Dual-robot cooperative unmanned oil and gas refueling executor

Abstract

The application discloses a double-machine cooperation unmanned oil and gas filling executor and belongs to the technical field of mechanical manufacturing. The executor comprises a fuel filling pile and a cap opening pile, the fuel filling pile and the cap opening pile are fixedly arranged at the edges of the upper surface of an operation table and are parallel to each other, and a motor box is fixedly arranged on one side of the upper surface of the operation table. The fuel filling pile comprises an oil gun, one side of the oil gun is fixedly connected with the top of a wrist joint one, the wrist joint one is connected with a small arm one, an elbow joint one, a large arm one and a shoulder joint one through driving ropes. The cap opening pile comprises a claw body, one side of the claw body is fixedly connected with the top end of a wrist joint two, the wrist joint two is connected with a small arm two, an elbow joint two, a large arm two and a shoulder joint two through driving ropes. The executor has the advantages of simple structure, light weight and automation. The rope-driven pile can automatically complete the functions of opening and closing the automobile oil tank cover, oil and gas filling and the like, does not need human intervention, reduces the manufacturing cost of the pile and improves the explosion-proof effect of the pile.

Description

Technical Field

[0001] This invention relates to the field of mechanical manufacturing technology, and in particular to a dual-machine cooperative unmanned oil and gas refueling actuator. Background Technology

[0002] With over 1 billion vehicles globally and approximately 50 billion refueling transactions annually, there are roughly 3 million gas stations. Currently, gas stations primarily use offline payment methods such as cash, credit cards, and QR code payments, which are time-consuming, inefficient, and lack security. Transforming gas stations through artificial intelligence to achieve intelligent management has become an essential path for reform in the oil and gas industry. Intelligent unmanned refueling technology helps reduce labor and operating costs at gas stations and improve their efficiency. Automated intelligent refueling systems have emerged to meet this need, replacing manual payment and automating refueling and management; they represent a new generation of intelligent refueling systems that meet the demands of the times.

[0003] Automated refueling robots are a key component of automated intelligent refueling systems. They can autonomously complete the refueling process without human intervention. Beyond this, automated refueling robots can also be used in mining equipment, aircraft, and even spacecraft refueling (excluding passenger cars). With technological advancements, automated refueling robots have become a trend, attracting widespread attention and research. In the future, the application areas of automated refueling robots will become increasingly broad. On the one hand, as people's living standards improve, cars have become an essential tool for daily travel, leading to a large demand for refueling and a gradually increasing market demand for automated refueling stations. On the other hand, with the continuous development of intelligent and automated technologies, automated refueling stations will become more intelligent and efficient, leading to even wider applications.

[0004] The demand for automated refueling varies greatly depending on fuel type and region. MarketsandMarkets (2019) predicts that the Asia-Pacific region will have the highest CAGR; China, with the world's strongest manufacturing capabilities, offers potential market opportunities for automated refueling. Early automated refueling robots were mainly used for automated production on industrial production lines to improve efficiency and reduce costs. With technological advancements, automated refueling robot technology has further developed and is gradually being applied to commercial and personal use. In recent years, automated refueling robots have gradually entered our daily lives.

[0005] Currently available automated refueling robots have large joint loads, bulky size, heavy weight, and large rotational inertia, resulting in relatively high energy consumption. Furthermore, they are expensive to manufacture and have poor explosion-proof performance. Summary of the Invention

[0006] The purpose of this invention is to provide a dual-machine collaborative unmanned oil and gas refueling actuator, which solves the problems of large joint load, bulky size, large mass, large moment of inertia, high manufacturing cost and poor explosion-proof effect.

[0007] To achieve the above objectives, the present invention provides a dual-machine cooperative unmanned oil and gas refueling actuator, including a refueling pile and a cap opening pile. The refueling pile and the cap opening pile are both fixedly installed on the edge of the upper surface of the operating platform and are parallel to each other. A motor box is fixedly installed on one side of the upper surface of the operating platform.

[0008] The refueling station includes a fuel nozzle, one side of which is fixedly connected to the top of a wrist joint. The wrist joint is connected to the forearm, elbow, upper arm and shoulder joints via a drive rope.

[0009] The opening stake includes a claw body, one side of which is fixedly connected to the top of the wrist joint II. The wrist joint II is connected to the forearm II, elbow joint II, upper arm II and shoulder joint II via the drive rope.

