Fuel tank cap clamping manipulator

Abstract

The fuel tank cap clamping manipulator comprises a mounting seat and a clamping jaw seat, the mounting seat comprises a first cylinder seat on the upper half portion and a second cylinder seat on the lower half portion, a cavity is formed in the first cylinder seat, a pressing block is arranged in the cavity in a sliding mode, and the cavity between the second cylinder seat and the pressing block is filled with steel balls; a plurality of guide channels distributed in a circumferential array mode are formed in the second cylinder seat, the guide channels communicate with the cavity, a piston is arranged in each guide channel in a sliding mode, a vertical rod is connected to the bottom of each piston, and the lower end of each vertical rod extends out of the corresponding guide channel and is connected with a clamping assembly used for clamping the oil tank cover; the clamping assembly comprises a connecting rod with one end hinged to the vertical rod, a sliding rod is hinged to the other end of the connecting rod, the middle of the sliding rod is slidably arranged in a sliding groove formed in the clamping jaw base, and the lower end of the sliding rod penetrates through the sliding groove. According to the clamping device, the clamping force of the sliding rods on the fuel tank cover is evenly distributed, and the situation that when the irregular fuel tank cover is clamped, the cover body deforms or a sealing ring is damaged due to the fact that the local clamping force is too large is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of fuel tank caps, and particularly to a fuel tank cap clamping manipulator. Background Art

[0002] In the prior art, refueling robots or fuel tank cap assembly operations mostly use dual-arm robotic arms to cooperate to complete the operation. One robotic arm clamps the fuel tank cap body, and the other robotic arm is responsible for tightening or loosening the fuel tank cap. With the development of robotic arm control technology, some systems also use single-arm robotic arms with higher functional integration. By integrating a rotary drive and a clamping structure at the end, the grasping and tightening / loosening of the fuel tank cap are integrated. Such single-arm systems have certain advantages in saving equipment space, simplifying the structure, and improving operation efficiency, and have gradually become one of the trends in research and application.

[0003] However, whether it is a dual-arm cooperative system or a single-arm robotic arm with integrated functions, their end effectors generally use cylinder-opening and -closing jaws or fixed fixtures, and directly rely on cylinder pressure for clamping. For example, a traditional three-jaw pneumatic fixture can effectively clamp a regular circular fuel tank cap. However, when facing an irregular fuel tank cap, such as when there are concavities, convexities, inclinations, or structural irregularities on the surface, the cap body is often deformed or the sealing ring is damaged due to uneven clamping force distribution, reducing the assembly reliability and sealing performance and limiting its adaptability.

[0004] Therefore, a fuel tank cap clamping manipulator with reasonable structure, good clamping flexibility, and strong adaptability is proposed to improve its compatibility with irregular fuel tank caps and effectively solve the problems of poor clamping stability and easy damage in the prior art. Summary of the Invention

[0005] To solve the problem that the end effectors of traditional robotic arms generally use cylinder-opening and -closing jaws or fixed fixtures, which can clamp regular circular fuel tank caps, but when facing irregular fuel tank caps, there are often problems such as cap body deformation or sealing ring damage caused by uneven clamping force distribution, the present invention proposes a fuel tank cap clamping manipulator. The pressing block slides downward to apply pressure to the steel balls in the cavity between the second cylindrical seat and the pressing block. The pressure transmitted by the steel balls causes the piston to slide downward in the guiding channel. The vertical rod connected to the bottom of the piston also moves downward accordingly. The lower end of the vertical rod extends out of the guiding channel and drives the clamping assembly connected thereto to act, realizing the clamping of the fuel tank cap. And through the fluidity of the steel balls, the pressure is allowed to redistribute, making the pressure on each piston tend to be balanced, ensuring that the clamping force of each sliding rod on the fuel tank cap is evenly distributed, and avoiding cap body deformation or sealing ring damage caused by excessive local clamping force when facing irregular fuel tank caps.

