Biped humanoid refueling robot and automatic refueling method

Abstract

The invention discloses a biped humanoid refueling robot and a related refueling method. The biped humanoid refueling robot comprises a trunk, arm parts, a pair of lower limb parts and an executing mechanism used for implementing refueling operation. The executing mechanism is arranged at the tail end of the arm part; the lower limb part comprises a crotch part, a thigh part, a shank part, an ankle part and a foot part; the crotch part is connected with the lower end of the trunk and the upper end of the thigh part, and the crotch part has two degrees of freedom; the lower end of the thigh part is connected with the upper end of the shank part to form a knee part with one degree of freedom; the lower end of the shank part is connected with the foot part through the ankle part, and the ankle part has two degrees of freedom. The biped humanoid refueling robot provided by the invention has the capability of more flexibly adapting to a site, the robot can freely move through the lower limb part, the flexibility of the automatic refueling robot is improved, the requirement on the parking position of a vehicle to be refueled is low, and the refueling operation space is not limited.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and particularly to a biped humanoid refueling robot and a related refueling method. Background Art

[0002] With the progress of science and technology, various robots are becoming more and more popular nowadays. For robots applied to gas stations, most of the existing technologies are six-degree-of-freedom robotic arm type refueling robots. The robot base is fixed on a platform. Since the operating space of the robotic arm is limited, the platform will have one to three degrees of freedom to expand the working space and distance.

[0003] Refueling robots using the above technologies all have common defects, that is: they have high requirements for the parking accuracy of refueling vehicles. The range of movement of the robotic arm of the above refueling robots is limited, and they cannot be applied to various refueling sites. In addition, the mobility of the equipment is poor. Once installed, its position is fixed and it cannot move for operation. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a biped humanoid refueling robot and an automatic refueling method that overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, an embodiment of the present invention provides a biped humanoid refueling robot, including: a torso, an arm part, a pair of lower limb parts, and an actuator for performing refueling operations;

[0006] The actuator is arranged at the end of the arm part;

[0007] The lower limb part includes: a hip part, a thigh part, a calf part, an ankle part, and a foot part;

[0008] The hip part is respectively connected to the lower end of the torso and the upper end of the thigh part, and the hip part has two degrees of freedom;

[0009] The lower end of the thigh part is connected to the upper end of the calf part to form a knee (8) with one degree of freedom;

[0010] The lower end of the calf part is connected to the foot part through the ankle part, and the ankle has two degrees of freedom;

[0011] The first degree of freedom of the hip part is the degree of freedom for controlling the adduction or abduction direction of the thigh part; the second degree of freedom of the hip part is the degree of freedom for controlling the lifting or falling direction of the thigh part;

[0012] The one degree of freedom of the knee is the degree of freedom for the knee to bend or straighten;

[0013] The first degree of freedom of the ankle is the degree of freedom for controlling the direction of the foot to turn inwards or outwards; the second degree of freedom of the ankle is the degree of freedom for controlling the direction of the foot to flex and point.

[0014] In one embodiment, a first motor is disposed within the torso; the hip portion includes a U-shaped frame and a first disc servo motor; the upper end of the thigh portion is hingedly connected within the opening of the U-shaped frame, and the U-shaped frame includes a first side wall, a second side wall, and a U-shaped bottom wall, and the upper end surface of the U-shaped bottom wall is perpendicularly connected to the output shaft of the first motor; the first motor drives the U-shaped frame to rotate by a certain angle around the output shaft of the first motor, which is the first degree of freedom of the hip portion; a first disc servo motor is disposed on the first side wall, and the output end of the first disc servo motor drives the thigh portion to rotate by a certain angle within the opening of the U-shaped frame, which is the second degree of freedom of the hip portion.

[0015] In one embodiment, first knee connection seats are disposed on both sides of the lower end of the thigh portion;

[0016] The upper end of the calf portion is provided with a second knee connection seat, and the second knee connection seat is disposed inside the first knee connection seat and is rotatably connected to the first knee connection seat, so that the thigh portion and the calf portion can be bent at a preset angle relative to each other at the knee position.

