

[0010] Optionally, the locking drive device has a push rod, which drives the above-mentioned card plate through a lever structure. Specifically: the locking drive device is installed behind the card plate and is located on the main axis of the grabbing mechanism; the lever is located beside the main axis, and its front end is connected to the card plate and the rear end is located beside the locking drive device; the locking drive device radially extends a push rod to the side to push the rear end of the lever, and the front end of the lever drives the card plate to move in the opposite direction to clamp the protrusion on the ejector pin.

[0011] Optionally, the grabbing mechanism is provided with a radial guide rod at the rear end of the lever for guiding the radial movement of the rear end of the lever, and a return spring for providing a return force for the lever is sleeved on the radial guide rod.

[0012] Optionally, the grasping mechanism has a retractable air pipe extending forward, a front end of the retractable air pipe is connected to a suction cup for sucking the inner oil cover, and the locking member locks the ejector pin and the air pipe together.

[0013] Optionally, the retractable air pipe and the ejector pin are respectively provided with return springs for providing return force therefor.

[0014] An automatic refueling robot comprises a controller, a mechanical arm electrically connected to the controller, and an automobile inner oil cap opening device arranged at the end of the mechanical arm. The controller controls the mechanical arm to drive the opening device to move to the automobile inner oil cap to rotate and unscrew the inner oil cap. The opening device is the automobile inner oil cap opening device as described above.

[0015] The grabbing mechanism of the above-mentioned opening device is provided with a retractable ejector pin. Since the inner oil cap grabbing part usually protrudes from the inner oil cap surface, when the grabbing mechanism extends toward the inner oil cap, the retractable ejector pin is squeezed and retracted. The ejector pin facing the inner oil cap grabbing part retracts more than the ejector pins beside it, so the ejector pins beside it are juxtaposed with the inner oil cap grabbing part. In this state, the rotating mechanism drives the grabbing mechanism to rotate, and the retractable ejector pins on both sides of the inner oil cap grabbing part rotate accordingly, thereby pushing the inner oil cap grabbing part to rotate and unscrew the inner oil cap. In this way, the above-mentioned opening device can push the inner oil cap grabbing part to rotate and unscrew the inner oil cap without using a camera to identify the shape of the inner oil cap and the position of its grabbing part. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the oil cap opening device in the automobile;

[0017] Figure 2It is a side view of the oil cap opening device in the automobile, and the dotted line in the figure is the main axis of the grabbing mechanism;

[0018] Figure 3 is along Figure 2 Section view along the AA section line;

[0019] Figure 4 This is a structural diagram of the oil cap opening device in the car with the outer shell of the grabbing mechanism hidden;

[0020] Figure 5 It is a structural diagram of the ejector pin of the oil cap opening device in the car;

[0021] Figure 6 This is a state diagram of the oil cap opening device of the automobile when it extends toward the inner oil cap;

[0022] Figure 7 yes Figure 6 A magnified schematic diagram of point B in the middle.

[0023] Description of the drawings: 11. Grasping mechanism; 12. Ejector pin; 121. Clamping convex part; 122. Clamping block; 13. Air pipe; 131. Suction cup; 14. Return spring; 15. Limiting plate; 20. Pneumatic motor; 31. Cylinder; 32. Radial guide rod; 33. Return spring; 34. Lever; 35. Clamping plate; 36. Fulcrum; 37. Limiting pin; 40. Inner oil cover; 41. Inner oil cover grasping part. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with specific implementation methods.

[0025] The automatic refueling robot system includes a refueling machine and an automatic refueling robot. The automatic refueling robot includes a serpentine mechanical arm, a camera device, and a controller electrically connected to the serpentine mechanical arm and the camera device. The refueling machine is communicatively connected to the controller of the automatic refueling robot. The refueling gun of the refueling machine is fixed at a position other than the main axis of the end of the serpentine mechanical arm. An inner oil cover opening device is provided at the main axis of the end of the serpentine mechanical arm, and the inner oil cover opening device is electrically connected to the controller. An outer oil cover suction cup is provided at the end of the serpentine mechanical arm next to the inner oil cover opening device.

