Oil gun robot and related automatic oil filling method

Abstract

The invention discloses a refueling gun robot and a related automatic refueling method. The oil gun robot comprises a mechanical arm unit, a connecting unit and a tail end tool unit, wherein the tail end tool unit is connected with the mechanical arm unit through the connecting unit; the connecting unit comprises a first fixing plate and a second fixing plate; the second fixing plate is perpendicular to the first fixing plate and fixedly connected with the end of the first fixing plate, and the driving end of the mechanical arm unit is connected with the second fixing plate. The tail end tool unit comprises an oil tank outer cover opening structure, an oil tank inner cover screwing structure and an oil gun feeding structure. The tail end of the oil tank inner cover screwing structure is connected to the second fixing plate; the tail end of the oil tank outer cover opening structure is fixedly connected with the oil tank inner cover screwing structure; the oil feeding and filling gun structure is telescopic and is connected with the first fixing plate. Full-automatic refueling can be achieved, the integration degree is higher, the structure is more compact, the size is smaller, and the requirements of an existing gas station can be met.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and particularly to a fuel gun robot and a related automatic fueling method. Background Art

[0003] The end effector of a fueling robot is the "hand" to complete this task, which is directly related to the feasibility, efficiency and cost of the work. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a fuel gun robot and a related automatic fueling method that overcome or at least partially solve the above problems.

[0005] In a first aspect, an embodiment of the present invention provides a fuel gun robot, including: a robotic arm unit, a connection unit, and an end effector unit, wherein the end effector unit is connected to the robotic arm unit through the connection unit;

[0006] The connection unit includes a first fixing plate and a second fixing plate; the second fixing plate is perpendicularly arranged with the first fixing plate and fixedly connected to the end of the first fixing plate, and the driving end of the robotic arm unit is connected to the second fixing plate;

[0007] The end effector unit includes: an outer fuel tank cover opening structure, an inner fuel tank cap unscrewing structure, and a fuel gun feeding structure;

[0008] The inner fuel tank cap unscrewing structure is rotatable and its end is connected to the second fixing plate;

[0009] The outer fuel tank cover opening structure is rotatable and its end is fixedly connected to the inner fuel tank cap unscrewing structure;

[0010] The fuel gun feeding structure is telescopic and connected to the first fixing plate.

[0011] In one embodiment, the outer fuel tank cover opening structure is arranged on one side of the inner fuel tank cap unscrewing structure;

[0012] The fuel gun feeding structure is arranged below the inner fuel tank cap unscrewing structure and the fuel gun feeding structure.

[0013] In one embodiment, the robotic arm unit includes: a mounting base, a first robotic arm, a second robotic arm, and a connecting seat;

[0014] The side end of the mounting base is hinged to the upper end of the first robotic arm, and the lower end of the first robotic arm is hinged to the upper end of the second robotic arm; the lower end of the second robotic arm is hinged to the connecting seat, and the connecting seat is connected to the second fixing plate.

[0015] In one embodiment, the fuel delivery nozzle structure includes: a first drive module, a first fixing module, and a first fueling module;

[0016] The first drive module is connected to the first fueling module and is used to drive the forward and backward movement of the first fueling module; the first drive module is installed at the bottom of the first fixing plate, and the first fueling module is installed below the first drive module through the first fixing module.

[0017] In one embodiment, the first fueling module includes: a fuel nozzle, a fuel pipe, and a switch assembly;

[0018] The fuel pipe is installed on the first drive module through the first fixing module. One end of the fuel pipe is connected to the fuel nozzle. The switch assembly includes a fuel nozzle switch pin and a switch driving member. The fuel nozzle switch pin is arranged on the fuel pipe and is connected to the switch driving member inside the fuel pipe. The switch driving member is arranged on the first fixing module, and the switch driving member is connected to the fuel nozzle switch pin to drive the fuel nozzle switch pin to open or close the switch inside the fuel pipe;

[0019] The first fixing module includes: an upper V-shaped positioning block and a lower V-shaped positioning block; the top of the upper V-shaped positioning block is connected to the first drive module. The upper V-shaped positioning block and the lower V-shaped positioning block are connected by bolts and enclose a through hole through which the fuel pipe passes, and the upper V-shaped positioning block and the lower V-shaped positioning block clamp the fuel pipe.

[0020] In one embodiment, the first drive module includes: at least two rodless cylinders, a rodless cylinder frame, a slider, and a cylinder slider frame;

[0021] The rodless cylinders are fixed on the rodless cylinder frame; the bottom of the slider on the rodless cylinder is fixed on the cylinder slider frame. The cylinder slider frame and the upper V-shaped positioning block are connected together by bolts. The rodless cylinder frame is fixed on the first fixing plate, and the first fixing plate is arranged at the bottom of the rodless cylinder frame.