[0006] To achieve the above object, the technical solution of the present invention is: A fuel tank cap clamping manipulator, comprising a mounting seat and a jaw seat arranged below the mounting seat. The mounting seat includes a cylindrical seat one in the upper half and a cylindrical seat two in the lower half. The cylindrical seat one is hollow and forms a cavity inside. A pressure block is slidably arranged in the cavity. Steel balls are filled in the cavity between the cylindrical seat two and the pressure block. A plurality of guiding channels are arranged on the cylindrical seat two in a circumferential array. The guiding channels are communicated with the cavity. A piston is slidably arranged in each guiding channel. A vertical rod is connected to the bottom of the piston. The lower end of the vertical rod extends out of the guiding channel and is connected with a clamping assembly for clamping the fuel tank cap. The clamping assembly includes a connecting rod with one end hinged to the vertical rod. The other end of the connecting rod is hinged with a sliding rod. The middle part of the sliding rod is slidably arranged in a chute opened on the jaw seat. The lower end of the sliding rod passes through the chute. When the pressure block slides downward, the pressure block applies pressure to the steel balls in the cavity between the cylindrical seat two and the pressure block. The pressure transmitted by the steel balls causes the piston to slide downward in the guiding channel. The vertical rod connected to the bottom of the piston also moves downward accordingly. The lower end of the vertical rod extends out of the guiding channel and drives the connected clamping assembly to act.

[0007] Further, a circular protrusion is arranged at the bottom of the guiding channel. The lower end of the vertical rod passes through the protrusion. A spring is sleeved on the vertical rod between the protrusion and the piston. The two ends of the spring are respectively in contact with the piston and the protrusion. When no clamping operation is performed, the spring is in a natural state or a pre-compressed state. The piston is located at the initial position of the guiding channel under the action of the spring.

[0008] Further, the jaw seat includes an upper jaw seat and a lower jaw seat distributed at intervals up and down. A plurality of cushion blocks are arranged at the bottom of the upper jaw seat in a circumferential array. The chute includes a chute one and a chute two. A plurality of chute ones are arranged and distributed in a circumferential array on the upper jaw seat. The lower jaw seat and the mounting seat are connected by a vertical plate. A plurality of chute twos are arranged and distributed in a circumferential array on the lower jaw seat. The chute one and the chute two are arranged in one-to-one correspondence. The sliding rod sequentially passes through the chute one and the chute two. Sliders are arranged on both sides of the middle part of the sliding rod. The sliders are located in the gap formed between the upper jaw seat and the lower jaw seat. Since the sliders on both sides of the middle part of the sliding rod are located in the gap formed between the upper jaw seat and the lower jaw seat, the sliding rod can only move along the direction of the chute, and a plurality of sliding rods move closer to or away from the center.

[0009] Further, the lower end of the sliding rod is bent to form a clamping part, and a rubber pad is arranged on the clamping part.

[0010] Further, the top of the mounting seat is connected with a positioning plate through a fixing rod. A plurality of fixing rods are arranged and distributed in a circumferential array. An installation frame is arranged on the positioning plate. The installation frame is an n-shaped frame.

[0011] Furthermore, it further includes a driving mechanism for driving the pressing block to slide up and down in a cavity of the cylinder base. The driving mechanism includes a motor disposed on the mounting bracket. The output shaft of the motor passes through the top of the mounting bracket and is connected with a lead screw, and the lead screw is in threaded connection with the pressing block.

[0012] Furthermore, a bearing seat 1 is provided at the center of the top of the positioning plate. A bearing 1 is provided inside the bearing seat 1. The upper end of the lead screw passes through the bearing 1 and is connected with the output shaft of the motor through a coupling. When the motor in the driving mechanism is started, the output shaft of the motor starts to rotate. Since the lead screw is connected with the output shaft of the motor through a coupling, the lead screw also rotates accordingly.

[0013] Furthermore, the pressing block is a T-shaped block, which includes a horizontal portion and a vertical portion. The horizontal portion is slidably disposed in the cavity of the cylinder base 1; the vertical portion is sleeved on the lead screw and is in threaded connection with the lead screw; guide rods are symmetrically provided on both sides of the top of the horizontal portion, and a limiting plate is provided on the top of the mounting seat. The guide rods slide through the limiting plate on the top of the mounting seat, which plays a guiding role. When the lead screw rotates, according to the principle of screw drive, the pressing block will slide up and down along the inner wall of the cavity of the mounting seat.