[0026] When it is time to refuel the user's car, the automatic refueling robot uses the camera device to identify the location of the outer cover of the car's fuel tank, then controls the serpentine robot arm to move to the location of the outer cover of the fuel tank and aligns the outer cover suction cup with the outer cover of the fuel tank to press and suck the outer cover, and then controls the serpentine robot arm to drive the outer cover suction cup to pull open the outer cover. After pulling open the outer cover, the automatic refueling robot controls the serpentine robot arm to drive the inner cover opening device to move to align with the fuel tank opening to unscrew the inner cover. Figure 1As shown in Figure 2, the inner oil cover opening device includes a gripping mechanism 11, which has a plurality of parallel retractable ejector pins 12 extending forward, and a retractable air pipe 13 extending along the main axis, and a suction cup 131 is connected to the front end of the retractable air pipe 13. The rear end of the retractable air pipe 13 is connected to an external air compressor (not shown) through an external air pipe, and the air compressor is electrically connected to a controller. After the serpentine robot arm drives the inner oil cover opening device to move and align with the oil tank opening, the opening device is extended into the oil tank opening to squeeze the inner oil cover 40. Figure 5 As shown, the middle of the ejector pin 12 is sleeved with a return spring 14, and the same is true for the air pipe 13. A block 122 radially protrudes from the ejector pin 12 or the air pipe 13 near the front end. The front end of the return spring 14 abuts against the block 122 and the other end abuts against the limit plate 15 of the grabbing mechanism 11 (see Figure 3 or 4), in the process of the cover opening device pressing toward the inner oil cover 40, the ejector pin 12 and the air pipe 13 are pressed by the inner oil cover 40 to overcome the restoring force of the restoring spring 14 and retract, as shown in FIG. Figure 6 As shown in FIG. 7 , since the inner oil cover gripping portion 41 protrudes from the surface of the inner oil cover 40, the retraction amount of the ejector pin 12 and the air pipe 13 aligned with the inner oil cover gripping portion 41 is greater than that of the ejector pins 12 on both sides thereof, so that the ejector pins 12 on both sides thereof are juxtaposed with the inner oil cover gripping portion 41. In this state, the air compressor is started to make the suction cup 131 suck the inner oil cover 40. Figure 4 As shown, the gripping mechanism 11 includes a clamping plate 35 (i.e., a locking member) for locking the ejector pins 12 and the air tube 13. The clamping plate 35 is provided with a plurality of clamping holes for the ejector pins 12 and the air tube 13 to pass through respectively. Figure 5 As shown, the rear part of the ejector pin 12 is provided with a plurality of protrusions 121 arranged along the needle axis, and the rear part of the air pipe 13 is also provided with the same. Figure 4 As shown, the gripping mechanism 11 includes a cylinder 31, which serves as a locking drive device to drive the card plate 35 to lock the ejector pin 12 and the air pipe 13. The cylinder 31 has a push rod, which drives the card plate 35 through a lever structure. Specifically: the cylinder 31 is installed behind the card plate 35 and is located on the main axis of the gripping mechanism 11; the lever 34 is located beside the main axis, and its front end is connected to the card plate 35 and the rear end is located beside the cylinder 31; the gripping mechanism 11 is provided with a radial guide rod 32 at the rear end of the lever 34 to guide the radial movement of the rear end of the lever 34, and the radial guide rod 32 is sleeved with a reset spring 33 that provides a reset force for the lever 34. The cylinder 31 radially extends a push rod to the side to push the rear end of the lever 34 to overcome the reset force of the reset spring 33 around the fulcrum 36 (see Figure 3 ) rotates, thereby moving radially upward along the radial guide rod 32, and the front end of the lever 34 drives the clamping plate 35 to move downward in the opposite direction to clamp a certain clamping protrusion 121 on the ejector pin 12 and the air pipe 13, thereby locking the ejector pin 12 and the air pipe 13 to prevent the ejector pin 12 and the air pipe 13 from returning to their original position and extending forward during the process of rotating and unscrewing the inner oil cover 40. Figure 3As shown, a limiting pin 37 is provided on the inner side wall of the grabbing mechanism 11 for the clamping plate 35, which can enable the clamping plate 35 to maintain radial movement without generating axial movement during the movement process.

[0027] like Figure 1 As shown, the cover opening device includes an air motor 20. After locking the ejector pin 12 and the air pipe 13, the air motor 20 acts as a rotating mechanism to drive the gripping mechanism 11 to rotate, so that the ejector pin 12 juxtaposed with the inner oil cover gripping portion 41 pushes the inner oil cover gripping portion 41 to rotate, thereby unscrewing the inner oil cover 40. The inner oil cover 40 has been sucked by the suction cup 131 and will not fall off the cover opening device after being unscrewed.

