Marine automatic refueling robot with intelligent positioning function

Abstract

The invention relates to the technical field of marine automatic refueling robots, and discloses an intelligent positioning marine automatic refueling robot which comprises a supporting seat and a mechanical arm arranged on the supporting seat in a translation mode, a mechanical claw is arranged at the end, away from the supporting seat, of the mechanical arm, a refueling gun is clamped in the mechanical claw, and a visual sensor is fixed to the mechanical arm. The automatic oil filling device is characterized by further comprising a rocking adapting part, an oil filling gun, a supporting seat, a mechanical arm, a mechanical claw, a mechanical arm and an oil filling gun, and the rocking adapting part is arranged at the end, away from the supporting seat, of the mechanical arm; the protection part is rotationally connected with the mechanical arm and is positioned on the outer sides of the oil gun, the mechanical claw and the rocking adapting part; the fixed rocking part is arranged on the adaptive rocking part and the protection part; the protection part is used for providing protection for the mechanical claw, the oil gun and the swing adapting part, the swing fixing part is triggered to relieve fixation of the swing adapting part after the oil gun is inserted into the oil filling opening, then the swing adapting part is used for adapting to shaking and swinging of a ship caused by sea waves during oil filling, displacement of the oil gun caused by shaking of the ship is prevented, and safety is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic refueling robots for ships, and in particular to an automatic refueling robot for ships with intelligent positioning. Background Art

[0002] In the technical field of automatic refueling robots for ships, a refueling ship usually uses a mechanical arm to support and drive a mechanical claw to move, and uses the mechanical claw to clamp and grab a refueling gun, and uses the visual sensor of a 3D optical machine to automatically identify the object graphics, calibrate the position of the oil filling hole, and guide the mechanical arm to drive the refueling gun grabbed by the mechanical claw to move, so that the refueling gun moves out of the refueling ship, and crosses the sea area between the refueling ship and the refueled ship to the range on the refueled ship, and at the same time accurately aligns and inserts it into the oil filling hole to perform refueling. However, traditional intelligent positioning automatic refueling robots for ships still have problems in actual operation.

[0003] For example, in actual operations, since the ship refueling operation needs to be carried out at sea, the refueling gun needs to be driven across the sea area between the two ships with the support of the refueling ship to connect with the refueled ship for refueling. Under the action of waves and wind, both ships will sway and shake. During the refueling process, the refueling gun can easily be displaced due to the swaying of the ship, resulting in accidents and low refueling safety. Summary of the invention

[0004] The present invention provides an intelligently positioned ship-based automatic refueling robot, which utilizes a sway-adaptive part to provide support for a mechanical claw under the support of a mechanical arm, and utilizes a protective part to provide protection for the mechanical claw, a refueling gun and the sway-adaptive part, and triggers a fixed sway part to release the fixation of the sway-adaptive part after the refueling gun is inserted into the oil filling port, and then utilizes the sway-adaptive part to adapt to the shaking of the ship caused by waves during refueling, thereby preventing the refueling gun from being displaced due to the shaking of the ship, and improving the safety of refueling the ship at sea.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows: In the first aspect, an intelligently positioned marine automatic refueling robot comprises: a support seat and a mechanical arm which is arranged on the support seat for translation, wherein a mechanical claw is arranged at one end of the mechanical arm away from the support seat, a refueling gun is clamped in the mechanical claw, a visual sensor is fixed on the mechanical arm, and a metering sensor is arranged above the refueling gun, characterized in that it also comprises: The rocking adaptor is arranged at one end of the mechanical arm away from the support seat and connected to the mechanical claw to adapt to the rocking of the ship caused by the action of waves and wind; The protection part is rotatably connected to the mechanical arm and is located outside the refueling gun, mechanical claw and the swinging part to prevent seawater interference and erosion during refueling; The fixing part is arranged on the suitable rocking part and the protection part to fix the suitable rocking part and release the fixing of the suitable rocking part when the refueling gun is refueling; The swing-adapting part includes a translation part and a rotation part, the translation part is connected to one end of the mechanical arm away from the support seat, the rotation part is rotationally connected to the translation part, and one end away from the translation part is fixedly connected to the mechanical claw, the translation part includes a moving part and a transverse moving part, and the moving part is movably connected to the transverse moving part; The protection part includes a rotating guard and a movable part, the rotating guard is rotatably connected to the mechanical arm and is located outside the refueling gun, the movable part is rotatably connected to the rotating guard and is located inside the rotating guard to cooperate with the rotating guard to provide protection, the rotating guard includes a protective part, and the protective part is located outside the translation part, the rotating part, the mechanical claw and the refueling gun; The fixed rocking part includes a trigger and an actuator, wherein the trigger is arranged on the rotating guard, and the actuator is arranged on the translation member, and the trigger is electrically connected to the actuator so as to trigger the trigger to control the actuator to release the fixation of the translation member when the refueling gun is refueling.