[0022] In one embodiment, the switch driving member includes: a double-acting cylinder and a switch frame;

[0023] The double-acting cylinder is installed on the lower V-shaped positioning block. The lower end of the switch frame is connected to the driving end of the double-acting cylinder, and the upper end of the switch frame is connected to the fuel nozzle switch pin.

[0024] In one embodiment, the first fueling module further includes: a rubber sleeve and a connecting pipe. The rubber sleeve is sleeved on the fuel nozzle, and one end of the connecting pipe is detachably connected to the fuel pipe.

[0025] In one embodiment, the fuel tank cap screwing structure includes: a second rotation module, a second connection module, and a second operation module. The second operation module is connected to the second rotation module through the second connection module and is used for unscrewing and screwing the inner fuel tank cap.

[0026] The second operation module includes: a finger cylinder and a jaw arm. The fixed end of the finger cylinder is connected to the second rotation module through the second connection module. The rotating end of the finger cylinder is connected to the jaw arm. The finger cylinder and the jaw arm are rotated through the second rotation module so that the jaw arm is driven by the finger cylinder to move towards or away from each other to unscrew or screw the inner fuel tank cap.

[0027] The second rotation module includes: an explosion-proof box, a motor, and a pneumatic slip ring. The explosion-proof box is installed on the first fixing plate and connected to the second fixing plate. The motor is located inside the explosion-proof box. The stator of the pneumatic slip ring is fixed on the explosion-proof box. The output shaft of the motor is connected to one end of the rotor of the pneumatic slip ring. The other end of the rotor of the pneumatic slip ring is connected to the second connection module.

[0028] The second connection module includes: an adapter bracket, a linear bearing, a optical axis, and a spring. The end face of the rotor of the pneumatic slip ring is connected to the adapter bracket. One end of the linear bearing is connected to the adapter bracket. The other end of the linear bearing is connected to the optical axis. The spring is sleeved on the optical axis and abuts against the linear bearing. The other end of the optical axis is connected to the finger cylinder.

[0029] In one embodiment, the second operation module further includes: a buffer pad. The buffer pad is installed on the inner side of the end of the jaw arm.

[0030] In one embodiment, the outer fuel tank cap opening structure includes: a third driving module, a third connection module, and a third adsorption module. The third adsorption module is connected to the third driving module through the third connection module.

[0031] The third driving module includes: a cylinder body, a cylinder rod, and a first pneumatic interface. The cylinder rod is arranged inside the cylinder body. The first pneumatic interface is arranged on the cylinder body.

[0032] The third connection module includes: a spring cylinder, an embedded plug, a spring, a spring plug, a steel wire rope, and a steel wire rope plug. The spring plug is threadedly connected to the end of the spring cylinder away from the cylinder body. The embedded plug is arranged inside the spring cylinder.

[0033] The spring plug, the spring, the wire rope plug, and the wire rope are disposed within the spring cylinder. One end of the cylinder rod penetrates through the spring cylinder and is connected to the spring cylinder. The embedded plug is connected to one end of the wire rope. The other end of the wire rope penetrates through the spring cylinder and the spring plug and is connected to the wire rope plug. The spring is disposed between the wire rope plug and the embedded plug and sleeved on the wire rope.

[0034] The third adsorption module includes a suction cup, a suction cup interface, and a second pneumatic interface. The suction cup interface is connected to the wire rope plug. The other end of the suction cup interface is connected to the suction cup. The second pneumatic interface is disposed on the suction cup interface.

[0035] The end of the spring plug away from the cylinder body is detachably connected to the wire rope plug.

[0036] The wire rope plug is connected to one end of the suction cup interface.

[0037] In one embodiment, the above fuel dispenser robot further includes: a binocular camera and a third bracket.

[0038] The binocular camera is mounted on the top of the second fixed plate through the third bracket.

[0039] In one embodiment, the fuel dispenser robot further includes: an upper housing, a lower housing, and a fourth support rod. The lower housing wraps the fuel dispenser structure. The upper housing wraps the structure for screwing the inner tank cap. The structure for opening the outer tank cap is mounted on the explosion-proof box through the fourth support rod penetrating the upper housing.

[0040] In a second aspect, an embodiment of the present invention provides a method for automatic fueling. The method uses the fuel dispenser robot as described above to fuel a vehicle.

