A mechanical hand for holding a tank cap

Abstract

The application discloses an oil tank cover clamping mechanical hand, which comprises a mounting seat and a clamping jaw seat, the mounting seat comprises a cylinder seat one of an upper half and a cylinder seat two of a lower half, a cavity is formed in the cylinder seat one, a pressing block is slidably arranged in the cavity, and steel balls are filled in the cavity between the cylinder seat two and the pressing block; a plurality of guide channels which are arranged in a circumferential array are formed in the cylinder seat two and are communicated with the cavity, a piston is slidably arranged in each guide channel, a vertical rod is connected to the bottom of the piston, the lower end of the vertical rod extends out of the guide channel and is connected with a clamping assembly for clamping the oil tank cover; the clamping assembly comprises a connecting rod which is hingedly connected with the vertical rod at one end, a sliding rod which is hingedly connected with the other end of the connecting rod, and the middle part of the sliding rod is slidably arranged in a sliding groove formed in the clamping jaw seat, and the lower end of the sliding rod penetrates through the sliding groove. In the application, the clamping force of each sliding rod on the oil tank cover is uniformly distributed, and the deformation of the cover body or the damage of the sealing ring caused by excessive local clamping force when the irregular oil tank cover is clamped is avoided.

Description

Technical Field

[0001] This invention relates to the field of fuel tank cap technology, and more specifically to a fuel tank cap clamping robot. Background Technology

[0002] In existing technologies, refueling robots or fuel tank cap assembly operations often employ a dual-arm robotic arm system, with one arm holding the fuel tank cap and the other tightening or loosening it. With advancements in robotic arm control technology, some systems are also adopting single-arm robotic arms with higher functional integration. By integrating a rotary drive and gripping structure at the end effector, they achieve integrated gripping and tightening / loosening of the fuel tank cap. This type of single-arm system offers advantages in saving equipment space, simplifying structure, and improving operational efficiency, and is gradually becoming a research and application trend.

[0003] However, whether it's a dual-arm collaborative system or a single-arm robotic arm with integrated functions, its end effector generally uses a cylinder-operated gripper or a fixed clamp, relying directly on cylinder pressure for clamping. For example, a traditional three-jaw pneumatic gripper can effectively clamp a regular round fuel tank cap, but when faced with an irregularly shaped fuel tank cap, such as one with uneven, tilted, or irregularly shaped surfaces, uneven clamping force distribution often causes deformation of the cap or damage to the sealing ring, reducing assembly reliability and sealing performance, and limiting its adaptability.

[0004] Therefore, a fuel tank cap clamping robot 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 existing technology. Summary of the Invention

[0005] To address the problem that traditional robotic arm end effectors, which commonly employ cylinder-operated grippers or fixed clamps, while capable of holding regular circular fuel tank caps, often suffer from uneven clamping force distribution leading to cap deformation or seal damage when dealing with irregular caps, this invention proposes a fuel tank cap clamping robot. A downward sliding pressure block applies pressure to steel balls within the cavity between the cylindrical base and the pressure block. The pressure transmitted by the steel balls causes a piston to slide downward within a guide channel. The vertical rod connected to the bottom of the piston also moves downward, with its lower end extending out of the guide channel and driving the connected clamping assembly to actuate, thus clamping the fuel tank cap. Furthermore, the fluidity of the steel balls allows for pressure redistribution, balancing the pressure on each piston and ensuring uniform clamping force distribution across the sliding rods. This prevents excessive local clamping force from causing cap deformation or seal damage when dealing with irregular fuel tank caps.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A fuel tank cap clamping robot includes a mounting base and a gripper base disposed below the mounting base. The mounting base includes an upper cylindrical base one and a lower cylindrical base two. The cylindrical base one is hollow and forms a cavity inside. A pressure block is slidably disposed in the cavity. The cavity between the cylindrical base two and the pressure block is filled with steel balls. The cylindrical base two has several guide channels arranged in a circumferential array. The guide channels are connected to the cavity. A piston is slidably disposed in each guide channel. The bottom of the piston is connected to a vertical rod. The lower end of the vertical rod extends out of the guide channel and is connected to 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 to a sliding rod. The middle part of the sliding rod is slidably disposed in a sliding groove opened on the gripper base, and the lower end of the sliding rod passes through the sliding groove. The pressure block slides downward, applying pressure to the steel ball in the cavity between the cylindrical seat and the pressure block. The pressure transmitted by the steel ball causes the piston to slide downward in the guide channel. The vertical rod connected to the bottom of the piston also moves downward. The lower end of the vertical rod extends out of the guide channel and drives the clamping assembly connected to it to move.

