A filling robot and a supply device having the same

Abstract

The present application relates to the technical field of robots, in particular to a refueling manipulator and a supply device with the same. The refueling manipulator comprises an oil gun assembly and a quick-change structure. The oil gun assembly has an oil gun body and a support frame. The support frame has a fixed part and a first extension end. The first extension end is bent relative to the fixed part and extends towards the vertical direction. The first extension end has a positioning disc at the end extending towards the vertical direction. The quick-change structure has a quick-change disc. The quick-change disc is detachably connected with the positioning disc. The refueling manipulator can simplify the movement path of the mechanical arm of the oiling robot when the oil gun is positioned and replaced, improve the assembly precision, and improve the oil gun switching efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a dispensing robot and a supply device having the same. Background Technology

[0002] Currently, refueling robots can refuel traditional vehicles with their robotic arms. However, these vehicles typically require different types of fuel, such as 92, 95, and 98 octane gasoline, each requiring a different nozzle. To accommodate these different nozzles, different robotic arms are usually installed on different refueling robots. However, this setup results in redundancy in the refueling robots, increases costs, and reduces equipment utilization.

[0003] To address the aforementioned issues, existing technologies incorporate a quick-change mechanism at the end of the refueling robot's robotic arm to switch between different types of fuel nozzles. However, existing fuel nozzles all have a curved structure, which increases the difficulty of positioning the fuel nozzle within the quick-change mechanism of the robotic arm, resulting in low efficiency in fuel nozzle switching. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the above-mentioned defects in the prior art, thereby providing a solution.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] This invention provides a dispensing robot, comprising:

[0007] An oil gun assembly, the oil gun assembly having an oil gun body and a support frame; the support frame having a fixing part and a first extension end, the first extension end being bent relative to the fixing part and extending in a vertical direction, the end of the first extension end extending in the vertical direction having a positioning plate;

[0008] The quick-change structure includes a quick-change disc, which is detachably connected to the positioning disc.

[0009] Alternatively, in the above-mentioned refueling machine, the oil gun body has an inclined main body and a refueling pipe; the refueling pipe is bent relative to the inclined main body, so that the oil gun body forms an integral curved structure; the fixing part is fixed perpendicularly to the inclined main body.

[0010] Alternatively, in the above-mentioned filling robot, the quick-change structure further includes: a quick-change body having an installation end and a support end, the quick-change disc being fixedly disposed at the installation end; a base corresponding to the support end; and a plurality of elastic elements disposed between the base and the support end to elastically support the quick-change body.

[0011] Alternatively, in the above-mentioned filling robot, the quick-change body has a first extension and a second extension arranged perpendicularly to each other, the mounting end is located at the end of the first extension, and the supporting end is located at the end of the second extension.

[0012] Alternatively, in the above-mentioned filling robot, the elastic element is a tower-shaped spring; the support end is a first disc-shaped structure, and the base has a second disc-shaped structure corresponding to the first disc-shaped structure; the tower-shaped spring is distributed in the plane opposite to the two disc-shaped structures.

[0013] Alternatively, in the aforementioned filling robot, the quick-change body has a plurality of spaced-apart weight-reducing holes, the extending direction of which is parallel to the extending direction of the second extension body.

[0014] Alternatively, in the above-mentioned filling robot, the base has a groove corresponding to the second disc-shaped structure, the second disc-shaped structure is embedded in the groove, and the side wall of the groove has an opening; the second disc-shaped structure has a protruding limiting block, and the limiting block is engaged in the opening.

[0015] Alternatively, the aforementioned filling machine hand includes an oil gun wrench on the oil gun body; it also includes a wrench drive component, which is disposed on the support frame and drivenly connected to the oil gun wrench; the wrench drive component is disposed on one side of the support frame and located in the bending area between the first extension end and the inclined body.

[0016] Alternatively, in the aforementioned filling machine, the support frame further has a second extension end and a third extension end, the second extension end and the third extension end constituting the support leg of the support frame; the second extension end is located on the opposite side of the fixing part relative to the first extension end; the third extension end is located on the same side of the fixing part relative to the first extension end, and extends in a direction substantially opposite to the first extension end.