[0017] In one embodiment, the above-mentioned fueling robot further includes a knee pulley and a second disc servo motor;

[0018] A knee rotating shaft is fixedly disposed through the second knee connection seat, and a knee pulley is fixedly disposed on the knee rotating shaft;

[0019] The inside of the thigh portion is a hollow structure, and a second disc servo motor is fixedly disposed on the second side wall of the U-shaped frame. An output pulley is disposed in the direction of the output end of the second disc servo motor facing the hollow structure; a transmission belt is wound around the knee pulley and the output pulley, and the transmission belt is wound within the hollow structure.

[0020] In one embodiment, the above-mentioned fueling robot further includes a guide shaft and a tension pulley;

[0021] An S-shaped tension bend is provided on one side of the transmission belt. A guide shaft and a tension pulley are disposed in the hollow structure of the thigh portion, and the transmission belt sequentially bypasses the guide shaft and the tension pulley to form an S-shaped tension bend;

[0022] Longitudinal track grooves are provided on the inner wall of the hollow structure; the rotating shaft of the tension pulley is embedded in the longitudinal track grooves and can longitudinally move along the longitudinal track grooves, driving the tension pulley to longitudinally move along the longitudinal track. The rotating shaft of the tension pulley is connected to a fixed point on the inner wall of the hollow structure through a tension spring.

[0023] In one embodiment, for the above-mentioned refueling robot, the ankle portion includes: a transition connecting member, the upper end of the transition connecting member is hinged to the calf portion, and the lower end is provided with a U-shaped opening, and is hinged to the foot portion through the U-shaped opening.

[0024] In one embodiment, the above-mentioned refueling robot further includes: a third disc-type servo motor;

[0025] The lower end of the calf portion is provided with a hinge interface, and the upper portion of the transition connecting member is hinged to the hinge interface of the calf portion;

[0026] A third disc-type servo motor is arranged on the side wall of the hinge interface of the calf portion, and the third disc-type servo motor is used to drive the transition connecting member to rotate at a fixed angle within the U-shaped opening to form the first degree of freedom of the ankle portion.

[0027] In one embodiment, the above-mentioned refueling robot further includes: a bevel gear set and a second motor;

[0028] The foot portion includes a bottom plate and two connecting ears, a connecting shaft is fixedly arranged between the two connecting ears, the connecting shaft rotatably passes through the U-shaped opening of the transition connecting member, a bevel gear set is fixedly arranged on the inner side of the U-shaped opening (28) of the connecting shaft, a driving shaft is longitudinally arranged through the transition connecting member, a second motor is arranged at the upper end of the driving shaft, and the output end of the second motor is connected to the driving shaft, so that the second motor drives the driving shaft to rotate, and the lower end of the driving shaft drives the bottom plate of the foot portion to rotate through the bevel gear set to form the second degree of freedom of the ankle portion.

[0029] In one embodiment, for the above-mentioned refueling robot, a thin-film type pressure sensor is arranged on the bottom surface of the bottom plate; gyroscopes for sensing the walking postures of the lower limbs are arranged on both the thigh portion and the calf portion.

[0030] In one embodiment, for the above-mentioned refueling robot, the arm portion includes a robotic arm, and the execution mechanism is arranged at the end of the robotic arm, and the execution mechanism includes an oil tank opening structure and a fuel gun structure.

[0031] In one embodiment, for the above-mentioned refueling robot, the torso is a sealed housing, and nitrogen with a pressure of 0.3-0.5 Mpa is filled in the sealed housing.

[0032] In one embodiment, for the above-mentioned refueling robot, a visual recognition mechanism is further arranged at the top of the torso.

[0033] In a second aspect, an embodiment of the present invention provides a method for automatic refueling, and the method uses the above-mentioned biped humanoid refueling robot to refuel a vehicle.

[0034] The beneficial effects of the above technical solutions provided by the embodiments of the present invention at least include:

[0035] While improving the convenience and efficiency of refueling, the bipedal humanoid refueling robot provided by the embodiment of the present invention has a more flexible ability to adapt to the site. The robot can freely move its position through the lower limbs, improving the flexibility of the automatic refueling robot. Moreover, the requirements for the parking position of the vehicle to be refueled are relatively low, and the refueling operation space is not restricted.

[0036] Furthermore, the bipedal humanoid refueling robot provided by the embodiment of the present invention does not use a robotic arm for the movement control of the arm, and an automatic refueling hand joint actuator is provided at the end of the robotic arm. The operations of opening the fuel tank door, fuel tank cap, and refueling can be directly installed at the wrist joint position of the robotic arm, with a relatively high degree of intelligence.