[0041] The beneficial effects of the above technical solutions provided by the embodiments of the present invention at least include:

[0042] The above fuel gun robot provided by the embodiments of the present invention can be directly applied to existing gas stations. The fuel gun robot has three tools: a fuel gun delivery structure, a structure for unscrewing the inner fuel tank cap, and a structure for opening the outer fuel tank cap. The rear end of the fuel gun delivery structure can be connected to the fuel outlet of the fuel tank. When refueling a vehicle, the outer fuel tank cap of the vehicle body can be opened through the structure for opening the outer fuel tank cap, and then the inner fuel tank cap of the vehicle body can be opened through the structure for unscrewing the inner fuel tank cap. The vehicle body fuel tank is refueled through the fuel gun delivery structure. After refueling, the fuel gun delivery structure is withdrawn, the structure for unscrewing the inner fuel tank cap screws on the inner fuel tank cap of the vehicle body, and then the structure for opening the outer fuel tank cap closes the outer fuel tank cap of the vehicle body. The embodiments of the present invention can achieve fully automatic refueling. Moreover, the structure for opening the outer fuel tank cap, the structure for unscrewing the inner fuel tank cap, and the fuel gun delivery structure are all arranged on the same robotic arm unit, with a higher degree of integration, a more compact structure, and a smaller volume of the refueling robot, which can meet the requirements of various gas stations.

[0043] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the structure particularly pointed out in the written description, claims, as well as the appended drawings.

[0044] The technical solutions of the present invention will be further described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0045] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0046] Figure 1 is a schematic diagram of the overall structure of the fuel gun robot in the embodiments of the present invention;

[0047] Figure 2 is a schematic diagram of the structure for opening the outer fuel tank cap, the structure for unscrewing the inner fuel tank cap, and the fuel gun delivery structure in the embodiments of the present invention;

[0048] Figure 3 and Figure 4 is a schematic diagram of the internal structure of the fuel gun delivery structure in the embodiments of the present invention;

[0049] Figure 5 is a schematic diagram of the structure of the structure for unscrewing the inner fuel tank cap in the embodiments of the present invention;

[0050] Figure 6 and Figure 7 is a schematic diagram of the structure for opening the outer fuel tank cap in the embodiments of the present invention;

[0051] Figure 8 is Figure 1 a partial enlarged view of part A in

[0052] Figure 9 It is a structural schematic diagram of the robotic arm unit;

[0053] Figure 10 It is an example of the flowchart of the automatic fueling method provided by the embodiment of the present invention.

[0054] Explanation of reference numerals:

[0055] 1. Robotic arm unit; 2. Connection unit; 3. End effector unit; 21. First fixing bracket; 22. Second fixing plate; 31. Outer fuel tank cover opening structure; 32. Inner fuel tank cap screwing structure; 33. Fueling gun feeding structure; 34. Binocular camera; 35. Third bracket; 36. Upper housing; 37. Lower housing; 38. Fourth support rod;

[0056] 11. Mounting seat; 12. First robotic arm hand; 13. Second robotic arm hand; 14. Connection seat;

[0057] 310. Suction cup interface; 311. Cylinder body; 312. Cylinder rod; 313. First pneumatic interface; 314. Spring cylinder; 315. Embedded plug; 316. Spring; 317. Spring plug; 318. Steel wire rope; 319. Steel wire rope plug; 320. Suction cup;

[0058] 321. Finger cylinder; 322. Claw arm; 323. Explosion-proof box; 324. Pneumatic slip ring; 325. Adapter bracket; 326. Linear bearing; 327. Optical axis; 328. Spring; 329. Buffer pad;

[0059] 331. Fueling gun; 332. Fueling pipe; 333. Fueling gun switch pin; 334. Upper V-shaped positioning block; 335. Lower V-shaped positioning block; 336. Rodless cylinder; 337. Rodless cylinder bracket; 338. Slide block; 339. Cylinder slide block bracket; 340. Double-acting cylinder; 341. Switch bracket; 342. Rubber sleeve; 343. Connecting pipe. Detailed implementation manners

[0060] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0061] The inventors of the present application have found that currently common fueling robots usually have two robotic arms, and the three steps of opening the cover, screwing the cap, and fueling can be dispersed on the two robotic arms. However, its disadvantages are that the two-arm fueling robot occupies a large space and has a high cost.

[0062] Based on this, embodiments of the present invention provide a fuel gun robot for providing an integrated single-arm robot, which integrates the three steps of opening the cover, unscrewing the cap, and refueling on the same robotic arm. The following will describe in detail the specific implementation manners of the fuel gun robot provided in this application with reference to the accompanying drawings.

[0063] The fuel gun robot provided by the embodiments of the present invention is referred to Figure 1 and Figure 2 As shown, the fuel gun robot specifically includes: a robotic arm unit 1, a connection unit 2, and an end effector unit 3; where:

[0064] The end effector unit 3 is connected to the robotic arm unit 1 through the connection unit 2;

[0065] The connection unit 2 includes a first fixing plate 21 and a second fixing plate 22; the second fixing plate 22 is perpendicular to the first fixing plate 21 and fixedly connected to the end of the first fixing plate, and the driving end of the robotic arm unit 1 is connected to the second fixing plate 22;

[0066] The end effector unit 3 includes: an outer fuel tank cover opening structure 31, an inner fuel tank cap unscrewing structure 32, and a fuel gun feeding structure 33;

[0067] The inner fuel tank cap unscrewing structure 32 is rotatable (to achieve the function of unscrewing the inner fuel tank cap) and is connected to the second fixing plate 22 at the end;

[0068] The outer fuel tank cover opening structure 31 is rotatable (to achieve the function of opening the outer fuel tank cover) and is fixedly connected to the inner fuel tank cap unscrewing structure 32 at the end;

[0069] The fuel gun feeding structure 33 is telescopic (to achieve the injection of fuel) and is connected to the first fixing plate 21.