[0017] Alternatively, in the above-mentioned filling manipulator, the second extension end and the third extension end each have laterally extending support feet on both sides, the base of the support feet has a frustum-shaped structure, and the top of the support feet has a spherical structure.

[0018] Alternatively, in the aforementioned filling manipulator, the inclined main body has an outwardly extending positioning block, and the inner side of the fixing part has a positioning groove that matches the positioning block.

[0019] Alternatively, in the above-mentioned filling robot, the positioning disc has a first positioning groove in the middle; the quick-change disc is a pneumatic quick-change disc, the pneumatic quick-change disc has a protruding positioning structure facing the working end face of the quick-change disc, the protruding positioning structure is adapted to be inserted into the first positioning groove; the side wall of the protruding positioning structure has a plurality of pneumatically telescopic snap-fit ​​pieces, the pneumatic quick-change disc is provided with a plurality of gas passages, the gas passages form a plurality of through holes on the side wall of the protruding positioning structure, and the snap-fit ​​pieces are disposed in the through holes.

[0020] Alternatively, in the aforementioned filling robot, the locking element has a spherical structure.

[0021] Alternatively, in the above-mentioned filling robot, the side wall of the positioning disk has at least two positioning pins extending upward along the positioning disk, and the top of the positioning pin has a conical structure; the outer wall of the pneumatic quick-change disk is provided with at least two outwardly extending guide structures adapted to the positioning pins; the guide structure has a conical guide hole, and the opening size of the conical guide hole increases sequentially from top to bottom.

[0022] Alternatively, in the above-mentioned filling robot, the middle part of the first extension end has a second positioning groove that communicates with the first positioning groove; a movable member is movably disposed in the first positioning groove and the second positioning groove; a drive wrench is hinged to the first extension end and drivenly connected to the movable member to drive the movable member to move up and down; when the movable member moves upward, the movable member abuts against and pushes out the extended positioning structure upward.

[0023] The present invention also provides a supply device, which includes a robotic arm and a dispensing manipulator located at the end of the robotic arm, wherein the dispensing manipulator is the dispensing manipulator described above.

[0024] The technical solution of this invention has the following advantages:

[0025] 1. The refueling robot provided by this invention includes a fuel nozzle assembly and a quick-change structure. The support frame of the fuel nozzle assembly, while supporting and fixing the fuel nozzle body, also provides a vertically extending positioning plate for fuel nozzles with curved structures. This positioning plate is adapted to be positioned and detached from the quick-change plate of the quick-change structure, thereby enabling rapid replacement of the fuel nozzle assembly in the vertical direction. The refueling robot provided by this invention allows the refueling robot arm to assemble the fuel nozzle assembly by moving only one dimension vertically during fuel nozzle positioning and replacement, thus simplifying the movement path of the robot arm, improving assembly accuracy, and increasing fuel nozzle switching efficiency.

[0026] 2. The refueling robot provided by this invention can quickly replace different models of oil gun assemblies through a quick-change disc at the mounting end. Furthermore, several elastic elements are provided between the support end of the quick-change body and the base to provide flexible support for the quick-change body. These elements provide a certain degree of flexibility compensation to the quick-change disc when replacing the oil gun assembly, thus allowing the oil gun assembly to be installed on the quick-change disc without precise alignment. Additionally, when the oil gun assembly is installed in the quick-change structure, the aforementioned elastic elements simultaneously provide elastic support and flexibility compensation for the oil gun assembly. At this time, even if the oil gun assembly is not precisely aligned with the refueling port, it can be flexibly guided to be inserted into the refueling port for refueling, improving work efficiency.

[0027] 3. The refueling robot provided by the present invention has its wrench drive component for the oil gun assembly and the support leg supporting the entire oil gun assembly all mounted on a support frame. This allows the support frame to integrate three structural components that realize quick-change installation, wrench drive, and placement and support of the oil gun assembly, which greatly improves the space utilization of the structure, reduces the overall weight of the oil gun assembly, and improves the stability of the refueling robot. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the filling robot structure provided in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the oil gun assembly structure provided in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the support frame structure provided in an embodiment of the present invention. Figure 1 ;

[0032] Figure 4 This is a schematic diagram of the support frame structure provided in an embodiment of the present invention. Figure 2 ;

[0033] Figure 5 This is an anatomical diagram of the support frame structure provided in an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram showing the cooperation between the support frame and the oil gun body provided in an embodiment of the present invention;

[0035] Figure 7This is a schematic diagram of the quick-change structure provided in an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the quick-change body structure provided in an embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram of the quick-change body and the second disc-shaped structure in accordance with an embodiment of the present invention;

[0038] Figure 10 This is a schematic diagram of the base and the first disc-shaped structure in conjunction with each other, as provided in an embodiment of the present invention.

