Flexible self-adaptive tail end tool of refueling robot and application of flexible self-adaptive tail end tool

Abstract

The invention discloses a flexible self-adaptive tail end tool of a refueling robot and application of the flexible self-adaptive tail end tool. The tool comprises a fixed seat; the bidirectional translation module is arranged at the front end of the fixed seat and is used for realizing translation in the X-axis direction and the Y-axis direction; the Z-direction output shaft is arranged at the front end of the bidirectional translation module so as to realize movement in the Z-axis direction; the movable frame is arranged at the front end of the Z-direction output shaft and can rotate relative to the Z-direction output shaft; the self-adaptive micro-shaking assemblies are connected with the fixed seat and the movable frame; the self-adaptive micro-shaking assembly comprises a main connecting rod and an auxiliary connecting rod module, one end of the main connecting rod is hinged to the fixing base, and the other end of the main connecting rod is hinged to one end of the auxiliary connecting rod module. And the stable resetting mechanism is arranged on the fixed seat and is used for resetting the movable frame which moves and rotates. The adaptability of the refueling robot to vehicle shaking in the refueling process can be improved, vehicle or tool damage caused by mutual collision of a tail end tool and a fuel tank opening is avoided, reliability is high, and applicability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of refueling robots, and particularly relates to a flexible adaptive end tool for a refueling robot and an application thereof. Background Art

[0002] During the working process of a refueling robot, there are several key actions: visually identifying the vehicle, opening the outer fuel tank cover, unscrewing the inner fuel tank cover, inserting the fuel nozzle to refuel, tightening the inner fuel tank cover, and closing the outer fuel tank cover. Currently, all refueling robots can complete these actions. Before executing the actions, the refueling robot relies on vision to achieve precise positioning and then executes relevant actions according to the positioning results. Summary of the Invention

[0003] The inventors of the present application have found an unstable threat factor that directly relates to the reliability of the operation process of the refueling robot. This threat factor is the shaking of the vehicle during the operation process. And the shaking of the vehicle during the refueling process is inevitable with a certain probability. For example, during the process of unscrewing the inner fuel tank cover and refueling, if someone gets on or off the vehicle, the vehicle will shake. For the shaking of the vehicle, a position deviation of a few millimeters is also quite fatal. In order to resist the shaking of the vehicle, the end tool of the robot will bear a large force and bending moment, resulting in an overload alarm of the robot. At the same time, the end tool of the refueling robot and the fuel tank opening collide with each other, easily damaging the vehicle and the end tool of the refueling robot. Therefore, it is necessary to technically improve the existing end tool of the refueling robot to solve the above problems.

[0004] In view of the above problems, the present invention is proposed to provide a flexible adaptive end tool for a refueling robot and an application thereof that can overcome or at least partially solve the above problems.

[0005] An embodiment of the present invention provides a flexible adaptive end tool for a refueling robot, including:

[0006] A fixed seat;

[0007] A bidirectional translation module disposed at the front end of the fixed seat to achieve translation in the X-axis direction and translation in the Y-axis direction;

[0008] A Z-axis output shaft disposed at the front end of the bidirectional translation module to achieve movement in the Z-axis direction;

[0009] A movable frame disposed at the front end of the Z-axis output shaft, and the movable frame can rotate relative to the Z-axis output shaft;

[0010] A plurality of adaptive micro-shaking components connecting the fixed seat and the movable frame; the adaptive micro-shaking components include a main link and a sub-link module. One end of the main link is hinged to the fixed seat, the other end is hinged to one end of the sub-link module, and the other end of the sub-link module is hinged to the movable frame;

[0011] A stable reset mechanism is arranged on the fixed seat to reset the movable frame that has moved and rotated.

[0012] In some alternative embodiments, the bidirectional translation module includes an X-direction sliding block and a Y-direction sliding block;

[0013] An X-direction sliding groove is formed on the X-direction sliding block, which cooperates with the X-direction guiding rib on the fixed seat to achieve translation in the X-axis direction;

[0014] A Y-direction sliding groove is formed on the Y-direction sliding block, which cooperates with the Y-direction guiding rib on the X-direction sliding block to achieve translation in the Y-axis direction.