[0070] The above fuel gun robot provided by the embodiments of the present invention can be directly applied to existing gas stations. The fuel gun robot has three tools: a fuel gun feeding structure, an inner fuel tank cap unscrewing structure, and an outer fuel tank cover opening structure. The rear end of the fuel gun feeding structure can be connected to the fuel outlet of the fuel tank. When refueling a vehicle, the outer fuel tank cover of the vehicle body can be opened through the outer fuel tank cover opening structure, and then the inner fuel tank cap of the vehicle body can be opened through the inner fuel tank cap unscrewing structure. The vehicle body fuel tank is refueled through the fuel gun feeding structure. After refueling, the fuel gun feeding structure is withdrawn, the inner fuel tank cap unscrewing structure screws on the inner fuel tank cap of the vehicle body, and then the outer fuel tank cover opening structure closes the outer fuel tank cover of the vehicle body. The embodiments of the present invention can achieve fully automatic refueling. Moreover, the above outer fuel tank cover opening structure, inner fuel tank cap unscrewing structure, and fuel gun feeding structure are all arranged on the same robotic arm unit, with higher integration, a more compact structure, and a smaller volume of the fueling robot, which can meet the requirements of various gas stations.

[0071] In one embodiment, with reference to Figure 2 As shown, the outer fuel tank cover structure 31 is arranged on one side of the screwed inner fuel tank cover structure 32;

[0072] The fuel delivery and filling gun structure 33 is arranged below the screwed inner fuel tank cover structure 32 and the fuel delivery and filling gun structure 33.

[0073] In one embodiment, with reference to Figure 1 and Figure 9 As shown, the above-mentioned robotic arm unit 1 further includes: a mounting base 11, a first robotic arm hand 12, a second robotic arm hand 13, and a connecting seat 14;

[0074] The side end of the mounting base 11 is hinged to the upper end of the first robotic arm hand 12, and the lower end of the first robotic arm hand 12 is hinged to the upper end of the second robotic arm hand 13; the lower end of the second robotic arm hand 13 is hinged to the connecting seat 14, and the connecting seat 14 is connected to the second fixing plate 22.

[0075] In one embodiment, with reference to Figure 3 As shown, the fuel delivery and filling gun structure 33 further includes: a first driving module, a first fixing module, and a first fuel filling module;

[0076] The first driving module, which is connected to the first fuel filling module, is used to drive the forward and backward movement of the first fuel filling module; the first driving module is installed at the bottom of the first fixing plate 21, and the first fuel filling module is installed below the first driving module through the first fixing module.

[0077] In one embodiment, with reference to Figure 3 As shown, the first fuel filling module further includes: a fuel filling gun 331, a fuel filling pipe 332, and a switch assembly;

[0078] The fuel filling pipe 332 is installed on the first driving module through the first fixing module. One end of the fuel filling pipe 332 is connected to the fuel filling gun 331. The switch assembly includes a fuel filling gun switch pin 333 and a switch driving member. The fuel filling gun switch pin 333 is arranged on the fuel filling pipe 332 and is connected to the switch driving member inside the fuel filling pipe. The switch driving member is arranged on the first fixing module, and the switch driving member is connected to the fuel filling gun switch pin 333 to drive the fuel filling gun switch pin 333 to open or close the switch inside the fuel filling pipe;

[0079] The first fixing module further includes: an upper V-shaped positioning block 334 and a lower V-shaped positioning block 335; the top of the upper V-shaped positioning block 334 is connected to the first driving module. The upper V-shaped positioning block 334 and the lower V-shaped positioning block 335 are connected by bolts and enclose a through hole through which the fuel filling pipe 332 passes, and the upper V-shaped positioning block 334 and the lower V-shaped positioning block 335 clamp the fuel filling pipe 332.

[0080] Continue to refer to Figure 3 , Figure 4 As shown, the first driving module includes: at least two rodless cylinders 336, a rodless cylinder frame 337, a slider 338, and a cylinder slider frame 339;

[0081] The rodless cylinder 336 is fixed on the rodless cylinder frame 337; the bottom of the slider 338 on the rodless cylinder 336 is fixed on the cylinder slider frame 339. The cylinder slider frame 339 and the upper V-shaped positioning block 334 are connected together by bolts. The rodless cylinder frame 337 is fixed on the first fixing plate 21, and the first fixing plate 21 is arranged at the bottom of the rodless cylinder frame 337.