[0006] Further, the translation member comprises: The H frame is fixed to the end of the robot arm away from the support through a fixing component; A through slot is opened through the interior of the H frame; The guide groove is opened through a side of the H frame away from the mechanical arm and is communicated with the through groove.

[0007] Further, the moving parts include: The C plate is symmetrically arranged on the inner side of the H frame and moves through the through slot; Springs are fixed above and below the C plate and are fixedly connected to the inner wall of the H frame; The roller is rotatably arranged on the inner side of the C plate and contacts with the inner wall of the H frame.

[0008] Further, the traverse part comprises: A sleeve plate is mounted on the outer side of the C plate, contacts the roller, and moves through the guide groove; The guide bar is fixed on the side of the sleeve plate away from the C plate and protrudes symmetrically upward and downward; The slider is movably mounted on the outside of the guide bar.

[0009] Further, the rotating member comprises: A support cover is fixed on the side of the slider away from the guide bar; The ball is rotatably embedded in the inner side of the support cover and penetrates the side of the support cover away from the slider; The holes are evenly and symmetrically opened on the outside of the sphere; The connecting support part penetrates the through hole and the support cover and is arranged between the ball and the mechanical claw.

[0010] Furthermore, the connecting support part includes: Through holes are evenly and symmetrically arranged throughout the interior of the support cover; There are four elastic bands, and the four elastic bands are arranged through the perforations and through holes to elastically connect the ball and the support cover; A fixed column, fixed at a position where the ball is away from the slider; The reinforcement rod has one end fixed to the outside of the fixed column and the other end fixedly connected to the mechanical claw.

[0011] Further, the rotary protector comprises: A support ring is mounted on the outside of the robot arm through a bearing; The support frame is fixed on the outer side of the support ring and is arranged around the translation part, the rotation part, the mechanical claw and the refueling gun; Protective parts are fixedly connected to the support frame.

[0012] Furthermore, the protective part includes: A protective cover is fixed below the support frame and connected to the support ring; The support plate is symmetrically fixed above the support frame and is located at a position of the support frame away from the support ring; The corrugated cover is fixed to one end of the support plate away from the support frame, and is fixedly connected to one end of the support frame away from the support ring.

[0013] Further, the movable part comprises: An opening is formed inside the protective cover; a reed, fixed to the outside of the shield and located above the opening; The protective cover is arranged on the inner side of the opening and connected to the end of the reed away from the protective cover.

[0014] Furthermore, the triggering member includes: A pressure plate, fixed on the top of the bellows; The executive parts include: The electric rod has a fixed end fixed on the support cover and a telescopic end extending in a direction close to the mechanical arm; A swivel column, fixed to the telescopic end of the electric pole; The threaded cylinder is rotatably connected to the outside of the rotary column.

[0015] The above solution of the present invention includes at least the following beneficial effects: By providing the roll-adaptive part and the fixed roll part, the robotic arm can provide support for the roll-adaptive part, and under the fixation of the fixed roll part, the robotic arm can stably push the mechanical claw and the refueling gun to move through the roll-adaptive part, so that the mechanical claw that grabs the refueling gun can move the refueling gun and insert it into the refueling port. When the refueling gun is inserted into the refueling port, the protective part will be used to trigger the fixed roll part, so that the fixed roll part releases the fixation of the roll-adaptive part. When the ship shakes, the roll-adaptive part will rise and fall, translate and rotate with the shaking of the ship, thereby replacing the movement and shaking of the robotic arm, mechanical claw and refueling gun, thereby preventing accidents caused by the shaking of the ship at the refueling gun and improving the safety and stability of refueling at sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the overall three-dimensional structure of the intelligently positioned marine automatic refueling robot provided in an embodiment of the present invention; Figure 2 A schematic diagram of the three-dimensional structure of the guide rod, mechanical arm and H-frame combination provided in an embodiment of the present invention; Figure 3 A schematic diagram of the three-dimensional structure of the combination of the rocking part, the mechanical claw and the refueling gun provided in an embodiment of the present invention; Figure 4 A schematic diagram of a three-dimensional structure of an H frame, a C plate, a sleeve plate and a slider assembly provided in an embodiment of the present invention; Figure 5 A schematic diagram of the three-dimensional structure of a support ring and a mechanical arm combination provided in an embodiment of the present invention; Figure 6 A three-dimensional exploded view of an actuator provided in an embodiment of the present invention; Figure 7 A three-dimensional exploded view of a combination of a moving part, a transverse moving part, a rotating part and an electric rod provided in an embodiment of the present invention; Figure 8 The embodiment of the present invention provides Figure 7 Schematic diagram of the structure at A in FIG. Fig. 9 A schematic diagram of a three-dimensional structure of a C-plate, a spring, a telescopic rod and a sleeve plate combination provided in an embodiment of the present invention; Fig.10 A schematic diagram of a three-dimensional structure of a ball, an elastic band and a fixing column combination provided in an embodiment of the present invention; Fig.11 A schematic diagram of the planar structure of a sphere close to a fixed column provided in an embodiment of the present invention; Fig.12 A schematic diagram of the three-dimensional structure of a mechanical claw and a fixed column combination provided in an embodiment of the present invention; Fig.13 A schematic diagram of the three-dimensional structure of a protection part provided in an embodiment of the present invention; Fig.14A schematic diagram of the three-dimensional structure of a motor and a gear combination provided in an embodiment of the present invention; Fig.15 The embodiment of the present invention provides Fig.13 Schematic diagram of the structure at B in FIG. Fig.16 A schematic diagram of the three-dimensional structure of the shield and support ring combination provided in an embodiment of the present invention.