[0015] In some alternative embodiments, a telescopic hole for preventing rotation is provided on the Y-direction sliding block, and the Z-direction output shaft is movably connected to the telescopic hole; a pressing spring is provided on the Z-direction output shaft to press against the movable frame and the Y-direction sliding block.

[0016] In some alternative embodiments, a plurality of adaptive micro-vibration components are evenly arranged at intervals along the circumferences of the fixed seat and the movable frame.

[0017] In some alternative embodiments, the secondary link module includes a pair of secondary links and a link connecting member connected between the pair of secondary links; the link connecting member includes a tension spring and / or a reinforcing bar;

[0018] One end of the main link is provided with a first hinge shaft hole, and the fixed seat is provided with a second hinge shaft hole. A hinge shaft is provided in the first hinge shaft hole and the second hinge shaft hole to achieve the hinged connection between the main link and the fixed seat through the hinge shaft;

[0019] A first spherical crown hole is provided on the main link, and a corresponding second spherical crown hole is provided on the secondary link. Steel balls are arranged in the first spherical crown hole and the second spherical crown hole to achieve the hinged connection between the main link and the secondary link;

[0020] A third spherical crown hole is provided on the convex block on the outer edge of the movable frame, and a corresponding fourth spherical crown hole is provided on the secondary link. Steel balls are arranged in the third spherical crown hole and the fourth spherical crown hole to achieve the hinged connection between the movable frame and the secondary link.

[0021] In some alternative embodiments, the stable reset mechanism is a magnetic reset mechanism, which is arranged between the fixed seat and the main link to achieve the automatic reset of the movable frame;

[0022] The magnetic reset mechanism includes a pair of magnets correspondingly arranged on the fixed seat and the main link; in the state where the movable frame is in its original position, the pair of magnets attract each other and are in direct contact. After the movable frame moves, the magnets are misaligned to generate an attractive force for resetting the movable frame.

[0023] In some alternative embodiments, the above-mentioned end effector further includes: an auxiliary reset mechanism disposed between the fixed seat and the main link;

[0024] The fixed seat is provided with a reset mounting hole for mounting the auxiliary reset mechanism;

[0025] The auxiliary reset mechanism includes a setscrew, a reset assisting spring sleeved on the setscrew, and a cylindrical plug which are connected in sequence; the setscrew is connected to the reset mounting hole and can adjust the mounting height; the cylindrical plug cooperates with the chamfered plane at one end of the main link near the hinge shaft, and the main link is reset under the restoring force after the reset assisting spring is compressed.

[0026] In some alternative embodiments, the above-mentioned end effector further includes: a pneumatic slip ring and a flange connector disposed at the rear end position of the fixed seat;

[0027] The flange connector is used to connect the robotic arm of the refueling robot;

[0028] The stator of the pneumatic slip ring is connected to the flange connector, and the rotor of the pneumatic slip ring is connected to the fixed seat to transmit torque.

[0029] In some alternative embodiments, the above-mentioned end effector further includes: a front-end connecting block and a finger cylinder;

[0030] The front-end connecting block is mounted on the movable frame;

[0031] The finger cylinder is mounted on the front-end connecting block and is used to unscrew and / or tighten the inner cap of the fuel tank.

[0032] An embodiment of the present invention provides a refueling robot, including: the above-mentioned flexible adaptive end effector of the refueling robot.

[0033] An embodiment of the present invention provides an application of the above-mentioned flexible adaptive end effector of the refueling robot in the automatic refueling process of the robot.