[0082] In one embodiment, refer to Figure 3 As shown, the switch driving member includes: a double-acting cylinder 340 and a switch frame 341;

[0083] The double-acting cylinder 342 is installed on the lower V-shaped positioning block 335. The lower end of the switch frame 341 is connected to the driving end of the double-acting cylinder 340, and the upper end of the switch frame 341 is connected to the fuel gun switch pin 333.

[0084] Continue to refer to Figure 3 , Figure 4 As shown, the first fueling module further includes: a rubber sleeve 342 and a connecting pipe 343. The rubber sleeve 342 is sleeved on the fuel gun 331, and one end of the connecting pipe 343 is detachably connected to the fuel pipe 332.

[0085] In the embodiment of the present invention, when the inner cover of the car fuel tank cap is opened, the muzzle of the fuel gun is aligned with the fuel tank opening. Then, the rodless cylinder slider drives components such as the cylinder slider frame 339, the upper V-shaped positioning block, the lower V-shaped positioning block, and the fuel gun to move forward, sending the fuel gun muzzle into the fuel tank opening. Then, the double-acting cylinder 340 pushes the switch frame to open the fuel gun switch through the fuel gun switch pin 333. After the fueling is completed and the gun jumps, the reverse process is restored.

[0086] In one embodiment, refer to Figure 5 As shown, the fuel tank cap screwing structure 32 includes: a second rotation module, a second connection module, and a second operation module. The second operation module is connected to the second rotation module through the second connection module and is used for unscrewing and screwing the inner cover of the fuel tank;

[0087] The second operation module includes: a finger cylinder 321 and a jaw arm 322; the fixed end of the finger cylinder 321 is connected to the second rotation module through a second connection module, the rotating end of the finger cylinder 321 is connected to the jaw arm 322, and the finger cylinder 321 and the jaw arm 322 are rotated through the second rotation module, so that the jaw arm 322 is driven by the finger cylinder 321 to move towards or away from each other to unscrew or tighten the inner cover of the fuel tank;

[0088] The second rotation module includes: an explosion-proof box 323, a motor and a pneumatic slip ring 324; the explosion-proof box 323 is installed on the first fixing plate 21 and connected to the second fixing plate 22, the motor is located inside the explosion-proof box 323, the stator of the pneumatic slip ring 324 is fixed on the explosion-proof box 323, the output shaft of the motor is connected to one end of the rotor of the pneumatic slip ring 324, and the other end of the rotor of the pneumatic slip ring 324 is connected to the second connection module;

[0089] The second connection module includes: a transfer rack 325, a linear bearing 326, an optical axis 327 and a spring 328; the end face of the rotor of the pneumatic slip ring 324 is connected to the transfer rack 325, one end of the linear bearing 326 is connected to the transfer rack 325, the other end of the linear bearing 326 is connected to the optical axis 327, the spring 328 is sleeved on the optical axis 327, and the spring 328 abuts against the linear bearing 326, and the other end of the optical axis 327 is connected to the finger cylinder 321.

[0090] Further, in order to have better clamping force and better protect the fuel tank cover when the fuel tank cover structure 32 is operating, the second operation module further includes: a buffer pad 329; the buffer pad 329 is installed on the inner side of the end of the jaw arm 322.

[0091] In the above embodiment, the finger cylinder intakes air, and the jaw arm clamps the inner cover of the fuel tank. Then, the motor inside the explosion-proof box transmits power to the rotor of the pneumatic slip ring through the output shaft, and the rotor of the pneumatic slip ring drives the transfer rack and the jaw of the finger cylinder to rotate.

[0092] In one embodiment, referring to Figure 6 and Figure 7 as shown, the outer fuel tank cover opening structure 31 specifically includes: a third driving module, a third connection module and a third adsorption module, and the third adsorption module is connected to the third driving module through the third connection module;

[0093] The third driving module specifically includes: a cylinder body 311, a cylinder rod 312 and a first pneumatic interface 313; the cylinder rod 312 is arranged inside the cylinder body 311, and the first pneumatic interface 313 is arranged on the cylinder body 311;

[0094] The specific components of the third connection module include: a spring cylinder 314, an embedded plug 315, a spring 316, a spring plug 317, a steel wire rope 318, and a steel wire rope plug 319; among which:

[0095] The spring plug 317 is threadedly connected to one end of the spring cylinder 314 away from the cylinder body 311; the embedded plug is disposed inside the spring cylinder;