[0010] Preferably, both wrist joint one and wrist joint two include an upper base and a lower base. A planetary reduction gear system is provided above the upper base. An upper retainer is provided around the lower part of the upper base. An upper roller is held in the upper retainer. An upper joint seat is provided below the upper base. A universal joint one at the center of the upper joint seat is connected to a universal joint two provided on the lower joint seat via a central control rod. The lower joint seat is located at the bottom of the lower base. A support rod is provided around the outside of the central control rod. A lower retainer is provided around the upper part of the lower base. A lower roller and a guide pulley are provided in the lower retainer. The drive rope is provided in the upper roller, the lower roller, and the guide pulley.

[0011] Preferably, the first forearm and the second forearm include a forearm shell, a transmission rod is provided at the center of the inside of the forearm shell, a fixing device is provided on the transmission rod, one end of the transmission rod is connected to the steering winding wheel, the steering winding wheel is connected to the steering winding wheel support through the orientation device, and both the transmission rod and the steering winding wheel are driven by the drive rope.

[0012] Preferably, the orientation device includes a large orientation wheel and a small orientation wheel. The large orientation wheel is connected to one end of a vertical shaft, and the other end of the vertical shaft is connected to a long shaft sleeved on one side of the small orientation wheel. The drive rope is provided inside both the large and small orientation wheels.

[0013] Preferably, both elbow joint one and elbow joint two include two elbow covers, with a retaining ring one and a retaining ring two disposed between the elbow covers. The retaining ring one and the retaining ring two are engaged with each other. Guide wheels one and two are disposed on both sides of the retaining ring one and the retaining ring two. Elbow winding wheels one and two are disposed above the retaining ring one and the retaining ring two. The drive rope is disposed inside the guide wheel one, the guide wheel two, the elbow winding wheel one, and the elbow winding wheel two.

[0014] Preferably, the boom includes a boom shell, and a boom winding wheel one and a boom winding wheel two are disposed inside the boom shell. The boom winding wheel one is connected to the boom winding wheel two, and the drive rope is disposed inside both the boom winding wheel one and the boom winding wheel two.

[0015] Preferably, the shoulder joint includes joint one and joint two, one end of joint one is connected to one end of joint two, the other end of joint one is connected to the shoulder joint base, and the drive rope is provided inside both joint one and joint two.

[0016] Preferably, the first joint includes a first joint housing, the first joint housing is connected to a first coupling, and the first coupling is connected to a first drive motor; the second joint includes a second joint housing, the second joint housing is connected to a second coupling, and the second coupling is connected to a second drive motor.

[0017] Preferably, the motor housing includes a worm gear, a rope guide wheel is provided above the worm gear, one side of the worm gear is connected to the motor winding wheel via a gear one, a fixing pin is provided on one side of the motor winding wheel, a gear two is provided on one side of the fixing pin, the lower part of the gear one is connected to the motor body, a motor fixing plate is provided on the outer side of the motor body, a retainer is provided below the motor body, and a cover plate is provided below the retainer.

[0018] Preferably, both the refueling pile and the opening pile are operated by rope drive.

[0019] Therefore, the dual-machine cooperative unmanned oil and gas refueling actuator of the present invention, with the above-described structure, has the following beneficial effects:

[0020] The invention features a simple, lightweight structure that enables automation. The entire device is driven by a rope to operate the pile, allowing for functions such as opening and closing car fuel tank caps and refueling. Compared to traditional piles, this significantly reduces the overall weight, lowers manufacturing costs, and improves the pile's explosion-proof performance.

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a dual-machine cooperative unmanned oil and gas refueling actuator according to the present invention;

[0023] Figure 2 This is a schematic diagram of the overall winding drive rope structure of a dual-machine cooperative unmanned oil and gas refueling actuator according to the present invention;

[0024] Figure 3 This is a schematic diagram of the refueling pile structure of a dual-machine collaborative unmanned oil and gas refueling actuator according to the present invention;

[0025] Figure 4 This is a schematic diagram of the opening pile structure of a dual-machine collaborative unmanned oil and gas refueling actuator according to the present invention;

[0026] Figure 5 This is a schematic diagram of the upper base structure of wrist joint one and wrist joint two of a dual-machine collaborative unmanned oil and gas refueling actuator according to the present invention.