[0007] Furthermore, an annular protrusion is provided at the bottom of the guide channel, and the lower end of the upright passes through the protrusion. A spring is fitted on the upright between the protrusion and the piston, with both ends of the spring contacting the piston and the protrusion, respectively. When no clamping operation is performed, the spring is in a natural or pre-compressed state, and the piston is located in the initial position of the guide channel under the action of the spring.

[0008] Furthermore, the gripper base includes an upper gripper base and a lower gripper base spaced apart vertically. The bottom of the upper gripper base has several pads arranged in a circular array. The sliding groove includes a first sliding groove and a second sliding groove. Several first sliding grooves are arranged in a circular array on the upper gripper base. The lower gripper base is connected to the mounting base via a vertical plate. Several second sliding grooves are arranged in a circular array on the lower gripper base. Sliding grooves one and two correspond one-to-one. The sliding rod passes through sliding grooves one and two sequentially. Sliding blocks are provided on both sides of the middle section of the sliding rod, and these sliding blocks are located within the gap formed between the upper and lower gripper bases. Because the sliding blocks on both sides of the middle section of the sliding rod are located within the gap formed between the upper and lower gripper bases, the sliding rod can only move along the direction of the sliding groove, with multiple sliding rods moving towards or away from the center.

[0009] Furthermore, the lower end of the slide bar is bent to form a clamping part, and a rubber pad is provided on the clamping part.

[0010] Furthermore, the top of the mounting base is connected to a positioning plate via a fixing rod. Multiple fixing rods are arranged in a circumferential array. The positioning plate is provided with a mounting frame, which is an n-shaped frame.

[0011] Furthermore, it also includes a drive mechanism for driving the pressure block to slide up and down within a cavity of the cylindrical seat. The drive mechanism includes a motor mounted on a mounting frame, and the output shaft of the motor passes through the top of the mounting frame and is connected to a lead screw, which is threadedly connected to the pressure block.

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

[0013] Furthermore, the pressure block is a T-shaped block, comprising a horizontal part and a vertical part. The horizontal part is slidably disposed within the cavity of the cylindrical base. The vertical part is fitted onto the lead screw and threadedly connected to it. Guide rods are symmetrically arranged on both sides of the top of the horizontal part, and a limiting plate is provided on the top of the mounting base, with the guide rods slidably passing through the limiting plate. The guide rods on both sides of the top of the vertical part slidably passing through the limiting plate on the top of the mounting base serve a guiding function. When the lead screw rotates, according to the threaded transmission principle, the pressure block will slide up and down along the inner wall of the cavity of the mounting base.

[0014] Furthermore, the cylindrical base has a through hole at its center, the vertical part is slidably disposed in the through hole, and several guide channels are distributed in a circumferential array around the through hole.

[0015] Furthermore, a bearing seat two is provided at the bottom of the through hole, and the lower end of the lead screw passes through the vertical part and the through hole in sequence and is connected to the bearing seat two through the bearing two.