[0017] Description of reference numerals: In the figure: 1, support seat; 2, fixed plate; 3, guide rod; 4, slide seat; 5, motor; 6, gear; 7, rack; 8, fixed seat; 9, motor; 10, mechanical arm; 11, connecting bracket; 12, visual sensor; 13, mechanical claw; 14, refueling gun; 15, connecting column; 16, H frame; 17, through groove; 18, guide groove; 19, C plate; 20, spring; 21, movable groove; 22, groove; 23, roller; 24, telescopic rod; 25, sleeve plate; 26, guide bar; 27, slider ; 28. Support cover; 29. ​​Ball; 30. Perforation; 31. Through hole; 32. Elastic band; 33. Fixed column; 34. Reinforcement rod; 35. Support ring; 36. Support frame; 37. Protective cover; 38. Spring leaf; 39. Protective cover; 40. Support plate; 41. Corrugated cover; 42. Connecting plate; 43. Measuring sensor; 44. Pressure plate; 45. Switch; 46. Support plate; 47. Electric rod; 48. Swivel column; 49. Threaded barrel; 50. Bolt; 51. Threaded hole; 52. Arc bar; 53. Baffle bar. DETAILED DESCRIPTION

[0018] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0019] like Figures 1 to 16 As shown, an embodiment of the present invention provides an intelligently positioned marine automatic refueling robot, comprising: a support 1 and a mechanical arm 10 which is arranged on the support 1 in translation, a mechanical claw 13 is arranged at one end of the mechanical arm 10 away from the support 1, a refueling gun 14 is clamped in the mechanical claw 13, a visual sensor 12 is fixed on the mechanical arm 10, and a metering sensor 43 is arranged above the refueling gun 14, characterized in that it also includes: The rocking adaptor is arranged at one end of the mechanical arm 10 away from the support 1 and connected to the mechanical claw 13 to adapt to the rocking of the ship caused by the action of waves and wind; The protection part is rotatably connected to the mechanical arm 10 and is located outside the refueling gun 14, the mechanical claw 13 and the swing-adapting part to prevent seawater interference and erosion during refueling; The fixing part is arranged on the suitable part and the protection part to fix the suitable part and release the fixing of the suitable part when the refueling gun 14 is refueling; The swing-adapting part includes a translation part and a rotation part. The translation part is connected to the end of the mechanical arm 10 away from the support 1. The rotation part is rotationally connected to the translation part, and the end away from the translation part is fixedly connected to the mechanical claw 13. The translation part includes a moving part and a transverse moving part. The moving part is movably connected to the transverse moving part. The protection part includes a rotating guard and a movable part. The rotating guard is rotatably connected to the mechanical arm 10 and is located outside the refueling gun 14. The movable part is rotatably connected to the rotating guard and is located inside the rotating guard to cooperate with the rotating guard to provide protection. The rotating guard includes protective parts, which are located outside the translation part, the rotating part, the mechanical claw 13 and the refueling gun 14. The fixed rocking part includes a trigger and an actuator. The trigger is arranged on the rotating guard, and the actuator is arranged on the translation member. The trigger is electrically connected to the actuator so that when the refueling gun 14 is refueling, the trigger is triggered to control the actuator to release the fixation of the translation member.

[0020] Specifically, fixed plates 2 are symmetrically fixed on both sides of the support seat 1, and fixing holes are opened inside the fixed plates 2. Guide rods 3 are symmetrically fixed on the inner side of the support seat 1, and a slide seat 4 is movably mounted on the outer side of the guide rod 3. A motor 5 is fixed on the outer side of the slide seat 4, and the driving end of the motor 5 rotates and passes through the interior of the slide seat 4. A rack 7 is fixed on the inner side of the bottom wall of the support seat 1, and a gear 6 is mounted on the driving end of the motor 5, and the gear 6 is located above the rack 7 and meshes with the rack 7. A fixed seat 8 is fixed on the slide seat 4, and a motor 9 is fixed on the end of the fixed seat 8 away from the support seat 1, and a robotic arm 10 is connected to the output end of the motor 9, and a connecting bracket 11 is fixedly connected to the robotic arm 10, and the connecting bracket 11 is fixedly connected to the visual sensor 12.