[0037] Furthermore, the bipedal humanoid refueling robot provided by the embodiment of the present invention arranges the second disc servo motor for controlling the calf at the hip position, which can effectively reduce the weight of the lower limbs and the inertia of the calf. Thus, the movements of the thigh and calf can be controlled with a smaller driving force, making the robot move more lightly and improving its motion performance.

[0038] Other features and advantages of the present invention will be described in the subsequent specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in the written specification, claims, and drawings.

[0039] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0040] 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:

[0041] Figure 1 is a schematic diagram of the overall structure of the bipedal humanoid refueling robot in the embodiment of the present invention;

[0042] Figure 2 is a schematic diagram of the lower limb structure of the bipedal humanoid refueling robot in the embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of the internal structure of the lower limb of the bipedal humanoid refueling robot in the embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of the detailed structure of the S-shaped tension bend formed by the tension pulley and the guide shaft in the embodiment of the present invention.

[0045] Description of the reference numerals in the drawings:

[0046] 1. Torso; 2. Arm part; 3. Lower limb part; 4. Thigh part; 5. Calf part; 6. Foot part; 7. Hip part; 8. Knee part; 9. Ankle part; 10. U-shaped frame; 11. First side wall; 12. Second side wall; 13. First motor; 14. First disc servo motor; 15. First knee connecting seat; 16. Second knee connecting seat; 17. Knee rotating shaft; 18. Knee pulley; 19. Second disc servo motor; 20. Output pulley; 21. Transmission belt; 22. S-shaped tensioning bend; 23. Guide shaft; 24. Tensioning pulley; 25. Longitudinal track; 26. Pulling spring; 27. Transition connecting piece; 28. U-shaped opening; 29. Hinge interface; 30. Third disc servo motor; 31. Bottom plate; 32. Connecting shaft; 33. Bevel gear set; 34. Second motor; 35. Pressure sensor; 36. Gyroscope; 37. Linear cylinder; 38. Suction cup; 39. Pneumatic slip ring; 40. Clamping cylinder; 41. Visual recognition mechanism; 42. Connecting ear. Detailed implementation manners

[0047] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the 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 fully conveyed to those skilled in the art.

[0048] A bipedal humanoid refueling robot provided by an embodiment of the present invention, referring to Figure 1 as shown, includes: a torso 1, an arm part 2, a pair of lower limb parts 3, and an actuator for performing refueling operations; wherein:

[0049] The actuator is arranged at the end of the arm part 2;

[0050] The lower limb part 3 includes: a hip part 7, a thigh part 4, a calf part 5, an ankle part 9, and a foot part 6;

[0051] The hip part 7 is respectively connected to the lower end of the torso 1 and the upper end of the thigh part 4, and the hip part 7 has two degrees of freedom;

[0052] The lower end of the thigh part 4 is connected to the upper end of the calf part 5 to form a knee part 8 with one degree of freedom;

[0053] The lower end of the calf part 5 is connected to the foot part 6 through the ankle part 9, and the ankle has two degrees of freedom;

[0054] The first degree of freedom of the crotch portion 7 is the degree of freedom for controlling the adduction or abduction direction of the thigh portion 4; the second degree of freedom of the crotch portion 7 is the degree of freedom for controlling the lifting or falling direction of the thigh portion 4;

[0055] One degree of freedom of the knee 8 is the degree of freedom in the bending or straightening direction of the knee 8;

[0056] The first degree of freedom of the ankle 9 is the degree of freedom for controlling the inward or outward rotation direction of the foot 6; the second degree of freedom of the ankle 9 is the degree of freedom for controlling the hooking and pointing direction of the foot 6.

[0057] In one embodiment, the actuator for implementing the refueling operation may include, for example, a fuel tank opening mechanism and a refueling gun mechanism; wherein:

[0058] The fuel tank opening structure may include: a mechanism for opening the fuel tank outer cover and a mechanism for unscrewing the fuel tank inner cover, a fuel gun mechanism, and a fuel tank opening mechanism. Figure 1 As shown, the arm portion of the bipedal humanoid refueling robot includes two arms, and the actuator is arranged at the end of a single robotic arm. For example, one robotic arm is provided with a mechanism for opening the outer cover of the fuel tank and a mechanism for unscrewing the inner cover of the fuel tank, and the other robotic arm is provided with a mechanism for a refueling gun. The arrangement of the above-mentioned actuators can also be flexible. For example, one robotic arm is provided with a mechanism for opening the outer cover of the fuel tank, and the other robotic arm is provided with a mechanism for unscrewing the inner cover of the fuel tank and a mechanism for a refueling gun. Various possible variations are within the protection scope of the present application.