[0096] The spring plug 317, the spring 316, the steel wire rope plug 319, and the steel wire rope 318 are disposed inside the spring cylinder 314. One end of the cylinder rod 312 penetrates through the spring cylinder 314 and is connected to the spring cylinder 314. The embedded plug 315 is connected to one end of the steel wire rope 318. The other end of the steel wire rope 318 penetrates through the spring cylinder 314 and the spring plug 317 and is connected to the steel wire rope plug 319. The spring 316 is disposed inside the spring cylinder 314 and sleeved on the steel wire rope 318 (penetrating through the spring 316 inside the spring cylinder 314);

[0097] The third adsorption module includes a suction cup 320, a suction cup interface 310, and a second pneumatic interface. The suction cup interface 310 is connected to the steel wire rope plug 319. The other end of the suction cup interface 310 is connected to the suction cup 320. The second pneumatic interface is disposed on the suction cup interface 310;

[0098] The end of the spring plug 317 away from the cylinder body 311 is detachably connected to the steel wire rope plug 319;

[0099] The steel wire rope plug 319 is connected to one end of the suction cup interface 310.

[0100] In the above embodiment, when the end effector unit approaches the vehicle to be refueled, the cylinder rod 312 extends, driving the front suction cup 320 to extend. When the suction cup 320 approaches the vehicle, the suction cup 320 adsorbs the outer cover of the car fuel tank. During the movement of the robot with the end effector, the steel wire rope plug 319 and the suction cup 320 can freely rotate a certain angle in the radial direction under the action of the steel wire rope, or tilt. When tilting, the steel wire rope is pulled out, and the steel wire rope pulls the other end embedded plug 315 forward, compressing the spring. When the action of opening the outer cover of the fuel tank is completed, under the action of the spring, the steel wire rope drives the steel wire rope plug, the embedded plug, etc. to reset, and the end face of the steel wire rope plug 319 tightly abuts against the end face of the spring plug 317.

[0101] Further, in order to better identify the vehicle position, fuel tank position, etc., the fueling gun robot, as shown in Figure 2 and Figure 5 may further include: a binocular camera 34 and a third bracket 35;

[0102] The binocular camera 35 is mounted on the top of the second fixing plate 22 through a third bracket 35 .

[0103] Furthermore, in order to better protect the fuel delivery gun structure 33 and the fuel tank cover screwing structure 32, the fuel delivery gun robot, with reference to Figure 8 As shown, it can also include: an upper shell 36, a lower shell 37 and a fourth bracket rod 38. The lower shell 37 wraps the oil supply gun structure 33, the upper shell 36 wraps the oil tank inner cover screwing structure 32, and the oil tank outer cover opening structure 31 passes through the upper shell 36 through the fourth bracket rod 38 and is installed on the explosion-proof box 323.

[0104] The overall working principle of the fuel gun robot provided by the embodiment of the present invention is described as follows:

[0105] When the end tool unit approaches the vehicle, the cylinder rod extends, bringing out the suction cup in front. When the suction cup approaches the vehicle, the suction cup adheres to the outer cover of the fuel tank of the vehicle. Under the action of the adsorption force, the outer cover of the fuel tank of the vehicle is opened.

[0106] The finger cylinder of the fuel gun robot takes in air, and the gripper arm clamps the inner cover of the fuel tank. Then the motor inside the explosion-proof box transmits power to the pneumatic slip ring rotor through the output shaft, and the pneumatic slip ring rotor drives the adapter frame and the finger cylinder gripper to rotate, driving the inner cover of the fuel tank to unscrew.

[0107] When the inner cover of the car's fuel tank cap is opened, the nozzle of the fuel gun is aimed at the fuel tank port, and then the rodless cylinder slider drives the cylinder slider frame, the upper V-shaped positioning block, the lower V-shaped positioning block and the fuel gun and other components to move forward, and the nozzle of the fuel gun is sent to the fuel tank port, and then the double-axis cylinder pushes the switch frame to open the fuel gun switch through the fuel gun switch pin. After the fueling is completed, the gun jumps, and the reverse process returns to the initial state.

[0108] Based on the same inventive concept, an embodiment of the present invention also provides an automatic refueling method. Since the principle of the problem solved by the method is similar to that of the aforementioned refueling gun robot, the implementation of the method can refer to the implementation of the aforementioned refueling gun robot, and the repeated parts will not be repeated.

[0109] An embodiment of the present invention provides an automatic refueling method, which uses the aforementioned refueling gun robot to refuel a vehicle.