[0021] The connecting bracket 11 can firmly support the visual sensor 12 under the support of the mechanical arm 10, and the mechanical arm 10 can drive the visual sensor 12 to move together through the connecting bracket 11, the fixed plate 2 can provide support for the support base 1, the fixing hole can provide a through channel for the fixed component, the support base 1 can provide firm support for the guide rod 3 and the rack 7, the guide rod 3 can provide mobile support and guiding function for the slide 4, and the gear 6 can use the rotational power and the meshing action with the rack 7 to push the slide 4 to translate along the guide rod 3 through the driving end of the motor 5, the slide 4 can provide firm support for the motor 5, the motor 5 can use the driving end to drive the gear 6 to rotate, the fixed base 8 can firmly support the motor 9 on the slide 4, and after the motor 9 is started, it will use the driving end to drive the mechanical arm 10 to rotate horizontally, the mechanical arm 10 can provide support for all the components connected to the end away from the support base 1, and can push all the components connected to the end away from the support base 1 to move arbitrarily.

[0022] In the actual application of this embodiment: the staff can use the fixing parts to penetrate the fixing plate 2 from the fixing hole to firmly install it on the ship deck, so that the fixing plate 2 can firmly support the support seat 1. When refueling is needed, the staff can control the driving end of the motor 5 to rotate under the support of the support seat 1, the guide rod 3 and the slide seat 4, so that the motor 5 drives the gear 6 to rotate, so that the gear 6 uses the rotational power according to the rotation direction, and rolls along the rack 7 by meshing with the rack 7, and transmits the moving power to the slide seat 4 through the driving end of the motor 5 by meshing with the rack 7 and the gear 6, so that the slide seat 4 can translate left and right along the guide rod 3 under the support of the support seat 1, and at the same time, the slide seat 4 will use external force to drive the fixed seat 8, the motor 9 and the machine The robot arm 10 moves horizontally together. At the same time, the staff needs to start the motor 9 under the support of the fixed seat 8 according to the actual situation, so that the motor 9 uses the driving end to drive the robot arm 10 to rotate horizontally. At the same time, the visual sensor 12 is used to optically process the environment around the robot. The visual sensor 12 is first used to collect image information, and the collected information is compressed. Then it is fed back to a learning subsystem composed of a neural network and a statistical method. The learning subsystem then links the collected image information with the actual position of the robot to complete the autonomous navigation and positioning function of the robot arm 10, so that the robot arm 10 can drive the mechanical claw 13 to move to a suitable position together, and control the mechanical claw 13 to clamp and grasp the refueling gun 14.

[0023] As a preferred embodiment of the present invention, the translation member comprises: H frame 16, fixed to the end of the robot arm 10 away from the support 1 through a fixing member; A through slot 17 is formed through the interior of the H frame 16; The guide groove 18 is formed through a side of the H frame 16 away from the robot arm 10 and communicates with the through groove 17 .

[0024] Specifically, a connecting column 15 is fixed to the end of the robotic arm 10 away from the support base 1, a telescopic rod 24 is fixed to the inner wall of the C-plate 19, the telescopic end of the telescopic rod 24 is fixedly connected to the sleeve plate 25, and the H-frame 16 can provide an opening space for the through groove 17 and the guide groove 18 under the support of the connecting column 15. The through groove 17 can provide a through channel for the C-plate 19, and the H-frame 16 can provide a resistance for the C-plate 19 to prevent the C-plate 19 from lateral translation. The guide groove 18 can provide a through channel and moving space for the telescopic rod 24. The telescopic rod 24 can be extended and retracted under the action of external force, and can cooperate with the C-plate 19 to provide support for the sleeve plate 25.

[0025] Moving parts include: C plate 19, symmetrically arranged on the inner side of H frame 16, and movable through through slot 17; Spring 20, fixed above and below the C plate 19, and fixedly connected to the inner wall of the H frame 16; The roller 23 is rotatably disposed on the inner side of the C plate 19 and contacts the inner wall of the H frame 16 .

[0026] Specifically, movable grooves 21 are symmetrically provided at the top and bottom of the C plate 19, and the movable groove 21 is located on the inner side of the sleeve plate 25. Grooves 22 are symmetrically provided on the inner side of the C plate 19, and rollers 23 are provided on the inner sides of the grooves 22 and the movable grooves 21. The rollers 23 provided on the inner side of the grooves 22 contact the inner wall of the H frame 16, and the rollers 23 provided on the inner side of the movable grooves 21 contact the inner wall of the sleeve plate 25.

[0027] The traverse parts include: The sleeve plate 25 is mounted on the outer side of the C plate 19, contacts the roller 23, and moves through the guide groove 18; The guide bar 26 is fixed on the side of the sleeve plate 25 away from the C plate 19 and protrudes symmetrically upward and downward; The slider 27 is movably mounted on the outer side of the guide bar 26 .

[0028] Specifically, the traverse part also includes: The arc bar 52 is symmetrically fixed on the outer side of the guide bar 26 and passes through the slider 27; The blocking bar 53 is fixed on a side of the sleeve plate 25 away from the C-plate 19 and is located at both ends of the arc bar 52 .