[0016] The beneficial effects of the present invention through the above technical solution are as follows: The oil tank cap clamping robot provided by this invention, when needing to clamp the oil tank cap, starts the motor in the drive mechanism, and the motor's output shaft begins to rotate. Since the lead screw is connected to the motor output shaft through a coupling, the lead screw also rotates. 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 limiting plate at the top of the mounting base, which plays a guiding role. When the lead screw rotates, according to the thread transmission principle, the pressure block slides downward along the inner wall of the mounting base cavity. As the pressure block slides downward, it applies pressure to the steel balls in the cavity between the cylindrical base and the pressure block. The pressure is transmitted to the circumferentially distributed guide channel entrances through the mutual compression between the steel balls. Under pressure, the steel balls disperse from the central cavity into the surrounding guide channels. The applied pressure causes the piston to slide downwards within the guide channel, and the upright rod connected to the bottom of the piston also moves downwards. The lower end of the upright rod extends out of the guide channel and drives the clamping assembly connected to it to move. Specifically, one end of the connecting rod in the clamping assembly is hinged to the upright rod, and the other end is hinged to a sliding rod. When the upright rod moves downwards, the sliding rod moves along the direction of the sliding groove. As multiple sliding rods move towards the center, the clamping part formed by the bending of the lower end of the sliding rod also gradually approaches, ultimately achieving the clamping of the fuel tank cap. This method is suitable for clamping the fuel tank cap to achieve assembly and refueling operations.

[0017] In this invention, when the pressure block is pressed down, the steel balls transmit pressure, causing the piston to slide downwards. The guide channels are arranged in a circular array, and the piston in each guide channel moves independently. The upright rod connected to the bottom of the piston also moves downwards, with the lower end of the upright rod extending out of the guide channel and driving the clamping assembly connected to it to move. When encountering an irregular fuel tank cap, such as when the surface of the fuel tank cap is uneven or tilted, the contact resistance of the clamping part on the slide rod at different positions is different, resulting in different forces on the piston in the corresponding guide channel. When there is a difference in piston pressure, the steel balls in the area with higher pressure will be subjected to greater compressive force. At this time, the steel balls will move to the area with lower pressure, allowing some steel balls to roll or rearrange. The fluidity of the steel balls allows the pressure to be redistributed, making the pressure on each piston tend to be balanced. This ensures that the clamping force of each slide rod on the fuel tank cap is evenly distributed, avoiding deformation of the cap or damage to the sealing ring due to excessive local clamping force when facing an irregular fuel tank cap. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a fuel tank cap clamping robot according to the present invention; Figure 2 This is a perspective view of a fuel tank cap clamping robot according to the present invention; Figure 3 This is a cross-sectional view of the mounting base in the manipulator for holding a fuel tank cap according to the present invention; Figure 4 This is a schematic diagram of the internal pressure block and piston of the mounting base in the oil tank cap clamping manipulator of the present invention; Figure 5This is a schematic diagram showing the connection relationship between several clamping components and gripper seats in a fuel tank cap clamping robot of the present invention; Figure 6 This is a schematic diagram showing the connection relationship between a single clamping component and the upper and lower jaw seats in a fuel tank cap clamping robot of the present invention. Figure 7 This is a schematic diagram of the upper and lower jaws of a tank cap clamping robot according to the present invention.

[0019] The numbers in the attached diagram are: 1. Mounting base; 101. Cylindrical base one; 102. Cylindrical base two; 2. Gripper base; 201. Upper jaw base; 202. Lower jaw base; 3. Pressure block; 301. Horizontal part; 302. Vertical part; 4. Steel ball; 5. Guide channel; 6. Piston; 7. Vertical rod; 8. Connecting rod; 9. Slide rod; 10. Protrusion; 11. Spring; 12. Pad; 13. Slide groove one; 14. Slide groove two; 15. Slider; 16. Clamping part; 17. Fixing rod; 18. Positioning plate; 19. Mounting bracket; 20. Motor; 21. Lead screw; 22. Bearing seat one; 23. Bearing one; 24. Coupling; 25. Guide rod; 26. Limiting plate; 27. Through hole; 28. Bearing seat two; 29. ​​Bearing two; 30. Vertical plate. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figures 1-7 As shown, this embodiment provides a fuel tank cap clamping robot, including a mounting base 1 and a gripper base 2 disposed below the mounting base 1. The mounting base 1 includes an upper cylindrical base 101 and a lower cylindrical base 102. The cylindrical base 101 is hollow and forms a cavity inside it. A pressure block 3 is slidably disposed in the cavity. The cavity between the cylindrical base 102 and the pressure block 3 is filled with steel balls 4. The cylindrical base 102 has a plurality of guides arranged in a circumferential array. The guide channel 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 cap. The clamping assembly includes a connecting rod 8 with one end hinged to the vertical rod 7. 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 opened on the gripper seat 2. The lower end of the sliding rod 9 passes through the sliding groove.