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

[0035] The flexible adaptive end tool of the fueling robot provided by the embodiment of the present invention realizes translation in the X-axis and Y-axis directions through a bidirectional translation module arranged at the front end of the fixed seat; realizes movement in the Z-axis direction through a Z-axis output shaft arranged at the front end of the bidirectional translation module; transmits torque through the relative rotation of a movable frame arranged at the front end of the Z-axis output shaft with respect to the Z-axis output shaft; realizes the reset after the movement and rotation of the movable frame through an adaptive micro-vibration component and a stable reset mechanism, so that the fueling robot can move and rotate in multiple directions within a certain range during the fueling process, improving the adaptability to vehicle shaking, avoiding damage to the vehicle or tool caused by the collision between the end tool and the fuel tank opening, and having high reliability and strong applicability.

[0036] Other features and advantages of the present invention will be described in the following description, and part of them will be obvious from the description, or understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written description, claims, and drawings.

[0037] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0038] The drawings are used to provide a further understanding of the present invention, and constitute a part of the description. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0039] Figure 1 is a schematic structural diagram of the flexible adaptive end tool of the fueling robot in the embodiment of the present invention;

[0040] Figure 2 is a specific structural diagram of the flexible adaptive end tool of the fueling robot in the embodiment of the present invention;

[0041] Figure 3 is a partial disassembled view of the flexible adaptive end tool of the fueling robot in the embodiment of the present invention;

[0042] Figure 4 is an embodiment of the present invention Figure 3 schematic structural diagram after the Z-axis output shaft is disengaged;

[0043] Figure 5 is an embodiment of the present invention Figure 4 schematic structural diagram after turning.

[0044] Description of the Reference Numerals:

[0045] 1. Flange connector; 2. Pneumatic slip ring; 3. Fixed seat; 4. Main connecting rod; 5. Steel ball; 6. Sub-connecting rod; 7. Reinforcing strip; 8. Tension spring; 9. Movable frame; 10. Z-direction output shaft; 11. Finger cylinder; 12. Magnet; 13. Hinge shaft; 14. Top pressure spring; 15. Y-direction sliding block; 16. X-direction sliding block; 17. Cylindrical top plug; 18. Auxiliary reset spring; 19. Set screw; 20. Inlet pipe joint; 21. Bearing; 22. Two-way translation module; 23. Adaptive micro-vibration component; 24. Sub-connecting rod module; 25. Bump; 26. Telescopic hole; 27. Chamfered plane; 28. Reset mounting hole; 29. Front-end connecting block; 30. Spherical crown hole; 31. X-direction guiding rib; 32. Y-direction guiding rib. Detailed implementation manner

[0046] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0047] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0049] In order to solve the problems existing in the prior art, the embodiment of the present invention provides a flexible adaptive end tool for a refueling robot, which can improve the adaptability of the refueling robot to the vehicle shaking during refueling.

[0050] The flexible adaptive end tool for a refueling robot provided by the embodiment of the present invention is shown in Figures 1-5 as follows, whereFigure 1 This is a schematic diagram of the three-dimensional structure of the end effector. The figure shows a schematic diagram of the structure where a finger cylinder is installed at the front of the end effector, and the rear is connected to the flange connection at the front end of the multi-axis robotic arm of the refueling robot through a pneumatic slip ring. Figure 3 This is a partial disassembly diagram of the end effector after removing the adaptive micro-vibration component and the finger cylinder. Figure 4 For Figure 3 This is a schematic diagram of the structure after the Z-axis output shaft is disengaged in Figure 5 For Figure 4 This is a schematic diagram of the structure after turning. The end effector includes:

[0051] Fixed seat 3;

[0052] A two-way translation module 22 is arranged at the front end position of the fixed seat 3 to achieve translation in the X-axis direction and translation in the Y-axis direction;

[0053] A Z-axis output shaft 10 is arranged at the front end of the two-way translation module 22 to achieve movement in the Z-axis direction;

[0054] A movable frame 9 is arranged at the front end of the Z-axis output shaft 10, and the movable frame 9 can rotate relative to the Z-axis output shaft 10;

[0055] A plurality of adaptive micro-vibration components 23 connecting the fixed seat 3 and the movable frame 9; the adaptive micro-vibration component 23 includes a main link 4 and a sub-link module 24. One end of the main link 4 is hinged to the fixed seat 3, and the other end is hinged to one end of the sub-link module 24. The other end of the sub-link module 24 is hinged to the movable frame 9;

[0056] A stable reset mechanism is arranged on the fixed seat 3 to reset the movable frame 9 that has moved and rotated.