[0110] An example of a process for realizing automatic refueling using the refueling gun robot provided by an embodiment of the present invention can be referred to Figure 10 As shown, the process includes:

[0111] 1) Identify the vehicle and retrieve the corresponding refueling procedure;

[0112] 2) The robot scans and identifies the fuel tank opening;

[0113] 3) The refueling robot moves to the working position;

[0114] 4) Perform the operation of opening the outer fuel tank cover;

[0115] 5) Perform the operation of unscrewing the inner fuel tank cover;

[0116] 6) Perform the operation of delivering the fuel gun;

[0117] 7) After refueling, perform the operation of retracting the fuel gun;

[0118] 8) Perform the operation of screwing on the inner fuel tank cover;

[0119] 9) Perform the operation of closing the outer fuel tank cover;

[0120] 10) The refueling robot returns to the position waiting for work;

[0121] 11) The vehicle leaves the site and the refueling work ends.

[0122] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A fuel gun robot, characterized in that, Including: A robotic arm unit (1), a connecting unit (2) and an end tool unit (3), wherein the end tool unit (3) is connected to the robotic arm unit (1) through the connecting unit (2); The connecting unit (2) includes a first fixing plate (21) and a second fixing plate (22); the second fixing plate (22) is perpendicular to the first fixing plate (21) and fixedly connected to the end of the first fixing plate, and the driving end of the robotic arm unit (1) is connected to the second fixing plate (22); The end tool unit (3) includes: an outer fuel tank cover opening structure (31), an inner fuel tank cover screwing structure (32) and a fuel gun feeding structure (33); The inner fuel tank cover screwing structure (32) is rotatable and its end is connected to the second fixing plate (22); The outer fuel tank cover opening structure (31) is rotatable and its end is fixedly connected to the inner fuel tank cover screwing structure (32); The fuel gun feeding structure (33) is telescopic and connected to the first fixing plate (21).

2. The fuel gun robot according to claim 1, characterized in that, The outer fuel tank cover opening structure (31) is arranged on one side of the inner fuel tank cover screwing structure (32); The fuel gun feeding structure (33) is arranged below the inner fuel tank cover screwing structure (32) and the fuel gun feeding structure (33).

3. The fuel gun robot according to claim 1, characterized in that, The robotic arm unit (1) includes: a mounting seat (11), a first robotic arm hand (12), a second robotic arm hand (13) and a connecting seat (14); The side end of the mounting seat (11) is hinged to the upper end of the first robotic arm hand (12), and the lower end of the first robotic arm hand (12) is hinged to the upper end of the second robotic arm hand (13); the lower end of the second robotic arm hand (13) is hinged to the connecting seat (14), and the connecting seat (14) is connected to the second fixing plate (22).

4. The fuel gun robot according to claim 1, characterized in that, The fuel gun feeding structure (33) includes: a first driving module, a first fixing module and a first fuel feeding module; The first driving module, connected to the first fuel feeding module, is used to drive the forward and backward movement of the first fuel feeding module; the first driving module is installed at the bottom of the first fixing plate (21), and the first fuel feeding module is installed below the first driving module through the first fixing module.

5. The fuel gun robot according to claim 4, characterized in that, The first fuel feeding module includes: a fuel gun (331), a fuel pipe (332) and a switch assembly; The fuel pipe (332) is installed on the first driving module through the first fixing module, one end of the fuel pipe (332) is connected to the fuel gun (331), the switch assembly includes a fuel gun switch pin (333) and a switch driving member, the fuel gun switch pin (333) is arranged on the fuel pipe (332) and connected to the switch driving member inside the fuel pipe, the switch driving member is arranged on the first fixing module, and the switch driving member is connected to the fuel gun switch pin (333) to drive the fuel gun switch pin (333) to open or close the switch inside the fuel pipe; The first fixing module includes: an upper V-shaped positioning block (334) and a lower V-shaped positioning block (335); the top of the upper V-shaped positioning block (334) is connected to the first driving module, the upper V-shaped positioning block (334) and the lower V-shaped positioning block (335) are connected by bolts and enclose a through hole through which a fuel filling pipe (332) passes, and the upper V-shaped positioning block (334) and the lower V-shaped positioning block (335) clamp the fuel filling pipe (332).

6. The fuel gun robot according to claim 5, characterized in that, The first driving module includes: at least two rodless cylinders (336), a rodless cylinder frame (337), a slider (338) and a cylinder slider frame (339); The rodless cylinders (336) are fixed on the rodless cylinder frame (337); the bottom of the slider (338) on the rodless cylinder (336) is fixed on the cylinder slider frame (339), the cylinder slider frame (339) and the upper V-shaped positioning block (334) are connected together by bolts, the rodless cylinder frame (337) is fixed on the first fixing plate (21), and the first fixing plate (21) is arranged at the bottom of the rodless cylinder frame (337).

7. The fuel gun robot according to claim 5, characterized in that, The switch driving member includes: a double-acting cylinder (340) and a switch frame (341); The double-acting cylinder (342) is installed on the lower V-shaped positioning block (335), the lower end of the switch frame (341) is connected to the driving end of the double-acting cylinder (340), and the upper end of the switch frame (341) is connected to the fuel gun switch pin (333).