[0039] Figure 11 This is a schematic diagram of the quick-change disc structure provided in an embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 4-Quick-change structure, 41-Base, 411-Second disc structure, 412-Elastic element, 413-Limiting block, 42-Quick-change body, 421-Mounting end, 422-Supporting end, 423-Weight reduction hole, 43-Quick-change disc, 431-Extended positioning structure, 4311-Snap-fit ​​element, 432-Guide structure, 4321-Conical guide hole, 5-Oil gun assembly, 51-Oil gun body, 511-Inclined main body, 512-Oil filling pipe, 513-Oil gun wrench, 514-Positioning block, 52-Support frame, 521-Fixing part, 522-First extension end, 523-Second extension end, 524-Third extension end, 525-Positioning disc, 526-Moving element, 527-Drive wrench, 528-Supporting foot, 529-Positioning groove, 53-Wrench drive element. Detailed Implementation

[0042] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] Example 1

[0046] The supply device described in this invention can be a refueling robot, a hydrogen or gas refueling robot, a charging robot, or other device that automatically supplies fuel or electrical energy. However, this is not intended to limit the scope of the invention; this embodiment uses a refueling robot as an example. Furthermore, the refueling robot and fuel nozzle assembly mentioned in this embodiment can be understood as refueling components for supplying fuel or electrical energy to the various robots described above.

[0047] This embodiment provides a refueling robot, such as... Figure 1-11 As shown, the refueling robot includes a fuel nozzle assembly 5 and a quick-change structure 4 connected to the fuel nozzle assembly 5. The fuel nozzle assembly 5 includes: a fuel nozzle body 51, which has an inclined main body 511 and a refueling pipe 512; the refueling pipe 512 is bent relative to the inclined main body 511, making the fuel nozzle body 51 an integral curved structure; and a support frame 52, which can be two pieces joined together and clamped and fixed to the fuel nozzle body 51, thereby supporting the fuel nozzle body 51. In this embodiment, the support frame 52 has a fixing part 521 and a first extension end 522; the fixing part 521 is vertically fixed to the inclined main body 511; the first extension end 522 is bent relative to the fixing part and extends vertically, with a positioning plate 525 at its vertically extending end. Through this positioning plate 525, the fuel nozzle assembly can be positioned with the quick-change structure 4 at the end of the robot arm, realizing the switching of the fuel nozzle assembly. The quick-change structure 4 includes a quick-change disc 43, which is detachably connected to the positioning disc 525.

[0048] The refueling robot provided in this embodiment has a support frame for the oil gun assembly. While supporting and fixing the oil gun body, it can also provide a vertically extending positioning plate for the oil gun with a curved structure. This positioning plate is suitable for positioning and disassembling with the quick-change plate of the quick-change structure, so as to realize the quick replacement of the oil gun assembly in the vertical direction. This allows the refueling robot arm to assemble the oil gun assembly by moving the arm in one-dimensional vertical direction when performing oil gun positioning and replacement, thereby simplifying the movement path of the robot arm, improving assembly accuracy and oil gun switching efficiency.