[0057] As shown in the appendix Figure 1 As shown, the fixed seat 3 is fixed near the fixed flange end of the refueling robot and is rigidly connected to the robot. The movable frame 9 and the Z-axis output shaft 10 can move freely to a certain extent along the XYZ three-axis directions. The Z-axis output shaft 10 can transmit the rotational torque of the fixed seat 3. The movable frame 9 and the Z-axis output shaft 10 are connected to the tool at the very end, near the vehicle end. The flexible platform composed of the two-way translation module 22, the adaptive micro-vibration component 23, the movable frame 9, etc. in the present invention plays a role in isolating the vehicle vibration in the middle, will not affect the robot itself, and does not affect the operation of the robot for screwing the fuel tank cap.

[0058] In some optional embodiments, the above-mentioned bidirectional translation module 22 is movably arranged at the front position of the fixed seat 3 to achieve translation in the X-axis direction and the Y-axis direction. The bidirectional translation module 22 includes an X-direction sliding block 16 and a Y-direction sliding block 15. The X-direction sliding block 16 is movably arranged in the front position of the fixed seat 3 along the X-axis direction, and the Y-direction sliding block 15 is movably arranged in the front position of the X-direction sliding block 16 along the Y direction. An X-direction sliding groove is formed on the X-direction sliding block 16, which cooperates with the X-direction guiding rib 31 on the fixed seat to achieve translation in the X-axis direction, that is, the X-direction sliding block 16 is movably arranged on the X-direction guiding rib 31 through the X-direction sliding groove. A Y-direction sliding groove is formed on the Y-direction sliding block 15, which cooperates with the Y-direction guiding rib 32 on the X-direction sliding block 16 to achieve translation in the Y-axis direction, that is, the Y-direction sliding block 15 is movably arranged on the Y-direction guiding rib 32 through the Y-direction sliding groove. The translation plane composed of the translation in the X-axis direction and the Y-axis direction is perpendicular to the front-back direction of the fixed seat 3.

[0059] Optionally, the Z-direction output shaft 10 is movably arranged along the Z-axis direction and is arranged at the front end of the bidirectional translation module 22. An anti-rotation telescopic hole 26 is arranged on the Y-direction sliding block 15, and the Z-direction output shaft is movably connected to the telescopic hole 26. The telescopic hole 26 is arranged along the Z-axis direction and can adopt a waist-shaped groove hole to achieve the purpose of anti-rotation. The Z-direction output shaft 10 is movably arranged on the telescopic hole 26. A pressing spring 14 is arranged on the Z-direction output shaft to press against the movable frame 9 and the Y-direction sliding block 15. Specifically, the pressing spring 14 is sleeved on the Z-direction output shaft 10, and both ends of the pressing spring 14 respectively press against the movable frame 9 and the Y-direction sliding block 15. The movable frame 9 is rotatably arranged on the outer circle of the Z-direction output shaft 10.

[0060] In some optional embodiments, an adaptive micro-vibration component 23 is connected between the fixed seat 3 and the movable frame 9. Multiple adaptive micro-vibration components 23 can be arranged. As shown in the figure, 3 adaptive micro-vibration components 23 are arranged. The multiple adaptive micro-vibration components 23 are evenly arranged at intervals along the circumferences of the fixed seat 3 and the movable frame 9. The adaptive micro-vibration component 23 includes a main connecting rod 4 swingably arranged at the outer edge of the fixed seat 3 through a hinge shaft 13 and a sub-link module 24 connected between the main connecting rod 4 and the movable frame 9.

[0061] Optionally, the sub-link module 24 includes a pair of sub-links 6 and a link connecting member connected between the pair of sub-links 6. The link connecting member includes a tension spring 8 and / or a reinforcing bar 7. The sub-links 6 are arranged between the main connecting rod 4 and a convex block 25 on the outer edge of the movable frame 9. One or several reinforcing bars 7 can be arranged to prevent the sub-links 6 from falling off. The connection between the reinforcing bar 7 and the pair of sub-links 6 adopts a loose connection or a slack connection to control the adaptive micro-vibration component 23 to achieve adaptive micro-vibration within a certain range.