[0029] The sleeve plate 25 can provide stable support for the guide bar 26, the guide bar 26 can provide support for the arc bar 52, the blocking bar 53 can provide resistance for the slider 27 under the support of the sleeve plate 25, and the guide bar 26 and the arc bar 52 cooperate to provide movement guidance and support and limit functions for the slider 27. The slider 27 can translate along the guide bar 26 and the arc bar 52 under the support of the sleeve plate 25 under the action of external force.

[0030] Any rotating parts include: A support cover 28 is fixed to a side of the slider 27 away from the guide bar 26; The ball 29 is rotatably embedded in the inner side of the support cover 28 and penetrates the side of the support cover 28 away from the slider 27; The perforations 30 are evenly and symmetrically formed on the outer side of the sphere 29; The connecting support part passes through the through hole 30 and the support cover 28 and is disposed between the ball 29 and the mechanical claw 13 .

[0031] Specifically, the support cover 28 can provide a housing space and a support and limiting function for the ball 29 under the support of the slider 27, and can provide a rotation space for the ball 29. The ball 29 can be a perforation 30 and a space, and the perforation 30 can provide a through channel for the elastic band 32.

[0032] The connecting parts include: Through holes 31 are evenly and symmetrically arranged throughout the interior of the support cover 28; There are four elastic bands 32, and the four elastic bands 32 are arranged through the through holes 30 and the through holes 31 to elastically connect the ball 29 with the support cover 28; A fixed column 33, fixed at a position where the ball 29 is away from the slider 27; One end of the reinforcing rod 34 is fixed to the outside of the fixing column 33 , and the other end is fixedly connected to the mechanical claw 13 .

[0033] In actual application of this embodiment, the support cover 28 can provide space for opening the through hole 31, and the through hole 31 can allow the elastic band 32 to pass through the support cover 28. The elastic band 32 can provide support for the ball 29 with the support of the support cover 28, and the elastic band 32 has a certain elasticity and can be stretched and deformed under the action of external force, and it will rebound after the external force disappears. The ball 29 can provide stable support for the fixed column 33 with the coordinated support of the elastic band 32 and the support cover 28. The fixed column 33 can provide support for the reinforcement rod 34, and the fixed column 33 and the reinforcement rod 34 cooperate to provide support for the mechanical claw 13.

[0034] The staff can control the movement of the refueling gun 14 clamped by the mechanical claw 13 through the mechanical arm 10 under the support of the slide 4 according to the actual needs, so that the refueling gun 14 is inserted into the oil filling port of the ship to be refueled for refueling. During refueling, the shaking and swaying of the ship will be transmitted to the mechanical claw 13 through the refueling gun 14, so that the mechanical claw 13 pushes the ball 29 through the reinforcement rod 34 and the fixed column 33 under the action of external force, so that the ball 29 pulls the elastic band 32 according to the direction of the external force under the action of the external force and the support of the support cover 28. At the same time, the ball 29 will transmit the external force to the slider 27 through the elastic band 32, so that the slider 27 can be laterally translated along the guide bar 26 and the arc bar 52 under the action of the external force and the support of the sleeve plate 25. At the same time, the external force will be transmitted to the sleeve plate 25 through the slider 27 and the guide bar 26, so that the sleeve plate 25 can move in the direction away from the H frame 16 under the action of the tension generated by the shaking of the ship. At the same time, the sleeve plate 25 will use external force to stretch the telescopic rod 24 with the support of the C plate 19 during the movement, and use friction to push the roller 23 to roll on the inner side of the movable groove 21, so that the sleeve plate 25 can be translated forward and backward along the C plate 19. At the same time, the external force will be transmitted to the C plate 19 through the sleeve plate 25 and the telescopic rod 24, so that the C plate 19 can move up and down along the through groove 17 under the action of the external force, and in the process of movement, cooperate with the support and resistance of the H frame 16 to squeeze or stretch the spring 20, so that the spring 20 accumulates energy. When the external force disappears, the spring 20 will use the rebound force to push the C plate 19 to move and reset under the support of the H frame 16, and use the elastic force to provide support for the C plate 19 under the support of the H frame 16, so that the mechanical claw 13 is protected from the shaking and swaying of the ship at sea when clamping the refueling gun 14 and inserting it into the refueling port for refueling, thereby avoiding major accidents during refueling and improving safety.

[0035] As a preferred embodiment of the present invention, the rotary protector comprises: The support ring 35 is sleeved on the outer side of the robot arm 10 through the bearing; The support frame 36 is fixed to the outside of the support ring 35 and is arranged around the translation member, the rotation member, the mechanical claw 13 and the refueling gun 14; The protective part is fixedly connected to the support frame 36.

[0036] Specifically, the robot arm 10 can provide rotational support for the support ring 35 through the bearing, the support ring 35 can provide support for the support frame 36, and a first stop block is provided on one side of the robot arm 10, and a second stop block is provided on the outer side of the support ring 35. The second stop block and the first stop block are staggered to resist the clockwise rotation of the support ring 35 in a natural state, and the support frame 36 can provide support for the shield 37.