[0059] In one embodiment, a visual recognition mechanism 41 may be further provided on the top of the trunk 1 of the bipedal humanoid refueling robot for accurately identifying the surrounding environment, the specific location of the vehicle to be refueled, and the location of the fuel tank cap on the vehicle body.

[0060] Further references Figure 1 As shown, in the embodiment of the present invention, a fuel tank opening structure (including a mechanism for opening the outer fuel tank cover and a mechanism for unscrewing the inner fuel tank cover) is provided on one mechanical arm, and a refueling gun structure is provided on the other mechanical arm; the fuel tank opening structure includes a linear cylinder 37 and a suction cup 38 for opening the outer fuel tank cover, and the end of the linear cylinder 37 is provided with the suction cup 38; a pneumatic slip ring 39 and a clamping cylinder 40 for unscrewing the inner fuel tank cover are also provided, and one end of the pneumatic slip ring 39 is fixed to the end of the mechanical arm, and the other end is provided with the clamping cylinder 40; in actual use, the position of the fuel tank cover is judged by the visual recognition mechanism 41, and the linear cylinder 37 is extended to control the suction cup 38 to be sucked on the outer fuel tank cover, and the outer fuel tank cover is opened when the linear cylinder 37 is retracted; then the mechanical arm is controlled to approach the fuel tank cover, and the clamping cylinder 40 is clamped on both sides of the fuel tank cover, and then the pneumatic slip ring 39 is used to drive the clamping cylinder 40 to rotate so that the inner fuel tank cover is rotated and removed, thereby realizing the operation of opening the inner fuel tank cover.

[0061] On the end of the robotic arm on the other side, a fuel gun structure is provided. The fuel gun structure can use the gripper set at the end of the robotic arm to hold the fuel gun. By using the vision recognition mechanism 41 and controlling the robotic arm, the fuel gun is aligned with the fuel filling port and inserted. Then, a double-axis cylinder (not shown in the figure) set on the robotic arm is used to push a switch frame (not shown in the figure), and the fuel gun switch is opened through a fuel gun switch pin (not shown in the figure) to achieve fuel filling.

[0062] In one embodiment, in order to better meet the requirements of working areas with high requirements for fire and explosion prevention such as gas stations, the above-mentioned torso 1 can be a sealed housing, and nitrogen with a pressure of 0.3 - 0.5 Mpa is filled in the sealed housing.

[0063] Filling nitrogen with a pressure higher than the atmospheric pressure in the torso 1 can achieve the effect of explosion protection.

[0064] In order to enable the bipedal humanoid fueling robot provided by the embodiments of the present invention to achieve active free movement, a thigh structure imitating a human form is provided on the lower side of the torso 1. The upper end of the thigh part 4 is connected to the torso 1 at the hip part 7. The hip part 7 has two degrees of freedom. The thigh part 4 is connected to the calf part 5 to form a knee part 8 with one degree of freedom. The lower end of the calf part 5 is connected to the foot part 6 at the ankle part 9 with two degrees of freedom; in this way, the thigh can have five degrees of freedom of adjustment similar to that of a human body, so that the fueling robot can flexibly adapt to the site and has high overall mobility.

[0065] The lower limb structure of the bipedal humanoid fueling robot will be described in detail below:

[0066] Specifically, in one embodiment, referring to Figure 2 as shown, a first motor 13 is provided in the torso 1 of the above-mentioned fueling robot;

[0067] The hip part 7 includes: a U-shaped frame 10 and a first disc servo motor 14; the upper end of the thigh part 4 is hinged and connected inside the opening of the U-shaped frame 10. The U-shaped frame 10 includes: a first side wall 11, a second side wall 12 and a U-shaped bottom wall. The upper end surface of the U-shaped bottom wall is vertically connected to the output shaft of the first motor 13; the first motor 13 drives the U-shaped frame 10 to rotate by a certain angle around the output shaft of the first motor 13, which is the first degree of freedom of the hip part 7;

[0068] A first disc servo motor 14 is provided on the first side wall 11, and the output end of the first disc servo motor 14 drives the thigh part 4 to rotate by a certain angle inside the opening of the U-shaped frame 10, which is the second degree of freedom of the hip part 7.

