A refueling robot oil gun clamping device

Abstract

The application relates to an oil gun clamping device of a refueling robot and relates to the field of the refueling robot, which comprises a positioning sleeve used for sleeving a handle of an oil gun, a ring-shaped groove is formed in the positioning sleeve; a clamping assembly comprising a clamping part and a pneumatic driving part, the clamping part is matched with the groove, and the pneumatic driving part is used for driving the clamping part to clamp at the groove; a positioning system used for moving the clamping assembly to the groove to clamp according to the position of the groove; and a control system used for controlling the pneumatic driving part to drive the clamping part to clamp after the positioning system completes positioning. The application has the effect of conveniently positioning the clamped position, making the position of clamping the handle of the oil gun more accurate each time, and reducing the position error of each clamping.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of oiling robots, in particular to an oil gun clamping device of an oiling robot. BACKGROUND

[0002] The oiling mode of the existing oiling robot includes an integrated oiling mode and a separated oiling mode.

[0003] The integrated oiling mode is to realize oiling by using an intelligent mechanical arm, integrate the oil gun on the mechanical arm, and realize positioning, oiling and cover closing by using the mechanical arm. However, this mode cannot realize the modification of the traditional gas station basically, and the cost is high, which is not conducive to the existing gas station.

[0004] The separated oiling mode is to realize oiling by using the mechanical arm to open the cover and then clamp the oil gun. The oil gun is not integrated on the mechanical arm, but the mechanical arm needs to position and clamp the clamping position of the oil gun handle when oiling is needed. The existing oil gun of the traditional gas station can be clamped by the separated oiling mode, so that the existing gas station can be modified.

[0005] Since the robot needs to position the clamping position of the oil gun handle before oiling, the clamping position of the oil gun handle is large, so the clamping range of the robot is large, which leads to a large error in the clamping position each time, thereby causing hidden dangers in the oiling process. SUMMARY

[0006] In order to solve the above technical problems, reduce the error of the oiling robot clamping the oil gun handle position, and improve the safety of the oiling process, the present application provides an oil gun clamping device of an oiling robot.

[0007] The oil gun clamping device of the oiling robot provided by the present application adopts the following technical scheme:

[0008] An oil gun clamping device of an oiling robot, comprising:

[0009] A positioning sleeve for sleeving on the handle of the oil gun, wherein an annular groove is formed on the positioning sleeve;

[0010] A clamping assembly comprising a clamping part and a pneumatic driving part, wherein the clamping part is matched with the groove, and the pneumatic driving part is used to drive the clamping part to clamp at the groove;

[0011] A positioning system for moving the clamping assembly to the groove to clamp according to the position of the groove;

[0012] A control system for controlling the pneumatic driving part to drive the clamping part to clamp when the positioning system completes positioning.

[0013] In another embodiment of the present application, the clamping assembly further comprises a mounting base, the clamping portions comprise a first clamping portion and a second clamping portion respectively located on two sides of the mounting base and hinged at the top end of the mounting base, the side of the first clamping portion and the second clamping portion close to each other is arc-shaped and matched with the arc surface of the groove, and the pneumatic driving portion is used to simultaneously drive the first clamping portion and the second clamping portion to rotate, so that the arc surfaces of the first clamping portion and the second clamping portion are close to or away from each other and clamped at the groove.

[0014] In another embodiment of the present application, the bottom end of the first clamping portion is hinged with a pneumatic toggle, one end of the pneumatic toggle extends to below the oil gun switch and is used to press the oil gun switch when being turned upward.

[0015] In another embodiment of the present application, a vertical piston cavity is formed in the first clamping portion, an air inlet or outlet is arranged at the top of the piston cavity, a piston is sealingly and slidably arranged in the piston cavity, a connecting rod is hinged at the bottom of the piston, the bottom end of the connecting rod is hinged with the end of the pneumatic toggle away from the oil gun switch, and a return spring is arranged between the pneumatic toggle and the piston.