[0037] Protective parts include: The shield 37 is fixed below the support frame 36 and connected to the support ring 35; The support plate 40 is symmetrically fixed above the support frame 36 and is located at a position of the support frame 36 away from the support ring 35; The bellows 41 is fixed to one end of the support plate 40 away from the support frame 36 , and is fixedly connected to one end of the support frame 36 away from the support ring 35 .

[0038] Specifically, the shield 37 can provide stable support for the support plate 40 under the support of the support frame 36, so that the support plate 40 can stably support the corrugated cover 41. The corrugated cover 41 can provide a moving space for the refueling gun 14, and can provide protection for the refueling gun 14. It can fit with the oil filling port and be squeezed and folded after the refueling gun 14 is inserted into the oil filling port. After the refueling gun 14 is pulled out of the oil filling port, the corrugated cover 41 will use its own elasticity to rebound and unfold.

[0039] Active parts include: An opening is formed through the interior of the shield 37; A spring 38 is fixed to the outside of the shield 37 and is located above the opening; The protective cover 39 is disposed on the inner side of the opening and connected to an end of the reed 38 away from the protective cover 37 .

[0040] Specifically, the shield 37 can provide stable support for the reed 38, and the reed 38 has a certain elasticity and can provide support for the protective cover 39, while the opening can provide a through passage and placement space for the protective cover 39. The protective cover 39 cooperates with the shield 37 to provide protection for its inner parts.

[0041] In the actual application of this embodiment, when the mechanical arm 10 controls the mechanical claw 13 to move and clamp the refueling gun 14 through the connecting column 15, the protective cover 39 will be pushed downward during the movement, so that the protective cover 39 pushes the spring 38 to deform and store energy under the action of external force and the support of the shield 37, and at the same time forces the protective cover 39 to move out from the inside of the opening to the outside to provide a passage for the mechanical claw 13 to pass through the opening. After the mechanical claw 13 passes through the opening to clamp the refueling gun 14, the mechanical claw 13 can be controlled to move by the mechanical arm 10. To the inner side of the shield 37, when the mechanical claw 13 drives the refueling gun 14 to move to the inner side of the shield 37, the output end of the refueling gun 14 will be on the inner side of the corrugated cover 41. At the same time, the reed 38 will use the rebound force under the support of the shield 37 to push the protective cover 39 to move to the inner side of the opening, so that the protective cover 39 moves to the inner side of the opening and fits with the shield 37, and then cooperates with the shield 37 to provide protection for the refueling gun 14, the mechanical claw 13, a part of the mechanical arm 10 and the shaking part to prevent them from being splashed with sea water and corroded.

[0042] In another preferred embodiment of the present invention, the trigger comprises: A pressing plate 44 is fixed above the bellows 41; Specifically, the connecting plate 42 is fixed to the support frame 36 and is located between the bellows 41 and the support plate 40; The metering sensor 43 is fixed to the end of the connecting plate 42 away from the support frame 36 and is located inside the bellows 41 and above the refueling gun 14; The trigger also includes: The switch 45 is fixed on the outside of the bellows 41 and is located at a position of the bellows 41 close to the support plate 40 and corresponding to the position of the pressure plate 44 .

[0043] The bellows 41 can provide a stable support for the pressure plate 44 and the switch 45, and the connecting plate 42 can provide a stable support for the metering sensor 43. The metering sensor 43 can be inserted into the oil filling port together with the refueling gun 14 to measure the amount of oil injected. If the oil gun and the oil filling port are accidentally detached, a stop oil supply command is issued to ensure accurate calculation and measurement of the oil amount.

[0044] When the bellows 41 is squeezed and folded, the pressure plate 44 will be driven to move towards the support plate 40 under the action of external force, so that the pressure plate 44 squeezes the switch 45 under the action of external force and the support of the bellows 41, so that the switch 45 is triggered and the electric rod 47 is controlled to retract. When the bellows 41 is unfolded by elastic force, the pressure plate 44 will separate from the switch 45, the switch 45 will pop up, and the electric rod 47 will be controlled to extend.

[0045] The executive parts include: The electric rod 47 has a fixed end fixed to the support cover 28 and a telescopic end extending toward the direction close to the robot arm 10; A swivel column 48 is fixed to the telescopic end of the electric rod 47; The threaded cylinder 49 is rotatably connected to the outer side of the rotating column 48 .

[0046] Specifically, the executive parts also include: The support plate 46 is fixed on the support cover 28 and is located in the direction where the elastic band 32 is close to the H frame 16; Bolt 50 is provided through H frame 16 and is threadedly connected to connecting column 15; The threaded hole 51 is formed at one end of the bolt 50 away from the connecting column 15 and is threadedly connected to the threaded barrel 49 .