[0014] Furthermore, a through hole is provided at the center of the cylinder base 2. The vertical portion is slidably disposed in the through hole, and a plurality of the guiding channels are distributed in a circumferential array around the through hole.

[0015] Furthermore, a bearing seat 2 is provided at the bottom of the through hole. The lower end of the lead screw passes through the vertical portion and the through hole in sequence and is connected with the bearing seat 2 through a bearing 2.

[0016] Through the above technical solutions, the beneficial effects of the present invention are as follows: The fuel tank cap clamping manipulator provided by the present invention, when it is necessary to clamp the fuel tank cap, the motor in the driving mechanism is started, and the output shaft of the motor begins to rotate. Since the lead screw is connected to the output shaft of the motor through a coupling, the lead screw also rotates accordingly. The lead screw is threadedly connected to the vertical part of the pressure block, and the guide rods on both sides of the top of the vertical part slide through the limit plates on the top of the mounting seat, which plays a guiding role; when the lead screw rotates, according to the principle of screw drive, the pressure block will slide down along the inner wall of the cavity of the mounting seat; as the pressure block slides down, the pressure block exerts pressure on the steel balls in the cavity between the second cylinder seat and the pressure block, and the pressure will be transmitted to the entrances of the circumferentially distributed guide channels through the mutual extrusion between the steel balls. The steel balls disperse from the central cavity to the surrounding guide channels under the pressure, and the pressure transmitted by the steel balls causes the piston to slide down in the guide channel. The vertical rod connected to the bottom of the piston also moves down accordingly. The lower end of the vertical rod extends out of the guide channel and drives the clamping assembly connected thereto to act; specifically, one end of the connecting rod in the clamping assembly is hinged to the vertical rod, and the other end is hinged with a sliding rod. When the vertical rod moves down, the sliding rod moves along the direction of the chute; as multiple sliding rods move closer to the center, the clamping parts formed by the bending of the lower ends of the sliding rods also gradually approach, and finally the clamping of the fuel tank cap is realized, which is suitable for clamping the fuel tank cap to achieve assembly and refueling operations.

[0017] In the present invention, when the pressure block presses down, the steel balls transmit pressure, causing the piston to slide down. The guide channels are arranged in a circumferential array, and the pistons in each guide channel move independently. The vertical rod connected to the bottom of the piston also moves down accordingly. The lower end of the vertical rod extends out of the guide channel and drives the clamping assembly connected thereto to act. When encountering an irregular fuel tank cap, for example, when there are concavities, convexities or inclinations on the surface of the fuel tank cap, the contact resistances of the clamping parts on the sliding rods at different positions are different, resulting in different forces on the pistons in the corresponding guide channels; when there are differences in the piston pressures, the steel balls in the area with a larger pressure will be subjected to a greater extrusion force. At this time, the steel balls will move towards the area with a smaller pressure, allowing some steel balls to roll or rearrange. Through the fluidity of the steel balls, the pressure is allowed to redistribute, making the pressures on the pistons tend to be balanced, ensuring that the clamping forces of the sliding rods on the fuel tank cap are evenly distributed, and avoiding deformation of the cap body or damage to the sealing ring due to excessive local clamping force when facing an irregular fuel tank cap. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of a fuel tank cap clamping manipulator of the present invention; Figure 2 is a perspective view of a fuel tank cap clamping manipulator of the present invention; Figure 3 is a cross-sectional view of the mounting seat in a fuel tank cap clamping manipulator of the present invention; Figure 4 is a schematic diagram of the pressure block and the piston inside the mounting seat in a fuel tank cap clamping manipulator of the present invention; Figure 5Schematic diagram of the connection relationship between several clamping components and the jaw seat in a fuel tank cap clamping manipulator of the present invention; Figure 6 Schematic diagram of the connection relationship between a single clamping component and the upper jaw seat and the lower jaw seat in a fuel tank cap clamping manipulator of the present invention; Figure 7 Schematic diagram of the upper jaw seat and the lower jaw seat in a fuel tank cap clamping manipulator of the present invention.