[0016] In another embodiment of the present application, a pneumatic self-locking rod is arranged on the first clamping portion and the second clamping portion, a self-locking sheet is fixedly arranged on both sides of the oil gun switch, and air holes are left at the end of the pneumatic self-locking rod close to the self-locking sheet, so that the self-locking sheet seals the air holes when the pneumatic self-locking rod extends to complete self-locking.

[0017] In another embodiment of the present application, the positioning system is further used to judge whether the difference between the distances of the two sides of the first clamping portion and the second clamping portion and the two sides in the groove is less than a set value, and whether the difference between the distances of the same side of the first clamping portion and the second clamping portion and the inside of the groove is less than a set value; if both are yes, it is determined that the clamping is completed, otherwise the positioning system repositions and makes the control system control the clamping assembly to re-clamp.

[0018] In another embodiment of the present application, a cutting plane is formed at the top of the groove and used to abut against the bottom end of the mounting base.

[0019] In another embodiment of the present application, the positioning system is further used to judge whether the distance between the bottom end of the mounting base and the cutting plane is less than a set value, and whether the distance between the bottom end of the first clamping portion and the second clamping portion and the cutting plane is within a corresponding set range; if both are yes, it is determined that the clamping is completed, otherwise the positioning system repositions and makes the control system control the clamping assembly to re-clamp.

[0020] In another embodiment of the present application, the positioning sleeve is formed by butting two semi-circular half sleeves.

[0021] In another embodiment of the present application, the positioning sleeve is fastened on the handle of the oil gun by a screw.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] 1. By providing a positioning sleeve and a groove on the positioning sleeve, the clamping assembly can be clamped at the groove, so as to position the clamped position, make the position clamped each time more accurate, and reduce the position error of each clamping;

[0024] 2. By providing a first clamping part and a second clamping part, the clamping effect on the positioning sleeve can be achieved;

[0025] 3. By providing a pneumatic toggle, the oil gun switch can be automatically pressed down, the automation of starting the oil gun is realized, and after the oiling is completed, the automatic reset of the pneumatic toggle can also be realized under the action of the self-sealing mechanism in the oil gun;

[0026] 4. By providing a pneumatic self-locking rod and a self-locking sheet, the self-locking of the clamping assembly can be realized after the oil gun switch is pressed down, the deviation of the clamping assembly during oiling is avoided, the safety is improved, and the self-locking can also be automatically released after the oiling is completed by the reset of the oil gun switch by the self-sealing mechanism in the oil gun;

[0027] 5. By making the positioning system judge whether the difference between the distances of the two sides of the first clamping part and the second clamping part and the two sides in the groove is less than a set value, and whether the difference between the distances of the same side of the first clamping part and the second clamping part and the inside of the groove is less than a set value, the error of the clamping position of the clamping assembly in the horizontal direction is reduced;

[0028] 6. By making the positioning system judge whether the distance between the bottom end of the mounting seat and the cutting plane is less than a set value, and whether the distance between the bottom end of the first clamping part and the second clamping part and the cutting plane is within a corresponding set range, the error of the clamping position of the clamping assembly in the vertical direction is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic view of the oil gun clamping device of the embodiment of the present application clamped on the oil gun;

[0030] Figure 2 is a structural schematic view of the oil gun clamping device of the embodiment of the present application;

[0031] Figure 3 is a partial structural schematic view of the clamping assembly of the embodiment of the present application;

[0032] Figure 4 is a sectional view of the oil gun clamping device of the embodiment of the present application.

[0033] Reference sign explanation: 0, oil gun; 01, handle; 02, oil gun switch; 021, self-locking piece; 1, positioning sleeve; 11, groove; 12, cutting plane; 13, accommodation groove; 2, clamping assembly; 21, first clamping part; 211, pneumatic toggle; 212, air port; 213, piston; 214, connecting rod; 215, return spring; 216, pneumatic self-locking rod; 22, second clamping part; 23, mounting seat; 24, pneumatic driving part. DETAILED DESCRIPTION

[0034] The following will be described in detail with reference to the accompanying drawings. Figures 1-4 The present application will be further described in detail.