[0021] With the above-described structure, the pressure block 3 slides up and down along the inner wall of the cavity of the mounting base 1. On the one hand, as the pressure block 3 slides downward, it applies pressure to the steel balls 4 in the cavity between the cylindrical base 102 and the pressure block 3. The pressure is transmitted to the inlet of the circumferentially distributed guide channels 5 through the mutual squeezing between the steel balls 4. Under pressure, the steel balls 4 disperse from the central cavity into the surrounding guide channels 5. The pressure transmitted by the steel balls 4 causes the piston 6 to slide downward in the guide channels 5. The guide channels 5 are arranged in a circumferential array, and the piston 6 in each guide channel 5 moves independently. The upright rod 7 connected to the bottom of the piston 6 also moves downward. The lower end of the upright rod 7 extends out of the guide channel. The channel 5 moves outward and drives the clamping assembly connected to it to move. Specifically, one end of the connecting rod 8 in the clamping assembly is hinged to the upright rod 7, and the other end is hinged to the slide rod 9. When the upright rod 7 moves downward, the slide rod 9 moves along the direction of the slide groove. As multiple slide rods 9 move closer to the center, the clamping part 16 formed by the bending of the lower end of the slide rod 9 also gradually moves closer, finally achieving the clamping of the fuel tank cap. On the other hand, as the pressure block 3 slides upward, the pressure block 3 releases the pressure applied to the steel ball 4, the piston 6 resets upward, the steel ball 4 flows back into the cavity, and the piston 6 also drives the upright rod 7 and the clamping assembly back to the initial position. The clamping part 16 at the lower end of the slide rod 9 opens and releases the fuel tank cap.

[0022] Please refer to this again. Figure 3 The bottom of the guide channel 5 is provided with an annular protrusion 10. The lower end of the upright rod 7 passes through the protrusion 10. A spring 11 is fitted on the upright rod 7 between the protrusion 10 and the piston 6. The two ends of the spring 11 are in contact with the piston 6 and the protrusion 10, respectively. When no clamping operation is performed, the spring 11 is in a natural or pre-compressed state, and the piston 6 is located in the initial position of the guide channel 5 under the action of the spring 11.

[0023] Please refer to this again. Figure 6 and Figure 7The gripper seat 2 includes an upper gripper seat 201 and a lower gripper seat 202 spaced apart vertically. The bottom of the upper gripper seat 201 has several pads 12 arranged in a circular array. The sliding groove includes a first sliding groove 13 and a second sliding groove 14. Several first sliding grooves 13 are arranged in a circular array on the upper gripper seat 201. The lower gripper seat 202 is connected to the mounting base 1 via a vertical plate 30. Several second sliding grooves 14 are arranged in a circular array on the lower gripper seat 202. The first sliding groove 13 and the second sliding groove 14 are arranged in a one-to-one correspondence. The sliding rod 9 passes through the first sliding groove 13 and the second sliding groove 14 in sequence. Slider blocks 15 are provided on both sides of the middle of the sliding rod 9, and the sliders 15 are located within the gap formed between the upper gripper seat 201 and the lower gripper seat 202. When the vertical rod 7 moves downwards, the connecting rod 8 drives the sliding rod 9 to slide within the sliding groove of the gripper seat 2. Because the sliders 15 on both sides of the middle of the slide bar 9 are located in the gap formed between the upper jaw seat 201 and the lower jaw seat 202, the slide bar 9 can only move along the direction of the slide groove, and multiple slide bars 9 slide radially toward or away from the center. Furthermore, the corresponding arrangement of the slide groove 13 and the slide groove 24 ensures that the slide bars 9 maintain synchronization when sliding radially.