[0019] The reference numerals in the drawings are: 1. Mounting seat; 101. Cylindrical seat one; 102. Cylindrical seat two; 2. Jaw seat; 201. Upper jaw seat; 202. Lower jaw seat; 3. Pressure block; 301. Horizontal part; 302. Vertical part; 4. Steel ball; 5. Guide channel; 6. Piston; 7. Vertical rod; 8. Link; 9. Slide bar; 10. Protrusion; 11. Spring; 12. Cushion block; 13. First chute; 14. Second chute; 15. Slide block; 16. Clamping part; 17. Fixed rod; 18. Positioning plate; 19. Mounting frame; 20. Motor; 21. Lead screw; 22. First bearing seat; 23. First bearing; 24. Coupling; 25. Guide rod; 26. Limit plate; 27. Through hole; 28. Second bearing seat; 29. Second bearing; 30. Vertical plate. Detailed implementation manner

[0020] The present invention will be further described below in conjunction with the drawings and the detailed implementation manner: As Figures 1-7 shown, this embodiment provides a fuel tank cap clamping manipulator, including a mounting seat 1 and a jaw seat 2 arranged below the mounting seat 1. The mounting seat 1 includes a cylindrical seat one 101 in the upper half and a cylindrical seat two 102 in the lower half. The cylindrical seat one 101 is hollow and forms a cavity inside. A pressure block 3 is slidably arranged in the cavity. The cavity between the cylindrical seat two 102 and the pressure block 3 is filled with steel balls 4. The cylindrical seat two 102 is provided with a plurality of guide channels 5 distributed in a circumferential array. The guide channels 5 are communicated with the cavity. A piston 6 is slidably arranged in each guide channel 5. The bottom of the piston 6 is connected with a vertical rod 7. The lower end of the vertical rod 7 extends out of the guide channel 5 and is connected with a clamping component for clamping the fuel tank cap. The clamping component includes a link 8 with one end hinged to the vertical rod 7. The other end of the link 8 is hinged with a slide bar 9. The middle part of the slide bar 9 is slidably arranged in a chute opened on the jaw seat 2. The lower end of the slide bar 9 passes through the chute.

[0021] With the above - mentioned setting structure, the pressing block 3 slides up and down along the inner wall of the cavity of the mounting seat 1. On the one hand, as the pressing block 3 slides downwards, the pressing block 3 applies pressure to the steel balls 4 in the cavity between the cylindrical seat two 102 and the pressing block 3. The pressure is transmitted to the inlets of the circumferentially - distributed guiding channels 5 through the mutual extrusion between the steel balls 4. The steel balls 4 disperse from the central cavity into the surrounding guiding channels 5 under the pressure. The pressure transmitted by the steel balls 4 causes the piston 6 to slide downwards in the guiding channels 5. And the guiding channels 5 are arranged in a circumferential array, and the pistons 6 in each guiding channel 5 move independently. The vertical rod 7 connected to the bottom of the piston 6 also moves downwards accordingly. The lower end of the vertical rod 7 extends out of the guiding channel 5 and drives the clamping assembly connected thereto to act. Specifically, one end of the connecting rod 8 in the clamping assembly is hinged to the vertical rod 7, and the other end is hinged with a sliding rod 9. When the vertical rod 7 moves downwards, the sliding rod 9 moves along the direction of the sliding groove. As multiple sliding rods 9 move closer to the center, the clamping parts 16 formed by the downward bends of the lower ends of the sliding rods 9 also gradually approach, and finally the clamping of the fuel tank cap is realized. On the other hand, as the pressing block 3 slides upwards, the pressing block 3 releases the pressure applied to the steel balls 4. The piston 6 resets upwards, the steel balls 4 flow back into the cavity, the piston 6 also drives the vertical rod 7 and the clamping assembly back to the initial position, and the clamping parts 16 at the lower ends of the sliding rods 9 open to release the fuel tank cap.