[0035] The embodiment of the present application discloses an oil gun clamping device of an oiling robot.

[0036] With reference to Figure 1 An oil gun clamping device of an oiling robot is used for clamping an oil gun 0 so as to facilitate oiling, comprising a positioning sleeve 1, a clamping assembly 2, a positioning system and a control system, the positioning sleeve 1 is used for sleeving on a handle 01 of the oil gun 0, the clamping assembly 2 is used for clamping on the positioning sleeve 1, the positioning system is used for positioning the clamping assembly 2, and the control system is used for controlling the clamping assembly 2 to clamp after the positioning system completes positioning.

[0037] The handle 01 of the oil gun 0 is located at the rear end of the oil gun 0, and the oil gun 0 switch used for starting the oil gun 0 is arranged below the handle 01 of the oil gun 0. Since the position capable of being clamped on the handle 01 of the oil gun 0 is large, the clamping range that can be selected during clamping is also large, and the position error of each clamping is large, therefore, in the present application, the positioning sleeve 1 is arranged, so that the positioning sleeve 1 is sleeved on the handle 01 of the oil gun 0, so as to position the clamped position.

[0038] With reference to Figure 2 The positioning sleeve 1 is formed by butt joint of two half-ring half sleeves, so as to sleeve the positioning sleeve 1 on the handle 01 of the oil gun 0, in order to enable the oil gun 0 switch to be normally used, the accommodation groove 13 is arranged below the positioning sleeve 1. The positioning sleeve 1 is fastened on the handle 01 of the oil gun 0 through a plurality of screws, which can not only ensure that the positioning sleeve 1 is tightly fixed with the handle 01 of the oil gun 0, but also adjust the position of the positioning sleeve 1 on the handle 01 of the oil gun 0.

[0039] Further, in order to make the position of clamping the handle 01 of the oil gun 0 more accurate each time, the annular groove 11 is arranged on the positioning sleeve 1, and the clamping assembly 2 is clamped at the groove 11 during clamping, so as to reduce the position error of each clamping. In order to facilitate clamping at the groove 11, chamfers are arranged on both sides of the groove 11.

[0040] Referring to Figure 2 and Figure 3 , the clamping assembly 2 comprises, from top to bottom, a pneumatic driving part 24, a mounting seat 23, and a clamping part, the pneumatic driving part 24 and the clamping part are both mounted on the mounting seat 23, the clamping part is adapted to the groove 11, and the pneumatic driving part 24 is used to drive the clamping part to clamp at the groove 11. The positioning system is used to move the clamping assembly 2 to the groove 11 for clamping according to the position of the groove 11, and the control system is used to control the pneumatic driving part 24 to drive the clamping part to clamp when the positioning system completes positioning.

[0041] In the embodiment of the present application, the pneumatic driving part 24 is a pneumatic cylinder, the pneumatic cylinder is vertically arranged, and the piston rod 213 is downward, and the pneumatic cylinder is fixedly arranged on the mounting seat 23. The clamping part comprises a first clamping part 21 and a second clamping part 22 arranged on both sides of the mounting seat 23 respectively, the top end of the first clamping part 21 and the top end of the second clamping part 22 are both coaxially hinged to the mounting seat 23 on the side close to each other, and the top end of the first clamping part 21 and the top end of the second clamping part 22 are both provided with a connecting rod between the piston rod 213 of the pneumatic cylinder on the side away from each other, one end of the two connecting rods is coaxially hinged to the piston rod 213 of the pneumatic cylinder, and the other end is hinged to the first clamping part 21 or the second clamping part 22, the side close to each other of the first clamping part 21 and the second clamping part 22 is arc-shaped and adapted to the arc surface of the groove 11, both ends of the arc surface of the first clamping part 21 and the second clamping part 22 are provided with chamfers and adapted to the chamfers at both ends of the groove 11, and the thickness of the first clamping part 21 and the second clamping part 22 is adapted to the length of the groove 11.