[0049] like Figure 7-11As shown, the quick-change structure includes: a quick-change body 42, which has a mounting end 421 and a supporting end 422; a base 41, which is correspondingly arranged with respect to the supporting end 422; a plurality of elastic elements 412, which are arranged between the base 41 and the supporting end 422 to elastically support the quick-change body 42, wherein the elastic elements are preferably tower springs, which are a type of shock-absorbing springs with advantages of small size, large load, and variable stiffness; and a quick-change disc 43, which is fixedly arranged on the mounting end 421. The quick-change structure provided in this embodiment allows for the rapid replacement of different models of oil gun assemblies via the quick-change disc 43 at the mounting end. Several elastic elements are provided between the support end of the quick-change body and the base to provide flexible support to the quick-change body. These elements provide some flexibility compensation to the quick-change disc when replacing the oil gun assembly, thus allowing the oil gun assembly to be installed on the quick-change disc without precise alignment. Furthermore, when the oil gun assembly is installed in the quick-change structure, the aforementioned elastic elements simultaneously provide elastic support and some flexibility compensation to the oil gun assembly. Even if the oil gun assembly and the filler neck are not precisely aligned, the oil gun assembly can be flexibly guided into the filler neck for refueling, improving work efficiency.

[0050] In the aforementioned quick-change structure, the quick-change body 42 has a first extension and a second extension arranged perpendicularly to each other. The mounting end 421 is located at the end of the first extension, and the supporting end 422 is located at the end of the second extension. This arrangement allows the movement of the filling robot to be transformed into a one-dimensional vertical movement when changing the oil gun assembly, thereby simplifying the movement path of the filling robot and improving assembly accuracy.

[0051] In the above quick-change structure, the support end 422 is a first disc-shaped structure, and the base 41 has a second disc-shaped structure 411 corresponding to the first disc-shaped structure; the tower-shaped springs are distributed in the plane opposite to the two disc-shaped structures. However, this does not limit the implementation of the present invention. In this embodiment, there are four tower-shaped springs, which are evenly arranged in the opposite plane to provide stable support for the quick-change body and the oil gun assembly.

[0052] In the aforementioned quick-change structure, the quick-change body 42 has a plurality of spaced-apart weight-reducing holes 423, the extending direction of which is parallel to the extending direction of the second extension body. This arrangement makes the sidewalls on both sides of the weight-reducing holes 423 plate-like structures extending toward the quick-change disc, i.e., toward the oil gun assembly, thereby reducing weight while increasing its load-bearing capacity, and further increasing the stability of the dispensing robot.

[0053] In the above-described quick-change structure, the base 41 has a groove corresponding to the second disc-shaped structure 411, the second disc-shaped structure 413 is embedded in the groove, and the side wall of the groove has an opening; the second disc-shaped structure has a protruding limiting block 413, the limiting block 413 is engaged in the opening. This arrangement can facilitate the assembly of the quick-change body in the base and improve its installation stability in the base.

[0054] In the aforementioned quick-change structure, the quick-change disc 43 can be a pneumatic quick-change disc. The pneumatic quick-change disc has a protruding positioning structure 431 facing the working end face of the quick-change disc. This protruding positioning structure 431 can be matched and positioned with the first positioning groove in the middle of the first extension end of the oil gun assembly. The side wall of the protruding positioning structure 431 has several pneumatically telescopic locking members 4311. The pneumatic quick-change disc has several gas passages, and these gas passages form several through holes on the side wall of the protruding positioning structure. The locking members 4311 are disposed within these through holes. The locking members can extend outward or retract inward under the action of air pressure within the gas passages. When extending outward, the locking member can engage with the corresponding limiting ring in the first positioning groove to achieve the assembly of the oil gun assembly. When retracting inward, the locking member is unlocked to achieve the unloading of the oil gun assembly. The locking member is preferably a steel ball. In addition, in order to ensure the compensation and positioning of the alignment deviation during the assembly of the oil gun, the outer wall of the pneumatic quick-change disc may be provided with two outwardly extending guide structures 432. The guide structure 432 has a conical guide hole 4321. The opening size of the conical guide hole 4321 increases from top to bottom. The conical guide hole can guide the corresponding positioning pin structure on the oil gun assembly to be inserted and positioned, so as to realize error compensation.