[0024] In this embodiment, the lower end of the slide rod 9 is bent to form a clamping part 16, and a rubber pad is provided on the clamping part 16. When the clamping part 16 at the lower end of the slide rod 9 clamps the fuel tank cap, the rubber pad contacts the fuel tank cap and can elastically deform, thus preventing damage to the fuel tank cap.

[0025] Please refer to this again. Figure 2 The top of the mounting base 1 is connected to a positioning plate 18 via a fixing rod 17. Multiple fixing rods 17 are provided and distributed in a circular array. A mounting frame 19 is provided on the positioning plate 18. The mounting frame 19 is an n-shaped frame.

[0026] In this embodiment, a driving mechanism is also included for driving the pressure block 3 to slide up and down in the cavity of the cylindrical seat 101. The driving mechanism includes a motor 20 mounted on the mounting frame 19. The output shaft of the motor 20 passes through the top of the mounting frame 19 and is connected to a lead screw 21. The lead screw 21 is threadedly connected to the pressure block 3.

[0027] In this invention, a bearing seat 22 is provided at the center of the top of the positioning plate 18, and a bearing 23 is provided inside the bearing seat 22. The upper end of the lead screw 21 passes through the bearing 23 and is connected to the output shaft of the motor 20 via a coupling 24. When it is necessary to clamp the oil tank cover, the motor 20 in the drive 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 via the coupling 24, the lead screw 21 also rotates accordingly.

[0028] Please refer to this again. Figure 4The pressure block 3 is a T-shaped block, comprising a horizontal portion 301 and a vertical portion 302. The horizontal portion 301 is slidably disposed within the cavity of the cylindrical seat 101. The vertical portion 302 is fitted onto and threadedly connected to the lead screw 21. Guide rods 25 are symmetrically arranged on both sides of the top of the horizontal portion 301, and a limiting plate 26 is provided on the top of the mounting base 1. The guide rods 25 slide through the limiting plate 26. The lead screw 21 is threadedly connected to the vertical portion 302 of the pressure block 3, and the guide rods 25 on both sides of the top of the vertical portion 302 slide through the limiting plate 26 on the top of the mounting base 1, which serves a guiding function. When the lead screw 21 rotates, according to the principle of threaded transmission, the pressure block 3 slides downward along the inner wall of the cavity of the mounting base 1.

[0029] In this embodiment, the cylindrical base 102 has a through hole 27 at its center, the vertical part 302 is slidably disposed in the through hole 27, and a plurality of the guide channels 5 are arranged in a circular array around the through hole 27.

[0030] It is worth mentioning that a bearing seat 28 is provided at the bottom of the through hole 27. The lower end of the lead screw 21 passes through the vertical part 302 and the through hole 27 in sequence, and is connected to the bearing seat 28 via the bearing 29. The lead screw 21 is supported to rotate by the bearings 23 and 29. In addition, in order to reduce the friction and wear of the steel ball 4, lubricant needs to be added; lubricating the steel ball 4 by adding lubricant is existing technology and will not be described in detail here.

[0031] It should be noted that the bottom of the cavity between the cylindrical seat 102 and the pressure block 3 is designed as an arc-shaped transition surface to guide the steel balls 4 from the cavity of the cylindrical seat 101 to the surrounding guide channel 5 and to allow the steel balls 4 to flow back into the cavity.

[0032] The working principle of this invention is as follows: When no clamping operation is performed, spring 11 is in its natural or pre-compressed state, piston 6 is located in the initial position of guide channel 5 under the action of spring 11, and clamping part 16 at the lower end of slide rod 9 is in the open state, ready to clamp the oil tank cap. At this time, pressure block 3 is also located in the initial position of the cavity of cylindrical seat 101, and steel ball 4 is in a relatively stationary state in the cavity.