[0047] In actual application of this embodiment, the support cover 28 can provide stable support for the support plate 46, so that the support plate 46 can stably support the electric rod 47, and the electric rod 47 can provide stable support for the swivel column 48, and the swivel column 48 can provide rotational support for the threaded cylinder 49. The threaded cylinder 49 can use the threaded cooperation with the threaded hole 51 under the action of external force to realize rotation under the support of the swivel column 48. The bolt 50 can provide a space for the threaded hole 51, and the threaded hole 51 can be threadedly connected with the threaded cylinder 49 and can provide a moving space for the threaded cylinder 49. The bolt 50, the threaded hole 51, the threaded cylinder 49, the swivel column 48, the electric rod 47, the support plate 46 and the support cover 28 can cooperate to fix the translation part and prevent the translation part from moving.

[0048] When the switch 45 is triggered, the electric rod 47 will shrink under the support of the support plate 46, and pull the threaded tube 49 to translate in the direction away from the H frame 16 through the rotary column 48. While moving, the threaded tube 49 will rotate with the rotary column 48 as the center under the support of the bolt 50 and the rotary column 48 by utilizing the threaded action with the threaded hole 51, and the threaded tube 49 will gradually separate from the bolt 50 through the threaded hole 51 by means of rotation and movement, and then when the refueling gun 14 is inserted into the refueling port to squeeze the corrugated cover 41, the fixation of the translation part is released, so that the translation part can play a role in refueling.

[0049] When the switch 45 pops up, the electric rod 47 will extend under the support of the support plate 46, and pull the threaded tube 49 to translate in the direction close to the H frame 16 through the rotary column 48. While moving, the threaded tube 49 will rotate under the support of the rotary column 48 by utilizing the action of the threaded hole 51 and the thread, and utilize the rotation and movement power to make the threaded tube 49 threadedly connected with the threaded hole 51, and gradually move in the direction close to the connecting column 15, and then threadedly connected with the bolt 50, thereby playing the role of fixing the translation part.

[0050] Working principle: when refueling is needed, the motor 5 is started, so that it uses the driving end to drive the gear 6 to rotate, the gear 6 engages with the rack 7, and transmits power to the slide 4, thereby pushing the robot arm 10 to move left and right along the guide rod 3. The slide 4 also supports the motor 9 and the robot arm 10. Therefore, when the motor 9 is started, the robot arm 10 will rotate, so that the robot arm 10 and its connected parts (including the mechanical claw 13 and the refueling gun 14) can move to a suitable refueling position.

[0051] The refueling gun 14 is clamped and fixed in the mechanical claw 13, and the mechanical claw 13 is smoothly moved to the oil filling port of the ship through the control of the mechanical arm 10. During the refueling process, the swaying of the ship will be transmitted to the mechanical claw 13 through the refueling gun 14. At this time, the rocking part can alleviate the instability caused by the shaking of the ship through the mutual cooperation of components such as the translation part, the rotating part, the roller 23, the spring 20, the elastic band 32, the ball 29 and the slider 27, so that the refueling gun 14 can maintain a stable state. The mutual cooperation enables the mechanical claw 13 to adapt to the external force of the waves. In this way, although the ship may sway due to waves during the refueling process, the mechanical claw 13 can also stabilize the refueling gun 14, ensure the safety and accuracy of refueling, prevent the refueling gun 14 from having unexpected situations during the refueling process, and improve the safety of the ship's refueling at sea.

[0052] By connecting the rotating guard in the protection part with the robot arm 10, the protection part can resist seawater erosion and extend the service life of the refueling robot.

[0053] Through the combination of the visual sensor 12 and the neural network, the robot's autonomous navigation and positioning function in a complex environment is realized. After the visual sensor 12 collects images, the image processing and learning system is used to analyze the information of the ship and the surrounding environment to ensure that the robotic arm 10 can move accurately to the refueling port, which can reduce human intervention and improve refueling efficiency.

[0054] When the refueling gun 14 is inserted into the ship's oil filling port and refueling begins, the metering sensor 43 will monitor the amount of injected oil in real time and issue a stop command when the oil gun accidentally falls off to prevent over-refueling. At the same time, the trigger cooperates with the electric rod 47. When the refueling gun 14 completes its task, the trigger controls the electric rod 47 to release the fixation of the refueling gun 14, allowing it to return to its original position automatically.