[0027] Figure 6 This is a schematic diagram of the lower base structure of wrist joint one and wrist joint two of a dual-machine cooperative unmanned oil and gas refueling actuator according to the present invention;

[0028] Figure 7 This is a schematic diagram of the wrist joint one and wrist joint two winding drive rope structure of a dual-machine cooperative unmanned oil and gas refueling actuator of the present invention;

[0029] Figure 8 This is a schematic diagram of the internal structure of the forearm 1 and forearm 2 of a dual-machine cooperative unmanned oil and gas refueling actuator of the present invention;

[0030] Figure 9 This is a schematic diagram of the orientation device structure of a dual-machine cooperative unmanned oil and gas refueling actuator according to the present invention;

[0031] Figure 10 This is a schematic diagram of elbow joint one and elbow joint two of a dual-machine cooperative unmanned oil and gas refueling actuator of the present invention;

[0032] Figure 11 This is a schematic diagram of the structure of the elbow joint 1 and elbow joint 2 of the dual-machine cooperative unmanned oil and gas refueling actuator of the present invention, which is used to wind the drive rope.

[0033] Figure 12 This is a schematic diagram of the internal structure of the boom 1 and boom 2 of a dual-machine cooperative unmanned oil and gas refueling actuator of the present invention;

[0034] Figure 13 This is a schematic diagram of the external structure of elbow joint one and elbow joint two of a dual-machine cooperative unmanned oil and gas refueling actuator according to the present invention.

[0035] Figure 14This is a schematic diagram of the internal structure of elbow joint one and elbow joint two of a dual-machine cooperative unmanned oil and gas refueling actuator according to the present invention;

[0036] Figure 15 This is a schematic diagram of the internal structure of the motor box of a dual-machine cooperative unmanned oil and gas refueling actuator according to the present invention;

[0037] Figure Labels

[0038] 1. Claw body; 2. Two wrist joints; 3. Two forearms; 4. Two elbow joints; 5. Two upper arms; 6. Two shoulder joints; 7. Motor box; 8. Oil gun; 11. Oil filling post; 12. Cover opening post; 13. Control panel; 14. Drive rope; 15. One wrist joint; 16. One forearm; 17. One elbow joint; 18. One upper arm; 19. One shoulder joint; 21. Upper base; 22. Planetary reduction gear system; 23. 24. Upper joint seat, 25. Upper roller, 26. Upper retainer, 27. Universal joint one, 28. Central control rod, 29. Support rod, 20. Lower joint seat, 210. Lower retainer, 211. Lower roller, 212. Lower base, 213. Guide pulley, 214. Universal joint two, 31. Forearm housing, 32. Drive rod, 33. Fixing device, 34. Steering winding wheel, 35. Orientation device, 36. Steering 351. Winding reel support; 352. Vertical shaft; 353. Large directional reel; 354. Long shaft; 355. Small directional reel; 41. Elbow cover; 42. Elbow winding reel one; 43. Elbow winding reel two; 44. Clamp one; 45. Clamp two; 46. Guide wheel one; 47. Guide wheel two; 51. Arm shell; 52. Arm winding reel one; 53. Arm winding reel two; 61. Joint one; 62. Joint two; 63. Shoulder 611. Joint base; 612. Joint 1 housing; 613. Coupling 1; 621. Drive motor 1; 622. Joint 2 housing; 623. Coupling 2; 71. Drive motor 2; 72. Worm gear; 73. Rope guide pulley; 74. Gear 2; 75. Motor winding pulley; 76. Fixing pin; 77. Gear 1; 78. Motor mounting plate; 79. Motor body; 710. Cage; 711. Cover plate Detailed Implementation

[0039] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0040] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] Example

[0042] like Figure 1-15 As shown, the present invention provides a dual-machine cooperative unmanned oil and gas refueling actuator, including a refueling pile 11 and a cover opening pile 12. The refueling pile 11 and the cover opening pile 12 are both fixedly installed at the edge of the upper surface of the operating platform 13 and are parallel to each other. A motor box 7 is fixedly installed on one side of the upper surface of the operating platform 13.

[0043] The refueling station 11 includes a fuel nozzle 8, one side of which is fixedly connected to the top of a wrist joint 15. The wrist joint 15 is connected to the forearm 16, elbow joint 17, upper arm 18 and shoulder joint 19 via a drive rope 14.

[0044] The opening post 12 includes a claw body 1, one side of which is fixedly connected to the top of the wrist joint 2. The wrist joint 2 is connected to the forearm 3, elbow joint 4, upper arm 5, and shoulder joint 6 via a drive rope 14. Both the refueling post 11 and the opening post 12 operate using a rope-driven method.