[0069] In actual control, the first disc servo motor 14 can drive the thigh part to lift or lower. Using a disc servo motor can facilitate controlling the rotation angle of the thigh.

[0070] In one embodiment, referring to Figure 1 as shown, on both sides of the lower end of the thigh portion 4 of the above-mentioned refueling robot, there are first knee connecting seats 15;

[0071] At the upper end of the calf portion 5, there is a second knee connecting seat 16, which is arranged inside the first knee connecting seat 15 and is rotatably connected to the first knee connecting seat 15, so that the thigh portion 4 and the calf portion 5 can be bent at a preset angle relative to each other at the knee portion 8.

[0072] The inventors of the present application found that in the field of gait walking of humanoid biped robots, the weight distribution of the lower limbs is an important index affecting the performance of the robot. Due to the traditional arrangement of the driving joints of current biped walking robots, such as the joint driving structure at the knee portion 8, usually a driving motor is directly set at the connecting joint of the thigh and the calf. Although this can obtain the driving force more directly, the motor has a certain mass. Fixing it directly at the knee portion 8 will greatly increase the weight of the knee portion 8, resulting in the center of mass of the lower limb portion 3 moving significantly downward close to the knee portion 8, making the inertia of the lower limb portion 3 generally high. Thus, a larger driving force is required to drive the thigh to rotate, which poses a higher requirement for the driving force of the hip portion 7. The increase in the driving force also brings an increase in the weight of the joint motor of the hip portion 7, and ultimately affects the overall moving performance of the foot 6 walking robot, and has a greater impact on the accuracy of movement. To solve the above problems, the present application does not directly set a driving motor at the knee portion 8. Instead, through the cooperation of a belt pulley and a guide pulley, the linkage of the thigh portion and the calf portion is realized, and at the same time, the requirement for the weight of the hip motor is reduced, ensuring the moving performance of the robot walking, making the movement of the robot more flexible. It is possible to control the actions of the thigh portion and the calf portion with a smaller driving force, making the robot's actions lighter and improving its motion performance.

[0073] Specifically, referring to Figure 3 as shown, in the embodiment of the present invention, the above-mentioned biped humanoid refueling robot may further include: a knee belt pulley 18 and a second disc servo motor 19;

[0074] A knee rotating shaft is fixedly arranged through the second knee connecting seat, and a knee belt pulley 18 is fixedly arranged on the knee rotating shaft;

[0075] The inside of the thigh portion is a hollow structure. A second disc servo motor 19 is fixedly arranged on the second side wall 12 of the U-shaped frame. An output belt pulley 20 is arranged in the direction of the output end of the second disc servo motor 19 towards the hollow structure; a transmission belt 21 is wound around the knee belt pulley 18 and the output belt pulley 20, and the transmission belt 21 is wound in the hollow structure.

[0076] To prevent slipping during transmission, both the output pulley 20 and the knee pulley 18 are pulleys with tooth grooves on the side. Correspondingly, the transmission belt 21 is also a toothed belt, thus greatly improving the accuracy of driving the calf.

[0077] Furthermore, for the above fueling robot, referring to Figure 3 and Figure 4 as shown, it may further include: a guide shaft 23 and a tension pulley 24;

[0078] One side of the transmission belt 21 is provided with an S-shaped tension bend 22. The hollow structure of the thigh part 4 is provided with a guide shaft 23 and a tension pulley 24. The transmission belt 21 successively bypasses the guide shaft 23 and the tension pulley 24 to form an S-shaped tension bend 22;

[0079] Longitudinal track grooves 25 are provided on the inner wall of the hollow structure; the rotating shaft of the tension pulley 24 is embedded in the longitudinal track grooves 25 and can longitudinally move along the longitudinal track grooves, driving the tension pulley 24 to longitudinally move along the longitudinal track. The rotating shaft of the tension pulley 24 is connected to a fixed point on the inner wall of the hollow structure through a tension spring 26.