[0055] like Figure 2-6As shown, in the above-mentioned oil gun assembly, the oil gun body has an oil gun wrench 513; it also includes a wrench drive component 53, which is mounted on the support frame 52 and driven by the oil gun wrench. Optionally, the wrench drive component 53 can be a cylinder, with a movable hook at its movable end. This movable hook can hook the oil gun wrench 513 and be driven by the cylinder to press the oil gun wrench, thus realizing the oiling operation. The wrench drive component 53 can be located on one side of the support frame 52, in the bending area between the first extension end 522 and the inclined main body 511. This arrangement avoids providing a separate support structure for the wrench drive component 53, improving the utilization rate of the support frame. Furthermore, the support frame may also have a second extension end 523 and a third extension end 524, which constitute the support legs of the support frame; the second extension end 523 is located on the opposite side of the fixing part 521 relative to the first extension end 522; the third extension end 524 is located on the same side of the fixing part 521 relative to the first extension end 522, and extends in a direction substantially opposite to the first extension end; as Figure 5 As shown, the arrangement of the second extension end 523 and the third extension end 524 can form a "V" shaped structure with the first extension end 522 and the fixing part 521 as a whole, so as to improve the support stability of the support frame.

[0056] In this embodiment, the wrench driver and the support leg supporting the entire oil gun assembly are all mounted on a support frame. This allows the support frame to integrate three functions in one structure: quick-change installation, wrench driving, and placement and support of the oil gun assembly. This greatly improves the space utilization of the structure, reduces the overall weight of the oil gun assembly, and enhances the stability of the filling robot.

[0057] In the aforementioned oil gun assembly, the second extension end 523 and the third extension end 524 each have laterally extending support feet 528 on both sides. The base of each support foot 528 has a frustum-shaped structure, and the top of each support foot 528 has a spherical structure. This arrangement facilitates the positioning and support of the oil gun assembly within its storage structure.

[0058] In the aforementioned oil gun assembly, the inclined main body 511 has an outwardly extending positioning block 514, and the inner side of the fixing part 521 has a positioning groove 529 that matches the positioning block. When the two structural pieces of the support frame are docked and fixed, the positioning groove and the positioning block are engaged to avoid unnecessary circumferential sliding between the support frame and the oil gun body, thereby improving the stability of the oil gun assembly.

[0059] In the aforementioned oil gun assembly, the positioning disc 525 has a first positioning groove in its center. This first positioning groove can engage with the protruding positioning structure 431 of the quick-change structure 4 to achieve assembly of the oil gun assembly. Additionally, at least two positioning pins extending upwards along the side wall of the positioning disc are provided. The top of each positioning pin has a conical structure, which can guide the positioning during the assembly process and improve the positioning and assembly efficiency.

[0060] In the aforementioned oil gun assembly, the first extension end 521 has a second positioning groove in its middle portion that communicates with the first positioning groove. A movable member 526 is movably disposed within the first and second positioning grooves. A drive wrench 527 is hinged to the first extension end 522 and drivenly connected to the movable member 526, allowing the movable member 526 to move up and down manually. This movable member can act on the aforementioned quick-change structure 4 to manually release the quick-change structure from locking the oil gun assembly positioning disc 525, thus completing the manual unloading of the oil gun assembly.

[0061] The refueling robot provided in this embodiment has a quick-change structure 4 that enables the rapid replacement of different models of oil gun assemblies 5. During the switching of oil gun assemblies, the movement path of the robot arm can be simplified, the assembly accuracy can be improved, and the oil gun switching efficiency can be increased.

[0062] Example 2

[0063] This embodiment also provides a supply device, which can be a supply device for automatically supplying fuel or electrical energy to refueling robots, hydrogen or gas refueling robots, charging robots, etc. However, this is not intended to limit the scope of the invention; this embodiment uses a refueling robot as an example. The refueling robot provided in this embodiment includes a robotic arm and a refueling manipulator located at the end of the robotic arm. The refueling manipulator is the refueling manipulator described in Embodiment 1. The quick-change structure at the end of the robotic arm has a quick-change disc, which can be detachably connected to the fuel nozzle assembly. This allows for easy switching between different models of fuel nozzle assemblies and simplifies the movement path of the robotic arm and improves assembly accuracy during the assembly of different models of fuel nozzles.