[0045] Both wrist joint 15 and wrist joint 2 include an upper base 21 and a lower base 212. A planetary reduction gear train 22 is provided above the upper base 21. An upper retainer 25 is provided around the lower part of the upper base 21. An upper roller 24 is locked inside the upper retainer 25. An upper joint seat 23 is provided below the upper base 21. A universal joint 26 at the center of the upper joint seat 23 is connected to a universal joint 214 on the lower joint seat 29 via a central control rod 27. The lower joint seat 29 is located at the bottom of the lower base 212. A support rod 28 is provided around the outside of the central control rod 27. A lower retainer 210 is provided around the upper part of the lower base 212. A lower roller 211 and a guide pulley 213 are provided inside the lower retainer 210. A drive rope 14 is provided inside the upper roller 24, the lower roller 211, and the guide pulley 213.

[0046] Both forearm 16 and forearm 2 3 include a forearm shell 31. A transmission rod 32 is provided in the center of the forearm shell 31. A fixing device 33 is provided on the transmission rod 32. One end of the transmission rod 32 is connected to the steering winding wheel 34. The steering winding wheel 34 is connected to the steering winding wheel support 36 through the orientation device 35. Both the transmission rod 32 and the steering winding wheel 34 are driven by the drive rope 14.

[0047] The orientation device 35 includes a large orientation wheel 352 and a small orientation wheel 354. The large orientation wheel 352 is connected to one end of the vertical shaft 351, and the other end of the vertical shaft 351 is connected to a long shaft 353 sleeved on one side of the small orientation wheel 354. Both the large orientation wheel 352 and the small orientation wheel 354 are equipped with drive ropes 14.

[0048] Both elbow joint 17 and elbow joint 2 4 include elbow joints including two elbow covers 41. A retaining ring 1 44 and a retaining ring 2 45 are provided between the elbow covers 1. The retaining ring 1 44 and the retaining ring 2 45 are engaged with each other. Guide wheels 1 46 and 2 47 are provided on both sides of the retaining ring 1 44 and the retaining ring 2 45. Elbow winding wheel 1 42 and elbow winding wheel 2 43 are provided above the retaining ring 1 44 and the retaining ring 2 45. A drive rope 14 is provided inside the guide wheel 1 46, the guide wheel 2 47, the elbow winding wheel 1 42 and the elbow winding wheel 2 43.

[0049] Both boom 18 and boom 2 5 include boom shell 51. Inside boom shell 51 are boom winding wheel 1 52 and boom winding wheel 2 52. Boom winding wheel 1 51 is connected to boom winding wheel 2 52. Both boom winding wheel 1 51 and boom winding wheel 2 52 are equipped with drive rope 14.

[0050] Shoulder joint 19 and shoulder joint 2 6 both include joint 1 61 and joint 2 62. One end of joint 1 61 is connected to one end of joint 2 62, and the other end of joint 1 61 is connected to shoulder joint base 63. Both joint 1 61 and joint 2 62 are provided with drive rope 14.

[0051] Joint 1 61 includes a joint 1 housing 611, which is connected to a coupling 1 612. The coupling 1 612 is connected to a drive motor 1 613. Joint 2 62 includes a joint 2 housing 621, which is connected to a coupling 2 622. The coupling 2 622 is connected to a drive motor 2 623.

[0052] The motor housing 7 includes a worm gear 71, a rope guide wheel 72 is provided above the worm gear 71, one side of the worm gear 71 is connected to the motor winding wheel 74 through a gear 1 76, a fixing pin 75 is provided on one side of the motor winding wheel 74, a gear 2 73 is provided on one side of the fixing pin 75, the lower part of the gear 1 76 is connected to the motor body 78, a motor fixing plate 77 is provided on the outside of the motor body 78, a retainer 79 is provided on the lower part of the motor body 78, and a cover plate 710 is provided on the lower part of the retainer 79.

[0053] In this invention, the motor is located on one side of the operating platform. To ensure the normal operation of the pile, a motor with suitable power needs to be selected to meet the torque requirements of each joint. Two main types of motors are available: stepper motors and servo motors. Servo motors use closed-loop control to ensure the accuracy of the pile during movement and its performance at high speeds. They have good overload capacity, but they are more demanding in terms of the working environment and require regular replacement of parts to avoid excessive brush wear. Stepper motors use open-loop control, are suitable for low-speed operation, and offer high stability and reliability. However, their control precision is not high. Therefore, the motor model must be selected based on the stress conditions of each joint and the position of the joint on the pile.

[0054] The driving method of the piles designed in this invention is mainly rope-driven. The selection of different ropes will directly affect the working performance of the piles. Currently, there are many types of ropes available for rope-driven machinery, and due to the different material properties of the ropes, their applicable working fields also differ. According to the requirements of this design, the diameter of the pull rope must be less than 1 mm. Furthermore, the maximum tensile force it can withstand is greater than the tensile force exerted by the three joint mechanisms.