[0080] Referring to the enlarged view shown in Figure 4 One side of the transmission belt 21 is provided with an S-shaped tension bend 22. A guide shaft 23 and a tension pulley 24 are provided in the hollow structure of the thigh part 4. The tension pulley 24 is used to always tighten the transmission belt 21, thereby improving the transmission efficiency. The transmission belt 21 successively bypasses the guide shaft 23 and the tension belt to form an S-shaped tension bend 22. The rotating shaft of the tension pulley 24 is placed in the longitudinal track 25 on the inner wall of the hollow structure so that the tension pulley 24 can move up and down in the longitudinal direction along the track. The rotating shaft of the tension pulley 24 is connected to the tension spring 26, and the other end of the tension spring 26 is fixedly connected to the inner wall of the hollow cavity; the tension spring 26 pulls the tension pulley downward, thereby tightening the transmission belt 21.

[0081] To sense the lifting angles and movement amplitudes of the thigh part 4 and the calf part 5, gyroscopes 36 for sensing the walking postures of the lower limb part 3 are provided in both the thigh part 4 and the calf part 5; the data collected by the gyroscopes 36 can be used to finely adjust the positions of the thigh part 4 and the calf part 5 when the robot walks and stands, thereby maintaining the balance of the robot when standing and moving forward.

[0082] In one embodiment, referring to Figure 2 and Figure 3 as shown, the ankle part of the above biped humanoid fueling robot includes: a transition connector 27. The upper end of the transition connector 27 is hinged to the calf part 5, and the lower end is provided with a U-shaped opening 28 and is hinged to the foot part 6 through the U-shaped opening 28.

[0083] Reference Figure 2 As shown, the above fueling robot may further include: a third disc-type servo motor 30;

[0084] Correspondingly, a hinge interface 29 is provided at the lower end of the calf part 5, and the upper part of the transition connecting piece 27 is hinged to the hinge interface 29 of the calf part;

[0085] A third disc-type servo motor 30 is arranged on the side wall of the hinge interface of the calf part. The third disc-type servo motor 30 is used to drive the transition connecting piece 27 to rotate at a fixed angle within the U-shaped opening to form the first degree of freedom of the ankle part.

[0086] As Figure 3 shown, the inner side of the calf part 5 is also a hollow structure. While reducing the overall mass of the robot, it provides enough space for the rotation of the transition connecting piece 27. The first degree of freedom formed by the connection between the upper end of the transition connecting piece 27 and the calf part 5 is used to imitate the actions of the inner rotation and eversion of the foot 6. Since the angles of the inner rotation and eversion actions of the foot 6 are small, placing the upper part of the transition connecting piece 27 within the space of the calf part 5 will not affect the movement range of the foot 6.

[0087] Furthermore, for the above fueling robot, as Figure 2 shown, it may further include: a bevel gear set 33 and a second motor 34;

[0088] The foot 6 includes a bottom plate 31 and connecting ears 42. A connecting shaft 32 is fixedly arranged between the two connecting ears 42. The connecting shaft 32 rotatably passes through the U-shaped opening 28 of the transition connecting piece. A bevel gear set 33 is fixedly arranged on the inner side of the U-shaped opening 28 of the connecting shaft 32. A driving shaft is longitudinally arranged through the transition connecting piece 27. A second motor 34 is arranged at the upper end of the driving shaft. The output end of the second motor 34 is connected to the driving shaft, so that the second motor 34 drives the driving shaft to rotate. The lower end of the driving shaft drives the bottom plate 31 of the foot 6 to rotate through the bevel gear set 33 to form the second degree of freedom of the ankle part.

[0089] The second degree of freedom of the ankle part is used to imitate the actions of the foot 6's dorsiflexion and plantar flexion. This second degree of freedom is used more when the robot is actually walking. The second motor 34 is used to control the rotation of the driving shaft. The driving shaft controls the rotation of the connecting shaft 32 perpendicular to the driving shaft through the bevel gear set 33, thereby controlling the rotation of the bottom plate 31.

[0090] Preferably, a thin-film pressure sensor 35 is further provided on the bottom surface of the bottom plate 31 of the above-mentioned biped humanoid refueling robot; when the robot stands upright, the pressure values collected in real time by, for example, three pressure sensors 35 can directly sense whether the robot is standing upright, avoiding dangerous situations where the robot leans forward or backward. Using the pressure sensor 35 and the gyroscope 36 can keep the robot in a stable standing or walking state at all times.