[0062] One end of the main connecting rod 4 is provided with a first hinge shaft hole, the fixed seat 3 is provided with a second hinge shaft hole, and a hinge shaft 13 is arranged in the first hinge shaft hole and the second hinge shaft hole, so as to realize the hinged connection between the main connecting rod and the fixed seat through the hinge shaft; a first spherical crown hole is arranged on the main connecting rod 4, a corresponding second spherical crown hole is arranged on the auxiliary connecting rod 6, and steel balls are arranged in the first spherical crown hole and the second spherical crown hole to realize the hinged connection between the main connecting rod and the auxiliary connecting rod; a third spherical crown hole 30 is arranged on the convex block 25 on the outer edge of the movable frame 9, a corresponding fourth spherical crown hole is arranged on the auxiliary connecting rod 6, and steel balls 5 are arranged in the third spherical crown hole and the fourth spherical crown hole to realize the hinged connection between the movable frame 9 and the auxiliary connecting rod 6.

[0063] Specifically, first spherical crown holes are respectively arranged on both sides of the end of the main connecting rod 4 far from the hinge shaft 13, third spherical crown holes 30 are respectively arranged on both sides of the convex block 25, second spherical crown holes and fourth spherical crown holes are respectively arranged at the same side positions of both ends of a pair of auxiliary connecting rods 6, and the spherical crown holes at both ends of the pair of auxiliary connecting rods 6 are respectively connected corresponding to the spherical crown holes on both sides of the end of the main connecting rod 4 and the spherical crown holes on both sides of the convex block 25 through steel balls 5.

[0064] In some alternative embodiments, the stable reset mechanism is a magnetic reset mechanism, which is arranged between the fixed seat 3 and the main connecting rod 4 to realize the automatic reset of the movable frame 9;

[0065] The magnetic reset mechanism includes a pair of magnets 12 correspondingly arranged on the fixed seat 3 and the main connecting rod 4; in the state where the movable frame is in the original position, the pair of magnets 12 attract each other and are in face-to-face contact. After the movable frame 9 moves, the magnets 12 are misaligned to generate an attractive force for resetting the movable frame. The magnets 12 can be strong magnets.

[0066] In some alternative embodiments, the above-mentioned end tool further includes: an auxiliary reset mechanism arranged between the fixed seat 3 and the main connecting rod 4; an elastic auxiliary reset mechanism for automatically resetting the movable frame 9 to the original position. A chamfered plane 27 is arranged at one end of the main connecting rod 4 close to the hinge shaft 13; the fixed seat 3 is provided with a reset mounting hole 28 for mounting the auxiliary reset mechanism.

[0067] The auxiliary reset mechanism includes a setscrew 19, a reset assisting spring 18 sleeved on the setscrew 19, and a cylindrical plug 17 connected in sequence; the setscrew 19 is connected to the reset mounting hole 28 and the mounting height can be adjusted; the cylindrical plug 17 cooperates with the chamfered plane 27 at one end of the main connecting rod 4 close to the hinge shaft. When the movable frame 9 is in the original position, the front end face of the cylindrical plug 17 is in full contact with the chamfered plane 27 of the main connecting rod 4; after the movable frame moves or rotates, the main connecting rod 4 will also swing, and under the restoring force after the reset assisting spring 18 is compressed, the main connecting rod 4 is reset.

[0068] Optionally, an air inlet joint 20 is further arranged on the fixed seat 3

[0069] In some alternative embodiments, the above-mentioned end tool further includes: a pneumatic slip ring 2 and a flange connecting member 1 provided at the rear end of the fixed seat 3; the flange connecting member 1 is used to connect the robotic arm of the fueling robot; the stator of the pneumatic slip ring 2 is connected to the flange connecting member 1, and the rotor of the pneumatic slip ring 2 is connected to the fixed seat 3 to transmit torque. The rear base of the pneumatic slip ring 2 can be fixed to the front end end flange of the multi-axis robotic arm of the fueling robot through the flange connecting member 1.