[0033] When the fuel tank cap needs to be clamped, the motor 20 in the drive 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. The lead screw 21 is threadedly connected to the vertical part 302 of the pressure block 3, and the guide rods 25 on both sides of the top of the vertical part 302 slide through the limiting plate 26 on the top of the mounting base 1, which plays a guiding role. When the lead screw 21 rotates, according to the principle of threaded transmission, the pressure block 3 will slide down along the inner wall of the cavity of the mounting base 1. As the pressure block 3 slides down, the pressure block 3 applies pressure to the steel balls 4 in the cavity between the cylindrical seat 102 and the pressure block 3. The pressure is transmitted to the inlet of the circumferentially distributed guide channel 5 through the mutual squeezing between the steel balls 4. Under pressure, the steel balls 4 disperse from the cavity into the surrounding guide channel 5. The pressure transmitted by the steel balls 4 causes the piston 6 to move. As the piston slides downward within the guide channel 5, the vertical rod 7 connected to the bottom of the piston 6 also moves downward. The lower end of the vertical rod 7 extends out of the guide channel 5 and drives the clamping assembly connected to it to move. 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 to the slide rod 9. When the vertical rod 7 moves downward, the slide rod 9 moves along the direction of the slide groove. As multiple slide rods 9 move closer to the center, the clamping part 16 formed by the bending of the lower end of the slide rod 9 also gradually approaches, finally achieving the clamping of the fuel tank cap. At the same time, the rubber pad provided on the clamping part 16 contacts the fuel tank cap. The rubber pad can deform elastically 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 pressure block 3 remains stationary after the motor 20 stops. At this time, the pressure provided by the pressure block 3, the pressure transmitted by the steel ball 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 so that subsequent operations, such as tightening or loosening the fuel tank cap, can be performed.

[0035] The key improvement of this invention lies in the fact that when the pressure block 3 is pressed down, the steel ball 4 transmits pressure, causing the piston 6 to slide downward. The guide channels 5 are arranged in a circumferential array, and the piston 6 in each guide channel 5 moves independently. The upright rod 7 connected to the bottom of the piston 6 also moves downward. The lower end of the upright rod 7 extends out of the guide channel 5 and drives the clamping assembly connected to it to move. When encountering an irregular fuel tank cap, for example, when the surface of the fuel tank cap has unevenness or tilt, the contact resistance of the clamping part 16 on the slide rod 9 at different positions is different, resulting in different forces on the piston 6 in the corresponding guide channel 5. When there is a difference in the pressure of the piston 6, the steel ball 4 in the area with higher pressure will be subjected to greater compressive force. At this time, the steel ball 4 will move to the area with lower pressure, allowing some steel balls 4 to roll or rearrange. The fluidity of the steel ball 4 allows the pressure to be redistributed, so that the pressure on each piston 6 tends to be balanced, ensuring that the clamping force of each slide rod 9 on the fuel tank cap is evenly distributed, avoiding deformation of the cap or damage to the sealing ring due to excessive local clamping force when clamping an irregular fuel tank cap. Meanwhile, spring 11 also plays an elastic compensation role in guide channel 5. When the pressure of a piston 6 is greater, the corresponding spring 11 will be compressed more.

[0036] When the fuel tank cap needs to be released, the motor 20 reverses, causing the lead screw 21 to rotate in the opposite direction. The pressure block 3 slides upward under the action of the lead screw 21, releasing the pressure on the steel ball 4; the elastic force of the spring 11 causes the piston 6 to return upward, and the steel ball 4 flows back into the cavity. The piston 6 also drives the upright rod 7 and the clamping assembly back to their initial positions. The clamping part 16 at the lower end of the slide rod 9 opens, releasing the fuel tank cap and preparing for the next operation.

[0037] In summary, the oil tank cap clamping robot provided by this invention uses a motor 20 to drive a lead screw 21 to rotate, which in turn causes the pressure block 3 to slide up and down. The steel ball 4 transmits pressure, causing the piston 6 to push the upright rod 7 and the clamping assembly to move, thus realizing the clamping and releasing operation of the oil tank cap. This ensures the stability and reliability of the clamping process and is suitable for clamping oil tank caps to achieve assembly and refueling operations. At the same time, this design not only improves the adaptability of the oil tank cap clamping robot, but also avoids the deformation of the cap or damage to the sealing ring caused by excessive local clamping force when clamping irregular oil tank caps.