[0091] Based on the same inventive concept, an embodiment of the present invention further provides an automatic refueling method, which uses the above-mentioned biped humanoid refueling robot to refuel a vehicle.

[0092] Since the principles of the problems solved by these methods are similar to those of the above-mentioned biped humanoid refueling robot, the implementation of this method can refer to the implementation of the above-mentioned biped humanoid refueling robot, and the repeated parts will not be described again.

[0093] The biped humanoid refueling robot provided by the embodiment of the present invention has at least the following beneficial effects compared with the prior art:

[0094] The biped humanoid refueling robot provided by the embodiment of the present invention improves the convenience and efficiency of refueling, and at the same time has a more flexible ability to adapt to the site. The robot can freely move its position through the lower limbs, improving the flexibility of the automatic refueling robot, and having a lower requirement for the parking position of the vehicle to be refueled, and the refueling operation space is not restricted.

[0095] Furthermore, the biped humanoid refueling robot provided by the embodiment of the present invention does not use a robotic arm for the movement control of the arm, and an automatic refueling hand joint actuator is provided at the end of the robotic arm, and operations such as opening the fuel tank door, fuel tank cap, and refueling can be directly installed at the wrist joint position of the robotic arm, with a high degree of intelligence.

[0096] Furthermore, the biped humanoid refueling robot provided by the embodiment of the present invention sets the second disc servo motor for controlling the lower leg at the hip position, which can effectively reduce the weight of the lower limbs and the inertia of the lower leg, so that the actions of the thigh and lower leg can be controlled with a smaller driving force, making the robot move more lightly and improving its motion performance.

[0097] 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 bipedal humanoid refueling robot, characterized in that, Comprising: A torso (1), an arm part (2), a pair of lower limb parts (3), and an actuator for performing a refueling operation; The actuator is disposed at the end of the arm part (2); The lower limb part (3) includes: a hip part (7), a thigh part (4), a calf part (5), an ankle part (9), and a foot part (6); The hip part (7) is respectively connected to the lower end of the torso (1) and the upper end of the thigh part (4), and the hip part (7) has two degrees of freedom; The lower end of the thigh part (4) is connected to the upper end of the calf part (5) to form a knee part (8) having one degree of freedom; The lower end of the calf part (5) is connected to the foot part (6) through the ankle part (9), and the ankle has two degrees of freedom; The first degree of freedom of the hip part (7) is the degree of freedom for controlling the adduction or abduction direction of the thigh part (4); the second degree of freedom of the hip part (7) is the degree of freedom for controlling the lifting or lowering direction of the thigh part (4); The one degree of freedom of the knee part (8) is the degree of freedom for the knee part (8) to bend or straighten; The first degree of freedom of the ankle part (9) is the degree of freedom for controlling the in-turning or eversion direction of the foot part (6); the second degree of freedom of the ankle part (9) is the degree of freedom for controlling the dorsiflexion and plantar flexion directions of the foot part (6).

2. The refueling robot according to claim 1, characterized in that, A first motor (13) is disposed inside the torso (1); the hip part (7) includes: a U-shaped frame (10) and a first disc servo motor (14); the upper end of the thigh part (4) is hingedly connected inside the opening of the U-shaped frame (10), and the U-shaped frame (10) includes: a first side wall (11), a second side wall (12), and a U-shaped bottom wall, and the upper end surface of the U-shaped bottom wall is vertically connected to the output shaft of the first motor (13); the first motor (13) drives the U-shaped frame (10) to rotate by a certain angle around the output shaft of the first motor (13) as the first degree of freedom of the hip part (7); a first disc servo motor (14) is disposed on the first side wall (11), and the output end of the first disc servo motor (14) drives the thigh part (4) to rotate by a certain angle inside the opening of the U-shaped frame (10) as the second degree of freedom of the hip part (7).

3. The refueling robot according to claim 1, characterized in that, First knee connecting seats (15) are disposed on both sides of the lower end of the thigh part (4); A second knee part (8) connecting seat is disposed at the upper end of the calf part (5), and the second knee part (8) connecting seat is disposed inside the first knee connecting seat (15) and is rotatably connected to the first knee connecting seat (16) so that the thigh part (4) and the calf part (5) can be bent at a preset angle relative to each other at the knee part (8) position.