[0070] In some alternative embodiments, the above-mentioned end tool further includes: a front-end connecting block 29 and a finger cylinder 11; the front-end connecting block 29 is mounted on the movable frame 9 and is located at the front end of the Z-direction output shaft 10. The finger cylinder 11 is mounted on the front-end connecting block 29 and is used to unscrew and / or tighten the inner cap of the fuel tank.

[0071] See Figure 2 As shown in the figure, it is a partial view of the fuel tank cap screwing tool of the end tool of the fueling robot, which is an actual application case of the present invention. The flange connecting member 1 is connected to the end flange of the robot, the stator of the pneumatic slip ring 2 is fixed on the flange connecting member 1, and the fixed seat 3 is fixed on the rotor of the pneumatic slip ring 2. Driven by the end flange shaft of the robot or other power sources, the rotor of the pneumatic slip ring 2 can output torque to drive the fixed seat 3 to rotate. The chute (groove) of the X-direction sliding block 16 can slide on the X-direction guiding rib of the fixed seat 3, and can transmit the eccentric rotational power on the X axis. The chute (groove) of the Y-direction sliding block 15 just matches the Y-direction guiding rib (guiding boss) of the X-direction sliding block 16 and can slide along the Y axis, and can transmit the eccentric rotational power on the Y axis. In this way, through the combined action of the X-direction sliding block 16 and the Y-direction sliding block 15, the planar eccentric torque of the fixed seat 3 can be transmitted. The Y-direction sliding block 15 further transmits the rotational power to the Z-direction output shaft 10. The Z-direction output shaft 10 can move along the axial direction (Z-axis direction) of the flat long hole of the Y-direction sliding block 15. A pressing spring 14 is sleeved on the Z-direction output shaft 10. One side of the pressing spring 14 presses the movable frame 9 through a bearing 21, and the other side presses the Y-direction sliding block 15 to ensure the close fit of the X-direction sliding block 16, the Y-direction sliding block 15 and the fixed seat 3. The bearing 21 is embedded in the movable frame 9, and the Z-direction output shaft 10 is fixed on the inner ring of the bearing 21. The movable frame 9 has three evenly distributed convex blocks 25. There is a spherical crown hole (hemispherical concave hole) on both sides of each convex block 25. There is also a spherical crown hole on both sides of the middle of the two ends of the secondary connecting rod 6, and a steel ball 5 is embedded in the middle. The main connecting rod 4 is a part in the shape of an approximate rectangular block. One end is a through hole, and the two sides of the other end are spherical crown holes. As shown in the appendix Figure 2As shown, two secondary connecting rods 6 are arranged face to face, and are tightened by a tension spring 8 in the middle to eliminate play. The reinforcing strip 7 connects the two sides of the secondary connecting rods 6 to prevent the connecting rods from falling off. Both sides of the secondary connecting rod 6 are respectively matched with the outer peripheral bumps of the movable frame 9 and the main connecting rod 4 through steel balls 5, so as to achieve the same function as a ball joint or a Hooke joint in a very small space. There are a total of six secondary connecting rods 6, twelve steel balls 5, three main connecting rods 4, six reinforcing strips 7, and three tension springs 8. The through hole at one end of the main connecting rod 4 and the hole of the fixed seat 3 are connected by a hinge shaft 13, and the main connecting rod 4 can rotate around the hinge shaft 13. In order to increase the stable reset ability of the main connecting rod 4 at a certain angle, holes are provided beside the hinge shaft 13 of the fixed seat 3, and a powerful magnet 12 is embedded inside. Similarly, at the corresponding position of the main connecting rod 4, a powerful magnet 12 is also embedded. Under the attraction of the two powerful magnets 12, relative to the fixed seat 3, the main connecting rod 4 will remain stable at a certain angle. When the external force on the main connecting rod 4 exceeds the attraction friction threshold of the powerful magnet 12, the main connecting rod 4 will rotate around the hinge shaft 13.