[0038] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included within the scope of the present invention.

Claims

1. A fuel tank cap gripping robot, characterized in that, Includes a mounting base (1) and a gripper seat (2) disposed below the mounting base (1). The mounting base (1) includes an upper cylindrical seat one (101) and a lower cylindrical seat two (102). The cylindrical seat one (101) is hollow and forms a cavity inside it. A pressure block (3) is slidably disposed 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) has several guide channels (5) arranged in a circumferential array. The guide channels (5) are connected to the cavity. A piston (6) is slidably disposed in each guide channel (5). 6) A vertical rod (7) is connected to the bottom. 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 oil tank cap. The clamping assembly includes a connecting rod (8) with one end hinged to the vertical rod (7). 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 disposed in a groove opened on the jaw seat (2). The lower end of the sliding rod (9) passes through the groove. 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). A spring (11) is fitted on the vertical rod (7) between the protrusion (10) and the piston (6).

2. The oil tank cap clamping robot according to claim 1, characterized in that, The two ends of the spring (11) are in contact with the piston (6) and the protrusion (10), respectively.

3. The oil tank cap clamping robot according to claim 1, characterized in that, The gripper seat (2) includes an upper gripper seat (201) and a lower gripper seat (202) spaced apart vertically. The bottom of the upper gripper seat (201) is provided with a number of pads (12) arranged in a circular array. The sliding groove includes a first sliding groove (13) and a second sliding groove (14). The first sliding groove (13) is provided with a number of pads arranged in a circular array on the upper gripper seat (201). The lower gripper seat (202) is connected to the mounting base (1) through a vertical plate (30). The second sliding groove (14) is provided with a number of pads arranged in a circular array on the lower gripper seat (202). The first sliding groove (13) and the second sliding groove (14) are arranged one-to-one. The sliding rod (9) passes through the first sliding groove (13) and the second sliding groove (14) in sequence. The sliding rod (9) is provided with sliders (15) on both sides of the middle part. The sliders (15) are located in the gap formed between the upper gripper seat (201) and the lower gripper seat (202).

4. The oil tank cap clamping robot according to claim 1, characterized in that, The lower end of the slide bar (9) is bent to form a clamping part (16), and a rubber pad is provided on the clamping part (16).

5. A fuel tank cap clamping robot according to claim 1, characterized in that, The top of the mounting base (1) is connected to a positioning plate (18) by a fixing rod (17). There are multiple fixing rods (17) arranged in a circular array. The positioning plate (18) is provided with a mounting frame (19), which is an n-shaped frame.

6. A fuel tank cap clamping robot according to claim 5, characterized in that, It also includes a drive mechanism for driving the pressure block (3) to slide up and down in the cavity of the cylindrical seat (101). The drive mechanism includes a motor (20) mounted on the mounting frame (19). The output shaft of the motor (20) passes through the top of the mounting frame (19) and is connected to a lead screw (21). The lead screw (21) is threadedly connected to the pressure block (3).

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

8. A fuel tank cap clamping robot according to claim 6, characterized in that, The pressure block (3) is a T-shaped block, which includes a horizontal part (301) and a vertical part (302). The horizontal part (301) is slidably disposed in the cavity of the cylindrical seat (101). The vertical part (302) is fitted on the lead screw (21) and threadedly connected to the lead screw (21). Guide rods (25) are symmetrically arranged on both sides of the top of the horizontal part (301). A limiting plate (26) is provided on the top of the mounting base (1). The guide rods (25) slide through the limiting plate (26).

9. A fuel tank cap clamping robot according to claim 8, characterized in that, The cylindrical base (102) has a through hole (27) at its center, and the vertical part (302) is slidably disposed in the through hole (27). Several guide channels (5) are arranged in a circular array around the through hole (27).

10. A fuel tank cap clamping robot according to claim 9, characterized in that, The bottom of the through hole (27) is provided with a bearing seat (28). The lower end of the lead screw (21) passes through the vertical part (302) and the through hole (27) in sequence and is connected to the bearing seat (28) through the bearing (29).

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