[0042] The pneumatic driving part 24 is used to drive the first clamping part 21 and the second clamping part 22 to rotate at the same time, so that the arc surfaces of the first clamping part 21 and the second clamping part 22 are close to or away from each other and clamped at the groove 11. Specifically, when the piston rod 213 of the pneumatic cylinder is extended or retracted, it can simultaneously drive the first clamping part 21 and the second clamping part 22 to rotate in different directions on the mounting seat 23, and drive the arc surfaces of the first clamping part 21 and the second clamping part 22 to be close to or away from each other, so that the first clamping part 21 and the second clamping part 22 can clamp the positioning sleeve 1.

[0043] Referring to Figure 4 , further, the first clamping part 21 is provided with a pneumatic tab 211 at the bottom end, the pneumatic tab 211 is hinged to the first clamping part 21, and one end of the pneumatic tab 211 extends to below the switch of the oil gun 0 and is used to press the switch of the oil gun 0 when it is rotated upward, so as to start the oil gun 0.

[0044] Specifically, the first clamping part 21 is provided with a vertical cylindrical piston 213 cavity, the top of the piston 213 cavity is provided with a gas inlet 212 for air inlet or outlet, the piston 213 cavity is vertically sealed and slidably provided with a piston 213, the bottom of the piston 213 is provided with a connecting rod 214, the top end of the connecting rod 214 is hinged to the piston 213, the bottom end of the connecting rod 214 is hinged to the end of the pneumatic toggle 211 away from the oil gun 0 switch, and the pneumatic toggle 211 is provided between the piston 213 and the connecting rod 214 and is provided with a vertical reset spring 215, and the reset spring 215 is sleeved on the connecting rod 214.

[0045] When the oil gun 0 switch needs to be pressed, the gas is filled through the gas inlet 212, the piston 213 is pushed to vertically slide downward in the piston 213 cavity and compress the reset spring 215, at this time, the bottom end of the connecting rod 214 drives the pneumatic toggle 211 to rotate downward away from the end of the oil gun 0 switch, and the end of the pneumatic toggle 211 close to the oil gun 0 switch is rotated upward and presses the oil gun 0 switch. When the oiling is completed, the gas inlet 212 is opened, the self-sealing mechanism in the oil gun 0 makes the oil gun 0 switch automatically reset, and the pneumatic toggle 211 is automatically reset, and under the action of the reset spring 215, the piston 213 is pushed to move upward and reset.

[0046] With reference to Figure 3 , in order to avoid the shift of the clamping assembly 2 during oiling, in another embodiment of the present application, the first clamping part 21 and the second clamping part 22 are both provided with a pneumatic self-locking rod 216, the pneumatic self-locking rod 216 on the second clamping part 22 is located at the bottom end of the second clamping part 22, the pneumatic self-locking rod 216 on the first clamping part 21 is symmetrically arranged with the pneumatic self-locking rod 216 on the first clamping part 21, the self-locking sheet 021 is fixedly arranged on the both sides of the oil gun 0 switch and extends outward, and the end of the pneumatic self-locking rod 216 close to the self-locking sheet 021 is provided with a gas hole. When the oil gun 0 switch is pressed, the oil gun 0 switch drives the self-locking sheet 021 to move upward, at this time, the self-locking sheet 021 and the gas hole on the pneumatic self-locking rod 216 are arranged opposite to each other, the pneumatic self-locking rod 216 extends to make the self-locking sheet 021 seal the gas hole and complete self-locking, and when the oiling is completed, the self-sealing mechanism in the oil gun 0 makes the oil gun 0 switch automatically reset, drives the self-locking sheet 021 to separate from the pneumatic self-locking rod 216 and expose the gas hole, and at this time, the self-locking is released.