4. The refueling robot according to claim 3, characterized in that, Further comprising: A knee pulley (18) and a second disc servo motor (19); A knee rotating shaft is fixedly disposed through the second knee connecting seat, and a knee pulley (18) is fixedly disposed on the knee rotating shaft; The interior of the thigh part is a hollow structure. A second disc servo motor (19) is fixedly arranged on the second side wall (12) of the U-shaped frame. An output pulley (20) is arranged in the direction of the output end of the second disc servo motor (19) towards the hollow structure. A transmission belt (21) is wound around the knee pulley (18) and the output pulley (20), and the transmission belt (21) is wound in the hollow structure.

5. The refueling robot according to claim 4, characterized in that, It further includes: A guide shaft (23) and a tension pulley (24); One side of the transmission belt (21) is provided with an S-shaped tension bend (22). A guide shaft (23) and a tension pulley (24) are arranged in the hollow structure of the thigh part. The transmission belt (21) sequentially bypasses the guide shaft (23) and the tension pulley (24) to form an S-shaped tension bend (22); Longitudinal track grooves (25) are arranged on the inner wall of the hollow structure; the rotating shaft of the tension pulley (24) is embedded in the longitudinal track grooves (25) and can longitudinally move along the longitudinal track grooves, driving the tension pulley (24) to longitudinally move along the longitudinal track. The rotating shaft of the tension pulley (24) is connected to a fixed point on the inner wall of the hollow structure through a tension spring (26).

6. The refueling robot according to claim 1, characterized in that, The ankle part includes: a transition connecting piece (27). The upper end of the transition connecting piece (27) is hinged to the calf part (5), and the lower end is provided with a U-shaped opening (28), and is hinged to the foot part (6) through the U-shaped opening (28).

7. The refueling robot according to claim 6, characterized in that, It further includes: A third disc servo motor (30); The lower end of the calf part (5) is provided with a hinge port (29), and the upper part of the transition connecting piece (27) is hinged to the hinge port (29) of the calf part; A third disc servo motor (30) is arranged on the side wall of the hinge port of the calf part. The third disc servo motor (30) is used to drive the transition connecting piece (27) to rotate at a fixed angle within the U-shaped opening to form the first degree of freedom of the ankle part.

8. The refueling robot according to claim 7, characterized in that, It further includes: A bevel gear set (33) and a second motor (34); The foot part (6) includes a bottom plate (31) and two connecting ears (42). A connecting shaft (32) is fixedly arranged between the two connecting ears (42). The connecting shaft (32) rotatably passes through the U-shaped opening (28) of the transition connecting piece. A bevel gear set (33) is fixedly arranged inside the U-shaped opening (28) of the connecting shaft (32). A driving shaft is longitudinally arranged through the transition connecting piece (27). A second motor (34) is arranged at the upper end of the driving shaft. The output end of the second motor (34) is connected to the driving shaft, so that the second motor (34) drives the driving shaft to rotate. The lower end of the driving shaft drives the bottom plate (31) of the foot part (6) to rotate through the bevel gear set (33) to form the second degree of freedom of the ankle part.

9. The refueling robot according to any one of claims 1-8, characterized in that, A thin-film type pressure sensor (35) is arranged on the bottom surface of the bottom plate (31); gyroscopes (36) for sensing the walking posture of the lower limb part (3) are arranged on both the thigh part (4) and the calf part (5).

10. The refueling robot according to any one of claims 1-8, characterized in that, The arm part (2) includes a robotic arm, and an actuator is arranged at the end of the robotic arm. The actuator includes an oil tank opening structure and a fuel gun structure.

11. The fueling robot according to any one of claims 1-8, characterized in that, The torso (1) is a sealed housing, and the sealed housing is filled with nitrogen gas at a pressure of 0.3 - 0.5 Mpa.

12. The fueling robot according to any one of claims 1-8, characterized in that, A visual recognition mechanism (41) is further provided at the top of the torso (1).

13. A method for automatic fueling, characterized in that, The method uses the biped humanoid refueling robot according to any one of claims 1 - 12 to refuel a vehicle.

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