[0064] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A dispensing robot, characterized in that, The dispensing robot is positioned at the end of a robotic arm that moves in a one-dimensional vertical direction, and includes: An oil gun assembly, the oil gun assembly having an oil gun body and a support frame; the support frame having a fixing part and a first extension end, the first extension end being bent relative to the fixing part and extending in a vertical direction, the end of the first extension end extending in the vertical direction having a positioning plate; The fuel nozzle has an inclined main body and a fuel filling pipe; the fuel filling pipe is bent relative to the inclined main body, making the fuel nozzle a whole curved structure; the fixing part is fixed perpendicularly to the inclined main body. The quick-change structure includes a quick-change disc, which is detachably connected to the positioning disc; the quick-change structure further includes a quick-change body, which has an installation end and a support end, and the quick-change disc is fixedly disposed on the installation end. The quick-change body has a first extension and a second extension arranged perpendicularly to each other, the mounting end is located at the end of the first extension, and the supporting end is located at the end of the second extension.

2. The filling robot according to claim 1, characterized in that, The quick-change structure further includes: a base, which is correspondingly disposed with respect to the support end; and a plurality of elastic elements, which are disposed between the base and the support end to elastically support the quick-change body.

3. The refueling robot according to claim 2, characterized in that, The elastic element is a tower-shaped spring; the supporting end is a first disc-shaped structure, and the base has a second disc-shaped structure corresponding to the first disc-shaped structure; the tower-shaped spring is distributed in the plane of the two disc-shaped structures facing each other.

4. The refueling robot according to claim 1, characterized in that, The quick-change body has a number of spaced-apart weight-reducing holes, and the extending direction of the weight-reducing holes is parallel to the extending direction of the second extension body.

5. The filling robot according to claim 3, characterized in that, The base has a groove corresponding to the second disc-shaped structure, the second disc-shaped structure is embedded in the groove, and the side wall of the groove has an opening; the second disc-shaped structure has a protruding limiting block, which is engaged in the opening.

6. The refueling robot according to claim 1, characterized in that, The oil gun body has an oil gun wrench; it also includes a wrench drive component, which is disposed on the support frame and drivenly connected to the oil gun wrench; the wrench drive component is disposed on one side of the support frame and located in the bending area between the first extension end and the inclined body.

7. The refueling robot according to claim 6, characterized in that, The support frame also has a second extension end and a third extension end, the second extension end and the third extension end constituting the support leg of the support frame; The second extension end is located on the opposite side of the fixing part relative to the first extension end; The third extension end is located on the same side of the fixing portion relative to the first extension end, and extends in a direction substantially opposite to the first extension end.

8. The filling robot according to claim 7, characterized in that, The second and third extension ends each have laterally extending support feet on both sides. The base of the support foot has a frustum-shaped structure, and the top of the support foot has a spherical structure.

9. The refueling robot according to claim 8, characterized in that, The inclined main body has an outwardly protruding positioning block, and the inner side of the fixing part has a positioning groove that matches the positioning block.

10. The dispensing robot according to any one of claims 1-9, characterized in that, The positioning disk has a first positioning groove in the middle; The quick-change disc is a pneumatic quick-change disc, which has a protruding positioning structure facing the working end face of the quick-change disc. The protruding positioning structure is adapted to be inserted into the first positioning groove. The side wall of the protruding positioning structure has several pneumatically telescopic snap-fit ​​pieces. The pneumatic quick-change disc is provided with several gas passages. The gas passages form several through holes on the side wall of the protruding positioning structure. The snap-fit ​​pieces are disposed in the through holes.

11. The refueling robot according to claim 10, characterized in that, The snap-fit ​​component has a spherical structure.

12. The refueling robot according to claim 10, characterized in that, The side wall of the positioning disk has at least two positioning pins extending upward along the positioning disk, and the top of the positioning pin has a conical structure; the outer wall of the pneumatic quick-change disk is provided with at least two outwardly extending guide structures that are adapted to the positioning pins; the guide structure has a conical guide hole, and the opening size of the conical guide hole increases from top to bottom.

13. The refueling robot according to claim 10, characterized in that, The first extension end has a second positioning groove in the middle that communicates with the first positioning groove; a movable member is movably disposed in the first positioning groove and the second positioning groove; a drive wrench is hinged to the first extension end and drivenly connected to the movable member to drive the movable member to move up and down; when the movable member moves upward, the movable member abuts against and pushes out the extended positioning structure upward.

14. A supply device, characterized in that, It includes a robotic arm and a dispensing manipulator located at the end of the robotic arm, wherein the dispensing manipulator is the dispensing manipulator according to any one of claims 1-13.

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