[0047] With reference to Figure 2 , in order to further reduce the error of the clamping position of the clamping assembly 2 each time, the top of the groove 11 is provided with a cutting plane 12 for abutting against the bottom end of the mounting seat 23, and the bottom end of the mounting seat 23 abuts against the cutting plane 12 during clamping.

[0048] Specifically, in order to reduce the error of the clamping position of the clamping assembly 2 in the horizontal direction, the positioning system is used to determine whether the difference between the distance between the two sides of the first clamping part 21 and the two sides inside the groove 11 is less than a set value, whether the difference between the distance between the two sides of the second clamping part 22 and the two sides inside the groove 11 is less than a set value, and whether the difference between the distance between the same side of the first clamping part 21 and the second clamping part 22 and the inside of the groove 11 is less than a set value, respectively;

[0049] Further, in order to reduce the error of the clamping position of the clamping assembly 2 in the vertical direction, the positioning system is also used to determine whether the distance between the bottom end of the mounting seat 23 and the cutting plane 12 is less than a set value, and whether the distance between the bottom end of the first clamping part 21 and the second clamping part 22 and the cutting plane 12 is within the corresponding set range;

[0050] If all the above are true, it is determined that the clamping assembly 2 is clamped, otherwise the positioning system repositions and the control system controls the clamping assembly 2 to re-clamp.

[0051] The implementation principle of the oil gun clamping device of the oil filling robot is as follows: before use, the positioning sleeve 1 is fastened on the handle 01 of the oil gun 0 through a plurality of screws, and the position on the positioning sleeve 1 is ensured to be a preset position during fastening. During use, first, the positioning system moves the clamping assembly 2 to the position of the groove 11 on the positioning sleeve 1 according to the position of the groove 11, and then the control system controls the pneumatic driving part 24 to drive the first clamping part 21 and the second clamping part 22 to rotate at the same time, so that the circular arc surfaces of the first clamping part 21 and the second clamping part 22 are close to or away from each other to realize the opening and closing of the clamping assembly 2, so that the clamping assembly 2 is clamped at the groove 11. Then, the positioning system respectively judges whether the difference between the distances of the two sides of the first clamping part 21 and the two sides in the groove 11 is less than a set value, whether the difference between the distances of the two sides of the second clamping part 22 and the two sides in the groove 11 is less than a set value, whether the difference between the distances of the same side of the first clamping part 21 and the second clamping part 22 and the inside of the groove 11 is less than a set value, whether the distance between the bottom end of the mounting seat 23 and the cutting plane 12 is less than a set value, and whether the distance between the bottom end of the first clamping part 21 and the second clamping part 22 and the cutting plane 12 is within the corresponding set range. If all the above are true, it is determined that the clamping of the clamping assembly 2 is completed, otherwise the positioning system repositions and makes the control system control the clamping assembly 2 to re-clamp. After clamping is completed, gas is filled through the gas port 212, the piston 213 is vertically slid downward in the piston 213 cavity, the pneumatic toggle plate 211 is rotated upward to the end close to the oil gun 0 switch, and the oil gun 0 switch is pressed. At this time, the oil gun 0 switch drives the self-locking plate 021 to move upward, the pneumatic self-locking rod 216 is extended to seal the gas hole of the self-locking plate 021 and complete self-locking. After oil filling is completed, the self-sealing mechanism in the oil gun 0 makes the oil gun 0 switch automatically reset, drives the self-locking plate 021 and the pneumatic self-locking rod 216 to separate and unlock, and the oil gun 0 switch drives the pneumatic toggle plate 211 to automatically reset.