[0022] Please refer to again Figure 3 , a ring - shaped protrusion 10 is provided at the bottom of the guiding channel 5. The lower end of the vertical rod 7 passes through the protrusion 10, and a spring 11 is sleeved on the vertical rod 7 between the protrusion 10 and the piston 6. The two ends of the spring 11 are respectively in contact with the piston 6 and the protrusion 10. When no clamping operation is carried out, the spring 11 is in a natural state or a pre - compressed state, and the piston 6 is located at the initial position of the guiding channel 5 under the action of the spring 11.

[0023] Please refer to again Figure 6 and Figure 7, the jaw seat 2 includes an upper jaw seat 201 and a lower jaw seat 202 which are distributed at intervals up and down. A plurality of cushion blocks 12 distributed in a circumferential array are arranged at the bottom of the upper jaw seat 201; the chute includes a first chute 13 and a second chute 14. A plurality of the first chutes 13 are arranged and distributed in a circumferential array on the upper jaw seat 201; the lower jaw seat 202 is connected to the mounting seat 1 through a vertical plate 30. A plurality of the second chutes 14 are arranged and distributed in a circumferential array on the lower jaw seat 202. The first chutes 13 and the second chutes 14 are arranged in one-to-one correspondence, and the slide rod 9 passes through the first chute 13 and the second chute 14 in sequence; both sides of the middle of the slide rod 9 are provided with sliders 15, and the sliders 15 are located in the gap formed between the upper jaw seat 201 and the lower jaw seat 202. When the vertical rod 7 moves downward, the connecting rod 8 will drive the slide rod 9 to slide in the chute of the jaw seat 2. Since the sliders 15 on both sides of the middle of the slide rod 9 are located in the gap formed between the upper jaw seat 201 and the lower jaw seat 202, the slide rod 9 can only move along the direction of the chute, and a plurality of slide rods 9 slide radially towards the center or away from it. Moreover, the corresponding layout of the first chute 13 and the second chute 14 enables the slide rod 9 to maintain synchronization when sliding radially.

[0024] In this embodiment, the lower end of the slide rod 9 is bent to form a clamping portion 16, and a rubber pad is arranged on the clamping portion 16. When the clamping portion 16 at the lower end of the slide rod 9 clamps the fuel tank cap, the rubber pad contacts the fuel tank cap, and the rubber pad can elastically deform, so that the fuel tank cap will not be damaged.

[0025] Please refer to again Figure 2 , the top of the mounting seat 1 is connected with a positioning plate 18 through a fixing rod 17. A plurality of the fixing rods 17 are arranged and distributed in a circumferential array. An installation frame 19 is arranged on the positioning plate 18, and the installation frame 19 is an n-shaped frame.

[0026] In this embodiment, a driving mechanism for driving the pressing block 3 to slide up and down in the cavity of the first cylindrical seat 101 is further included. The driving mechanism includes a motor 20 arranged on the installation frame 19. The output shaft of the motor 20 passes through the top of the installation frame 19 and is connected with a lead screw 21, and the lead screw 21 is in threaded connection with the pressing block 3.

[0027] In the present invention, a bearing seat one 22 is arranged at the center of the top of the positioning plate 18, a bearing one 23 is arranged in the bearing seat one 22, and the upper end of the lead screw 21 passes through the bearing one 23 and is connected with the output shaft of the motor 20 through a coupling 24. When it is necessary to clamp the fuel tank cap, start the motor 20 in the driving mechanism, and the output shaft of the motor 20 starts to rotate. Since the lead screw 21 is connected with the output shaft of the motor 20 through the coupling 24, the lead screw 21 also rotates accordingly.

[0028] Please refer to again Figure 4, the pressing block 3 is a T-shaped block. The pressing block 3 includes a horizontal portion 301 and a vertical portion 302. The horizontal portion 301 is slidably disposed in the cavity of the cylinder base one 101; the vertical portion 302 is sleeved on the lead screw 21 and is threadedly connected to the lead screw 21; guide rods 25 are symmetrically disposed on both sides of the top of the horizontal portion 301, and a limiting plate 26 is disposed on the top of the mounting seat 1. The guide rods 25 slidably penetrate through the limiting plate 26. The lead screw 21 is threadedly connected to the vertical portion 302 of the pressing block 3, and the guide rods 25 on both sides of the top of the vertical portion 302 slidably penetrate through the limiting plate 26 on the top of the mounting seat 1, which plays a guiding role; when the lead screw 21 rotates, according to the principle of screw drive, the pressing block 3 will slide downward along the inner wall of the cavity of the mounting seat 1.