8. The fuel gun robot according to claim 5, characterized in that, The first fuel filling module further includes: a rubber sleeve (342) and a connecting pipe (343), the rubber sleeve (342) is sleeved on the fuel gun (331), and one end of the connecting pipe (343) is detachably connected to the fuel filling pipe (332).

9. The fuel gun robot according to claim 1, characterized in that, The fuel tank cap screwing structure (32) includes: a second rotating module, a second connecting module and a second operating module, the second operating module is connected to the second rotating module through the second connecting module and is used for unscrewing and screwing the inner fuel tank cap; The second operating module includes: a finger cylinder (321) and a jaw arm (322); the fixed end of the finger cylinder (321) is connected to the second rotating module through the second connecting module, the rotating end of the finger cylinder (321) is connected to the jaw arm (322), and the finger cylinder (321) and the jaw arm (322) are rotated through the second rotating module so that the jaw arm (322) is driven by the finger cylinder (321) to move towards or away from each other to unscrew or screw the inner fuel tank cap; The second rotating module includes: an explosion-proof box (323), a motor and a pneumatic slip ring (324); the explosion-proof box (323) is installed on the first fixing plate (21) and connected to the second fixing plate (22), the motor is located inside the explosion-proof box (323), the stator of the pneumatic slip ring (324) is fixed on the explosion-proof box (323), the output shaft of the motor is connected to one end of the rotor of the pneumatic slip ring (324), and the other end of the rotor of the pneumatic slip ring (324) is connected to the second connecting module; The second connection module includes: a transfer frame (325), a linear bearing (326), a smooth shaft (327), and a spring (328); the end face of the rotor of the pneumatic slip ring (324) is connected to the transfer frame (325), one end of the linear bearing (326) is connected to the transfer frame (325), the other end of the linear bearing (326) is connected to the smooth shaft (327), the spring (328) is sleeved on the smooth shaft (327), and the spring (328) abuts against the linear bearing (326), and the other end of the smooth shaft (327) is connected to the finger cylinder (321).

10. The fuel gun robot according to claim 9, characterized in that, The second operation module further includes: a buffer pad (329); the buffer pad (329) is installed on the inner side of the end of the jaw arm (322).

11. The fuel gun robot according to claim 1, characterized in that, The structure (31) of the outer cover of the fuel tank opening includes: a third drive module, a third connection module, and a third adsorption module, and the third adsorption module is connected to the third drive module through the third connection module; The third drive module includes: a cylinder body (311), a cylinder rod (312), and a first pneumatic interface (313); the cylinder rod (312) is arranged inside the cylinder body (311), and the first pneumatic interface (313) is arranged on the cylinder body (311); The third connection module includes: a spring cylinder (314), an embedded plug (315), a spring (316), a spring plug (317), a steel wire rope (318), and a steel wire rope plug (319); the spring plug (317) is threadedly connected to one end of the spring cylinder (314) away from the cylinder body (311); the embedded plug is arranged inside the spring cylinder; The spring plug (317), the spring (316), and the steel wire rope (318) are arranged inside the spring cylinder (314), one end of the cylinder rod (312) penetrates through the spring cylinder (314) and is connected to the spring cylinder (314), the embedded plug (315) is connected to one end of the steel wire rope (318), the other end of the steel wire rope (318) penetrates through the spring cylinder (314) and the spring plug (317) and is connected to the steel wire rope plug (319), the spring (316) is arranged between the steel wire rope plug and the embedded plug, and is sleeved on the steel wire rope (318); The third adsorption module includes a suction cup (320), a suction cup interface (310), and a second pneumatic interface, the suction cup interface (310) is connected to the steel wire rope plug (319), the other end of the suction cup interface (310) is connected to the suction cup (320), and the second pneumatic interface is arranged on the suction cup interface (310); The end of the spring plug (317) away from the cylinder body (311) is detachably connected to the steel wire rope plug (319); The steel wire rope plug (319) is connected to one end of the suction cup interface (310).

12. The fuel dispenser robot according to any one of claims 1-10, characterized in that, It further includes: a binocular camera (34) and a third bracket (35); The binocular camera (35) is installed on the top of the second fixing plate (22) through the third bracket (35).

13. The fuel dispenser robot according to claim 9 or 10, characterized in that, It further includes: It further includes an upper housing (36), a lower housing (37) and a fourth support rod (38). The lower housing (37) wraps the fuel delivery and filling gun structure (33), the upper housing (36) wraps the inner fuel tank cap screwing structure (32), and the outer fuel tank cap opening structure (31) is installed on the explosion-proof box (323) through the fourth support rod (38) penetrating the upper housing (36).

14. A method for automatic fueling, characterized in that, The method uses the fuel filling gun robot according to any one of claims 1-13 to fill the vehicle with fuel.

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