[0055] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligently positioned marine automatic refueling robot, comprising: A support base (1) and a mechanical arm (10) arranged on the support base (1) for translation, wherein a mechanical claw (13) is arranged at one end of the mechanical arm (10) away from the support base (1), a refueling gun (14) is clamped inside the mechanical claw (13), a visual sensor (12) is fixed on the mechanical arm (10), and a metering sensor (43) is arranged above the refueling gun (14), characterized in that it also includes: The rocking adaptor is arranged at one end of the mechanical arm (10) away from the support seat (1) and is connected to the mechanical claw (13) to adapt to the rocking of the ship caused by the action of sea waves and wind waves; A protection part, which is rotatably connected to the mechanical arm (10) and is located outside the refueling gun (14), the mechanical claw (13) and the swing-adapting part, so as to prevent interference and erosion by seawater during refueling; A rocking fixing part, arranged on the rocking-adapting part and the protective part, to fix the rocking-adapting part and to release the fixation of the rocking-adapting part when the refueling gun (14) is refueling; The swing-adapting part comprises a translation part and a rotation part, the translation part is connected to an end of the mechanical arm (10) away from the support seat (1), the rotation part is rotationally connected to the translation part, and an end away from the translation part is fixedly connected to the mechanical claw (13), the translation part comprises a moving part and a transverse moving part, and the moving part is movably connected to the transverse moving part; The protection part comprises a rotating guard and a movable part, the rotating guard is rotatably connected to the mechanical arm (10) and is located outside the refueling gun (14), the movable part is rotatably connected to the rotating guard and is located inside the rotating guard to cooperate with the rotating guard to provide protection, the rotating guard comprises a protective part, and the protective part is located outside the translation part, the rotating part, the mechanical claw (13) and the refueling gun (14); The fixed rocking part comprises a trigger and an actuator, wherein the trigger is arranged on the rotating guard, and the actuator is arranged on the translation member, and the trigger and the actuator are electrically connected so as to trigger the trigger to control the actuator to release the fixation of the translation member when the refueling gun (14) is refueling.

2. The intelligently positioned marine automatic refueling robot according to claim 1, characterized in that: The translation member comprises: An H frame (16) is fixed to an end of the mechanical arm (10) away from the support base (1) through a fixing component; A through groove (17) is formed inside the H frame (16); The guide groove (18) is formed through a side of the H frame (16) away from the mechanical arm (10) and is communicated with the through groove (17).

3. The intelligently positioned marine automatic refueling robot according to claim 2, characterized in that: The moving parts include: A C plate (19) is symmetrically arranged on the inner side of the H frame (16) and moves through the through slot (17); Springs (20) are fixed above and below the C plate (19) and are fixedly connected to the inner wall of the H frame (16); The roller (23) is rotatably arranged on the inner side of the C plate (19) and contacts the inner wall of the H frame (16).

4. The intelligently positioned marine automatic refueling robot according to claim 3 is characterized in that: The traverse parts include: A sleeve plate (25) is sleeved on the outer side of the C plate (19), contacts the roller (23), and moves through the guide groove (18); The guide bar (26) is fixed on a side of the sleeve plate (25) away from the C plate (19) and protrudes symmetrically upward and downward; The slider (27) is movably mounted on the outside of the guide bar (26).

5. The intelligently positioned marine automatic refueling robot according to claim 4 is characterized in that: The rotating parts include: A support cover (28) is fixed to a side of the slider (27) away from the guide bar (26); A ball (29) is rotatably embedded in the inner side of the support cover (28) and penetrates a side of the support cover (28) away from the slider (27); The perforations (30) are evenly and symmetrically formed on the outer side of the sphere (29); The connecting support part is arranged through the through hole (30) and the support cover (28), and is arranged between the round ball (29) and the mechanical claw (13).

6. The intelligently positioned marine automatic refueling robot according to claim 5, characterized in that: The connecting support parts include: The through holes (31) are evenly and symmetrically arranged throughout the interior of the support cover (28); There are four elastic bands (32), and the four elastic bands (32) are arranged to penetrate the perforations (30) and the through holes (31) to elastically connect the ball (29) and the support cover (28); A fixed column (33) is fixed at a position where the ball (29) is away from the slider (27); A reinforcing rod (34) has one end fixed to the outside of the fixing column (33) and the other end fixedly connected to the mechanical claw (13).

7. The intelligently positioned marine automatic refueling robot according to claim 6, characterized in that: The rotary protector comprises: A support ring (35) is sleeved on the outer side of the mechanical arm (10) through a bearing; A support frame (36) is fixed to the outside of the support ring (35) and is arranged around the translation member, the rotation member, the mechanical claw (13) and the refueling gun (14); The protective part is fixedly connected to the support frame (36).

8. The intelligently positioned marine automatic refueling robot according to claim 7, characterized in that: The protective parts include: A protective cover (37) is fixed below the support frame (36) and connected to the support ring (35); A support plate (40) is symmetrically fixed above the support frame (36) and is located at a position of the support frame (36) away from the support ring (35); The corrugated cover (41) is fixed to one end of the support plate (40) away from the support frame (36), and is fixedly connected to one end of the support frame (36) away from the support ring (35).

9. The intelligently positioned marine automatic refueling robot according to claim 8, characterized in that: The movable parts include: An opening is formed inside the protective cover (37); A reed (38) fixed to the outside of the shield (37) and located above the opening; The protective cover (39) is arranged on the inner side of the opening and is connected to an end of the reed (38) away from the protective cover (37).

10. The intelligently positioned marine automatic refueling robot according to claim 9, characterized in that: The triggering member comprises: A pressing plate (44) is fixed above the bellows (41); The executive parts include: An electric rod (47), a fixed end of which is fixed to the support cover (28), and a telescopic end of which is extended in a direction close to the mechanical arm (10); A rotating column (48) is fixed to the telescopic end of the electric rod (47); The threaded cylinder (49) is rotatably connected to the outside of the rotating column (48).

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