[0052] In the description of the present application, unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0053] In the description of the present application, unless otherwise stated, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0054] Finally, it should be noted that the above technical solutions are only one embodiment of the present application, and for those skilled in the art, on the basis of the application disclosed application method and principle, it is easy to make various types of improvement or deformation, and is not limited to the method described in the above embodiment of the present application, therefore the above description is only preferred, and does not have the meaning of limitation.

Claims

1. A fuel nozzle clamping device for a refueling robot, characterized in that, include: A positioning sleeve (1) is used to be fitted onto the handle (01) of the oil gun (0), and an annular groove (11) is provided on the positioning sleeve (1); The clamping assembly (2) includes a clamping part and a pneumatic drive part (24), wherein the clamping part is adapted to the groove (11), and the pneumatic drive part (24) is used to drive the clamping part to clamp in the groove (11); A positioning system is used to move the clamping assembly (2) to the groove (11) for clamping based on the position of the groove (11); The control system is used to control the pneumatic drive unit (24) to drive the clamping unit to clamp after the positioning system has completed positioning; The clamping assembly (2) further includes a mounting base (23). The clamping part includes a first clamping part (21) and a second clamping part (22) located on both sides of the mounting base (23) and hinged to the mounting base (23) at their top ends. The sides of the first clamping part (21) and the second clamping part (22) that are close to each other are arc-shaped and adapted to the arc surface of the groove (11). The pneumatic drive part (24) is used to drive the first clamping part (21) and the second clamping part (22) to rotate simultaneously, so that the arc surfaces of the first clamping part (21) and the second clamping part (22) move closer to each other or further away from each other and are clamped in the groove (11). The top of the groove (11) is provided with a cutting plane (12) for abutting against the bottom end of the mounting base (23). The bottom end of the first clamping part (21) is hinged with a pneumatic lever (211), one end of which extends to the bottom of the oil gun (0) switch and is used to press the oil gun (0) switch when rotating upward. The first clamping part (21) has a vertical piston (213) chamber. The top of the piston (213) chamber is provided with an air port (212) for air intake or exhaust. The piston (213) is sealed and slidably mounted inside the piston (213) chamber. A connecting rod (214) is hinged to the bottom of the piston (213). The bottom end of the connecting rod (214) is hinged to the end of the pneumatic paddle (211) away from the oil gun (0) switch. A return spring (215) is provided between the pneumatic paddle (211) and the piston (213). The positioning system is also used to determine whether the distance between the bottom end of the mounting base and the cutting plane is less than a set value, and to determine whether the distance between the bottom ends of the first clamping part and the second clamping part and the cutting plane is within the corresponding set range; If both are true, then clamping is confirmed to be complete; otherwise, the positioning system repositions itself and the control system controls the clamping component to clamp again. The positioning system is also used to determine whether the difference between the distances between the two sides of the first clamping part (21) and the second clamping part (22) and the two sides inside the groove (11) is less than a set value, and to determine whether the difference between the distances between the same side of the first clamping part (21) and the second clamping part (22) and the inside side of the groove (11) is less than a set value; if both are true, then the clamping is determined to be completed; otherwise, the positioning system repositions and the control system controls the clamping assembly (2) to clamp again. Both the first clamping part (21) and the second clamping part (22) are provided with a pneumatic self-locking rod (216), and self-locking plates (021) are fixedly provided on both sides of the oil gun (0) switch. The pneumatic self-locking rod (216) has an air hole at one end near the self-locking plate (021). When the oil gun (0) switch is pressed, the pneumatic self-locking rod (216) extends so that the self-locking plate (021) seals the air hole to complete the self-locking.

2. The fuel nozzle clamping device for a refueling robot according to claim 1, characterized in that, The positioning sleeve (1) is formed by joining two semi-circular half-sleeves.

3. The fuel nozzle clamping device for a refueling robot according to claim 2, characterized in that, The positioning sleeve (1) is fastened to the handle (01) of the oil gun (0) by screws.

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