[0055] Therefore, this invention employs the aforementioned dual-machine collaborative unmanned oil and gas refueling actuator. The rope-driven pile can perform functions such as opening and closing the car fuel tank cap and refueling without human intervention. Compared to traditional piles, this effectively reduces the overall weight of the pile, lowers the manufacturing cost, and improves the pile's explosion-proof performance.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A dual-machine cooperative unmanned oil and gas refueling actuator, characterized in that: It includes a refueling station and a cap opening station. The refueling station and the cap opening station are both fixedly installed on the edge of the upper surface of the operating table and are parallel to each other. A motor box is fixedly installed on one side of the upper surface of the operating table. The refueling station includes a fuel nozzle, one side of which is fixedly connected to the top of a wrist joint. The wrist joint is connected to the forearm, elbow, upper arm and shoulder joints via a drive rope. The opening stake includes a claw body, one side of which is fixedly connected to the top of the wrist joint II. The wrist joint II is connected to the forearm II, elbow joint II, upper arm II and shoulder joint II via the drive rope. Both wrist joint one and wrist joint two include an upper base and a lower base. A planetary reduction gear system is provided above the upper base. An upper retainer is provided around the lower part of the upper base. An upper roller is locked inside the upper retainer. An upper joint seat is provided below the upper base. A universal joint one at the center of the upper joint seat is connected to a universal joint two provided on the lower joint seat via a central control rod. The lower joint seat is located at the bottom of the lower base. A support rod is provided around the outside of the central control rod. A lower retainer is provided around the upper part of the lower base. A lower roller and a guide pulley are provided inside the lower retainer. The drive rope is provided inside the upper roller, the lower roller, and the guide pulley. The forearm one and the forearm two include a forearm shell, a transmission rod is provided in the center of the forearm shell, a fixing device is provided on the transmission rod, one end of the transmission rod is connected to the steering winding wheel, the steering winding wheel is connected to the steering winding wheel support through the orientation device, and both the transmission rod and the steering winding wheel are driven by the drive rope; The orientation device includes a large orientation wheel and a small orientation wheel. The large orientation wheel is connected to one end of a vertical shaft, and the other end of the vertical shaft is connected to a long shaft sleeved on one side of the small orientation wheel. The drive rope is provided inside both the large orientation wheel and the small orientation wheel. Both elbow joint one and elbow joint two include two elbow covers, with a retaining ring one and a retaining ring two disposed between the elbow covers. The retaining ring one and the retaining ring two are engaged with each other. Guide wheels one and two are disposed on both sides of the retaining ring one and the retaining ring two. Elbow winding wheels one and two are disposed above the retaining ring one and the retaining ring two. The drive rope is disposed inside the guide wheel one, the guide wheel two, the elbow winding wheel one, and the elbow winding wheel two.

2. The dual-machine cooperative unmanned oil and gas refueling actuator according to claim 1, characterized in that: The boom includes a boom shell, inside which are installed boom winding reel one and boom winding reel two. Boom winding reel one is connected to boom winding reel two, and the drive rope is installed inside both boom winding reel one and boom winding reel two.

3. The dual-machine cooperative unmanned oil and gas refueling actuator according to claim 1, characterized in that: The shoulder joint includes joint one and joint two. One end of joint one is connected to one end of joint two, and the other end of joint one is connected to the shoulder joint base. The drive rope is provided inside both joint one and joint two.

4. The dual-machine cooperative unmanned oil and gas refueling actuator according to claim 1, characterized in that: The first joint includes a first joint housing, which is connected to a first coupling, which is connected to a first drive motor. The second joint includes a second joint housing, which is connected to a second coupling, which is connected to a second drive motor.

5. The dual-machine cooperative unmanned oil and gas refueling actuator according to claim 1, characterized in that: The motor housing includes a worm gear, a rope guide wheel is provided above the worm gear, one side of the worm gear is connected to the motor winding wheel via a gear one, a fixing pin is provided on one side of the motor winding wheel, a gear two is provided on one side of the fixing pin, the lower part of the gear one is connected to the motor body, a motor fixing plate is provided on the outer side of the motor body, a retainer is provided on the lower part of the motor body, and a cover plate is provided on the lower part of the retainer.

6. The dual-machine cooperative unmanned oil and gas refueling actuator according to claim 1, characterized in that: Both the refueling pile and the opening pile are operated by rope drive.

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