[0028] After unscrewing the inner oil cap 40, the automatic refueling robot controls the serpentine mechanical arm to drive the refueling gun to move to align with the car's fuel tank opening and insert it into the fuel tank, and then sends a signal to the refueling machine to open the refueling gun to refuel the car. After refueling, the refueling machine automatically closes the refueling gun. The automatic refueling robot controls the serpentine mechanical arm to drive the refueling gun to detach from the car's fuel tank, and then controls the serpentine mechanical arm to drive the inner oil cap opening device to install the inner oil cap 40 back on the tank opening. Then the automatic refueling robot turns off the air compressor to make the suction cup 131 loosen the inner oil cap 40, and retract the cylinder 31 to the push rod. The rear end of the lever 34 rotates downward around the fulcrum 36 under the reset force of the reset spring 33 to reset. The front end of the lever 34 pulls the card plate 35 to reset upward and no longer clamps the ejector pin 12 and the card protrusion 121 on the air pipe 13. Then the serpentine mechanical arm is controlled to drive the inner oil cap opening device to withdraw from the tank opening. During this process, the ejector pin 12 and the air pipe 13 of the opening device will automatically reset to the position as shown below under the action of the reset spring 14. Figure 1 As shown. Then the automatic refueling robot controls the snake-shaped mechanical arm to drive the outer oil cover suction cup to put the outer oil cover back on the outer cover. At this point, refueling is completed and the user can drive on the road again.

[0029] The above is only an implementation method of the invention, and does not limit the scope of patent protection. Those skilled in the art can make non-substantial changes or substitutions based on the invention, which still fall within the scope of patent protection.

Claims

1. A vehicle inner oil cap opening device, comprising a gripping mechanism (11) and a rotating mechanism (20) for driving the gripping mechanism (11) to rotate and open the inner oil cap, wherein: The gripping mechanism (11) extends forwardly and has a plurality of retractable ejector pins (12) arranged in parallel. When the gripping mechanism (11) extends toward the inner oil cap of the automobile, at least some of the retractable ejector pins (12) are squeezed and retracted. The ejector pin facing the inner oil cap gripping portion retracts more than the ejector pins beside it. Thus, the ejector pins beside it are juxtaposed with the inner oil cap gripping portion. The rotating mechanism (20) drives the gripping mechanism (11) to rotate, so that the ejector pins (12) juxtaposed with the inner oil cap gripping portion push the inner oil cap gripping portion. The inner oil cover is unscrewed by rotating the inner oil cover; the gripping mechanism (11) comprises a locking member for locking the retractable ejector pin (12), the locking member locking the ejector pin to prevent the ejector pin from resetting and extending forward during the process of rotating the inner oil cover; the gripping mechanism (11) comprises a locking driving device for driving the locking member to lock the ejector pin; the locking member is a card plate (35), the card plate (35) is provided with a plurality of card holes for the ejector pins (12) to pass through respectively, and each ejector pin (12) has a plurality of card holes arranged along the needle axis at the rear thereof. The locking plate (35) is provided with a locking protrusion (121), and when the locking plate (35) moves in the radial direction, the side walls of each locking hole on the locking plate are respectively locked on a certain locking protrusion (121) on the corresponding ejector pin (12), thereby locking all the ejector pins (12); the locking driving device (31) has a push rod, and drives the above-mentioned locking plate (35) through a lever structure. Specifically: the locking driving device (31) is installed behind the locking plate (35) and is located on the main axis of the grasping mechanism (11); the lever (34) is located on the main axis The front end of the clamping plate (35) is connected to the clamping plate (35) and does not extend beyond the outer peripheral edge of the clamping plate, while the rear end is located beside the locking drive device (31); the locking drive device (31) radially extends a push rod toward the side to push the rear end of the lever (34), and the front end of the lever (34) drives the clamping plate (35) to move in the opposite direction to clamp the clamping protrusion (121) on the ejector pin (12); and a limiting pin (37) is provided on the inner side wall of the grabbing mechanism (11) to allow the clamping plate (35) to maintain radial movement during the movement.

2. The vehicle oil cap opening device according to claim 1, characterized in that: A retractable air pipe (13) extends forward from the gripping mechanism (11), and a suction cup (131) for sucking the inner oil cover is connected to the front end of the retractable air pipe (13).

3. The automobile oil cap opening device according to claim 1, characterized in that: The grabbing mechanism (11) is provided with a radial guide rod (32) at the rear end of the lever (34) for guiding the rear end of the lever (34) to move radially, and a return spring (33) for providing a return force for the lever (34) is sleeved on the radial guide rod (32).

4. The vehicle oil cap opening device as claimed in claim 3, characterized in that: The gripping mechanism (11) has a telescopic air pipe (13) extending forward, and a suction cup (131) for sucking the inner oil cover is connected to the front end of the telescopic air pipe (13), and the locking member locks the ejector pin (12) and the telescopic air pipe (13) together.

5. The vehicle oil cap opening device as claimed in claim 4, characterized in that: The telescopic air pipe (13) and the ejector pin (12) are respectively provided with a return spring for providing a return force therefor.

6. An automatic refueling robot, comprising a controller, a mechanical arm electrically connected to the controller, and a car oil cap opening device at the end of the mechanical arm, wherein the controller controls the mechanical arm to drive the opening device to move to the car oil cap and rotate to unscrew the oil cap, wherein the characteristics are: The cover opening device is an automobile oil cap opening device as described in any one of claims 1 to 5.

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