[0029] In this embodiment, a through hole 27 is formed in the center of the cylinder base two 102, and the vertical portion 302 is slidably disposed in the through hole 27. A plurality of the guiding channels 5 are circumferentially and arrayedly distributed around the through hole 27.

[0030] It is worth mentioning that a bearing seat two 28 is disposed at the bottom of the through hole 27. The lower end of the lead screw 21 sequentially passes through the vertical portion 302 and the through hole 27 and is connected to the bearing seat two 28 through a bearing two 29. The lead screw 21 is supported to rotate by a bearing one 23 and a bearing two 29. In addition, in order to reduce the friction and wear of the steel balls 4, a lubricating agent needs to be added; lubricating the steel balls 4 by adding a lubricating agent is an existing technology and will not be elaborated herein.

[0031] It should be noted that the bottom of the cavity between the cylinder base two 102 and the pressing block 3 is designed as an arc transition surface to guide the steel balls 4 to disperse from the cavity of the cylinder base one 101 into the surrounding guiding channels 5 and the steel balls 4 to flow back into the cavity.

[0032] The working principle of the present invention is as follows: When no clamping operation is performed, the spring 11 is in a natural state or a pre-compressed state. Under the action of the spring 11, the piston 6 is located at the initial position of the guiding channel 5, and the clamping portion 16 at the lower end of the sliding rod 9 is in an open state, ready to perform a clamping operation on the fuel tank cap. At this time, the pressing block 3 is also located at the initial position of the cavity of the cylinder base one 101, and the steel balls 4 are in a relatively static state in the cavity.

[0033] When it is necessary to clamp the fuel tank cap, the motor 20 in the driving mechanism is started, and the output shaft of the motor 20 begins to rotate. Since the lead screw 21 is connected to the output shaft of the motor 20 through the coupling 24, the lead screw 21 also rotates accordingly. The lead screw 21 is threadedly connected to the vertical portion 302 of the pressing block 3, and the guide rods 25 on both sides of the top of the vertical portion 302 are slidably inserted into the limiting plate 26 on the top of the mounting seat 1, which plays a guiding role. When the lead screw 21 rotates, according to the principle of screw drive, the pressing block 3 will slide downward along the inner wall of the cavity of the mounting seat 1. As the pressing block 3 slides downward, the pressing block 3 applies pressure to the steel balls 4 in the cavity between the cylindrical seat two 102 and the pressing block 3, and the pressure will be transmitted to the inlet of the circumferentially distributed guiding channels 5 through the mutual extrusion between the steel balls 4. The steel balls 4 disperse from the cavity into the surrounding guiding channels 5 under the pressure, and the pressure transmitted by the steel balls 4 causes the piston 6 to slide downward in the guiding channels 5. The vertical rod 7 connected to the bottom of the piston 6 also moves downward accordingly. The lower end of the vertical rod 7 extends out of the guiding channels 5 and drives the clamping assembly connected thereto to act. Specifically, one end of the connecting rod 8 in the clamping assembly is hinged to the vertical rod 7, and the other end is hinged with a sliding rod 9. When the vertical rod 7 moves downward, the sliding rod 9 moves along the direction of the sliding groove. As the multiple sliding rods 9 move closer to the center, the clamping portions 16 formed by bending the lower ends of the sliding rods 9 also gradually approach, and finally the clamping of the fuel tank cap is realized. At the same time, the rubber pads provided on the clamping portions 16 are in contact with the fuel tank cap, and the rubber pads can elastically deform to avoid damaging the fuel tank cap during the clamping process.

[0034] When the clamping assembly contacts the fuel tank cap and generates a certain clamping force, the pressing block 3 remains stationary after the motor 20 stops. At this time, the pressure provided by the pressing block 3, the pressure transmitted by the steel balls 4, the thrust of the piston 6, and the clamping force of the clamping assembly on the fuel tank cap are balanced with each other, ensuring that the fuel tank cap is stably clamped for subsequent operations, such as tightening or loosening the fuel tank cap.

[0035] The key improvement of the present invention lies in that when the pressing block 3 presses downwards, the steel balls 4 transmit pressure, causing the piston 6 to slide downwards. The guiding channels 5 are distributed in a circumferential array, and the pistons 6 in each guiding channel 5 move independently. The vertical rod 7 connected to the bottom of the piston 6 also moves downwards accordingly. The lower end of the vertical rod 7 extends out of the guiding channel 5 and drives the clamping assembly connected thereto to act. When encountering an irregular fuel tank cap, for example, when there are concavities, convexities or inclinations on the surface of the fuel tank cap, the contact resistances of the clamping parts 16 on the sliding rods 9 at different positions are different, resulting in different forces on the pistons 6 in the corresponding guiding channels 5. When there are differences in the pressures of the pistons 6, the steel balls 4 in the region with a larger pressure will be subjected to a greater extrusion force. At this time, the steel balls 4 will move towards the region with a smaller pressure, allowing some of the steel balls 4 to roll or rearrange. Through the fluidity of the steel balls 4, the pressure is allowed to redistribute, making the pressures on the pistons 6 tend to be balanced, ensuring that the clamping forces of the sliding rods 9 on the fuel tank cap are evenly distributed, and avoiding deformation of the cap body or damage to the sealing ring due to excessive local clamping force when clamping an irregular fuel tank cap. At the same time, the spring 11 also plays an elastic compensation role in the guiding channel 5. When the pressure of a certain piston 6 is larger, the corresponding spring 11 will be compressed more.

[0036] When it is necessary to release the fuel tank cap, the motor 20 rotates in reverse, driving the lead screw 21 to rotate in the reverse direction. The pressing block 3 slides upwards under the action of the lead screw 21, relieving the pressure applied to the steel balls 4. The elastic force of the spring 11 causes the piston 6 to reset upwards, and the steel balls 4 flow back into the cavity. The piston 6 also drives the vertical rod 7 and the clamping assembly back to the initial position, and the clamping parts 16 at the lower ends of the sliding rods 9 open to release the fuel tank cap, preparing for the next operation.

[0037] In summary, the fuel tank cap clamping manipulator provided by the present invention drives the rotation of the lead screw 21 through the motor 20, drives the pressing block 3 to slide up and down, uses the steel balls 4 to transmit pressure, and enables the piston 6 to push the vertical rod 7 and the clamping assembly to act, realizing the clamping and releasing operations of the fuel tank cap, ensuring the stability and reliability of the clamping process, being applicable to clamping the fuel tank cap to realize assembly and refueling operations. At the same time, this design not only improves the adaptability of the fuel tank cap clamping manipulator, but also avoids deformation of the cap body or damage to the sealing ring due to excessive local clamping force when clamping an irregular fuel tank cap.

[0038] The above-described embodiments are only preferred embodiments of the present invention, and do not limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the scope of the present invention patent should be included in the scope of the present invention's patent application.

Claims

1. A fuel tank cap clamping manipulator, characterized in that: The invention comprises a mounting seat (1) and a clamping claw seat (2) arranged below the mounting seat (1), wherein the mounting seat (1) comprises a cylindrical seat 1 (101) at the upper part and a cylindrical seat 2 (102) at the lower part, wherein the cylindrical seat 1 (101) is hollow and has a cavity formed therein, wherein a pressure block (3) is slidably arranged in the cavity, and the cavity between the cylindrical seat 2 (102) and the pressure block (3) is filled with steel balls (4); a plurality of guide channels (5) distributed in a circumferential array are provided on the cylindrical seat 2 (102), wherein the guide channels (5) is connected to the cavity, a piston (6) is slidably arranged in each guide channel (5), the bottom of the piston (6) is connected to a vertical rod (7), the lower end of the vertical rod (7) extends out of the guide channel (5) and is connected to a clamping assembly for clamping the fuel tank cover; the clamping assembly includes a connecting rod (8) hinged to the vertical rod (7) at one end, the other end of the connecting rod (8) is hinged to a sliding rod (9), the middle part of the sliding rod (9) is slidably arranged in a sliding groove provided on the clamping claw seat (2), and the lower end of the sliding rod (9) passes through the sliding groove.

2. The fuel tank cap clamping manipulator according to claim 1, characterized in that: An annular protrusion (10) is provided at the bottom of the guide channel (5), the lower end of the vertical rod (7) passes through the protrusion (10), and a spring (11) is sleeved on the vertical rod (7) between the protrusion (10) and the piston (6), with two ends of the spring (11) respectively contacting the piston (6) and the protrusion (10).

3. The fuel tank cap clamping manipulator according to claim 1, characterized in that: The clamping jaw seat (2) comprises an upper jaw seat (201) and a lower jaw seat (202) which are spaced apart from each other. The bottom of the upper jaw seat (201) is provided with a plurality of pads (12) which are distributed in a circular array. The slide groove comprises a first slide groove (13) and a second slide groove (14). The first slide groove (13) comprises a plurality of slide grooves which are distributed in a circular array on the upper jaw seat (201). The lower jaw seat (202) is connected to the mounting seat (1) via a vertical plate (30). The second slide groove (14) comprises a plurality of slide grooves which are distributed in a circular array on the lower jaw seat (202). The first slide groove (13) and the second slide groove (14) are arranged in a one-to-one correspondence. The slide rod (9) passes through the first slide groove (13) and the second slide groove (14) in sequence. Slide blocks (15) are arranged on both sides of the middle of the slide rod (9). The slide blocks (15) are located in a gap formed between the upper jaw seat (201) and the lower jaw seat (202).

4. The fuel tank cap clamping manipulator according to claim 1, characterized in that: The lower end of the sliding rod (9) is bent to form a clamping portion (16), and a rubber pad is provided on the clamping portion (16).

5. The fuel tank cap clamping manipulator according to claim 1, characterized in that: The top of the mounting seat (1) is connected to a positioning plate (18) via a fixing rod (17), a plurality of fixing rods (17) are provided and distributed in a circular array, a mounting frame (19) is provided on the positioning plate (18), and the mounting frame (19) is an n-shaped frame.

6. The fuel tank cap clamping manipulator according to claim 5, characterized in that: It also includes a driving mechanism for driving the pressing block (3) to slide up and down in the cavity of the cylindrical seat (101), the driving mechanism including a motor (20) arranged on a mounting frame (19), the output shaft of the motor (20) passing through the top of the mounting frame (19) and connected to a screw rod (21), the screw rod (21) being threadedly connected to the pressing block (3).

7. The fuel tank cap clamping manipulator according to claim 6, characterized in that: A bearing seat 1 (22) is arranged at the center of the top of the positioning plate (18), a bearing 1 (23) is arranged in the bearing seat 1 (22), and the upper end of the screw rod (21) passes through the bearing 1 (23) and is connected to the output shaft of the motor (20) via a coupling (24).

8. The fuel tank cap clamping manipulator according to claim 6, characterized in that: The pressing block (3) is a T-shaped block, comprising a horizontal portion (301) and a vertical portion (302), wherein the horizontal portion (301) is slidably arranged in a cavity of the cylindrical seat (101); the vertical portion (302) is sleeved on the screw rod (21) and is threadedly connected to the screw rod (21); guide rods (25) are symmetrically arranged on both sides of the top of the horizontal portion (301), and a limiting plate (26) is arranged on the top of the mounting seat (1), and the guide rods (25) are slidably arranged in the limiting plate (26).

9. The fuel tank cap clamping manipulator according to claim 6, characterized in that: A through hole (27) is provided at the center of the second cylindrical seat (102), the vertical portion (302) is slidably disposed in the through hole (27), and a plurality of guide channels (5) are distributed around the through hole (27) in a circular array.

10. The fuel tank cap clamping manipulator according to claim 9, characterized in that: A second bearing seat (28) is disposed at the bottom of the through hole (27), and the lower end of the screw rod (21) passes through the vertical portion (302) and the through hole (27) in sequence and is connected to the second bearing seat (28) via a second bearing (29).

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