[0072] Considering that the magnetic field force will rapidly decay as the distance increases, there is also a mechanism to help the main connecting rod 4 reset. As Figure 3 shown, the cylindrical top plug 17 can move in the reset mounting hole 28 on the fixed seat 3. Under the pressure of the auxiliary reset spring 18, it tightly presses against the chamfered plane 27 of the main connecting rod 4. When the main connecting rod 4 rotates around the hinge shaft 13, it will compress the auxiliary reset spring 18 through the cylindrical top plug 17. The set screw 19 adjusts the initial compression amount of the auxiliary reset spring 18 by adjusting the screwing depth in the reset mounting hole 28 on the fixed seat 3. When the main connecting rod 4 rotates around the hinge shaft 13 by a relatively large angle, it can rely on the acting force of the auxiliary reset spring 18 to return to the initial angle.

[0073] Take Figure 2Taking the implementation case as an example, a finger cylinder 11 for screwing the fuel tank cap is connected to the front end of the Z-axis output shaft 10. During the process of screwing the fuel tank cap, if the vehicle shakes, the displacement of the shake will be transmitted to the Z-axis output shaft 10 through the finger cylinder 11. Due to the structural characteristics of the Z-axis output shaft 10, the X-axis sliding block 16, and the Y-axis sliding block 15, the Z-axis output shaft 10 can move a certain distance in the three degrees of freedom directions of XYZ, and can transmit the rotational torque of the fixed seat 3, and can continue to screw the cap. The rotatable connection between the movable frame 9 and the Z-axis output shaft 10 is achieved through a bearing. The movable frame 9 does not transmit the torque of the fixed seat 3, and only functions to help the Z-axis output shaft 10 return to the central axis. When the Z-axis output shaft 10 moves in the XYZ directions, it will drive the movable frame 9 to move as well. Through the action of the steel balls 5 and the secondary connecting rod 6, the movable frame 9 drives the main connecting rod 4 to rotate around the hinge shaft 13, causing the two strong magnets 12 to be misaligned, and the auxiliary return spring 18 to be compressed. When the process of screwing the fuel tank cap ends and the tool end of the fueling robot disengages from the vehicle, the movable frame 9 and the Z-axis output shaft 10 will return to the position of the central axis under the action of the strong magnets 12 and the auxiliary return spring 18.

[0074] Based on the same inventive concept, an embodiment of the present invention further provides a fueling robot, including the above-mentioned flexible adaptive end tool of the fueling robot.

[0075] An embodiment of the present invention further provides an application of the above-mentioned flexible adaptive end tool of the fueling robot in the automatic fueling process of the robot.

[0076] The above-mentioned flexible adaptive end tool of the fueling robot in the embodiment of the present invention has the following advantages:

[0077] (1) The Z-axis output shaft is arranged on the bidirectional translation module and obtains the torque for screwing or unscrewing the fuel tank cap through a pneumatic slip ring. By setting an adaptive micro-shake assembly between the movable frame and the fixed seat, the Z-axis output shaft can obtain the torque for operating the fuel tank cap while realizing adaptive shaking within a certain range, so as to fully adapt to the situation of vehicle shaking during fueling, thereby avoiding rigid collisions caused by vehicle shaking when the fueling robot operates the fuel tank cap.

[0078] (2) A magnetic reset mechanism and an elastic auxiliary reset mechanism are provided. After the vehicle shaking ends, the movable frame and the Z-axis output shaft automatically return to their original positions, and its working reliability is good.

[0079] (3) The cooperation method of the ball crown holes on the steel balls, the secondary connecting rod and other parts achieves the same effect as that of the ball hinge and the Hooke hinge with a very small volume, which is particularly suitable for fields with small volume and high lightweight requirements.

[0080] (4) The bidirectional translation module can bear a much larger central offset distance and has good adaptability.

[0081] The flexible adaptive end tool of the fueling robot according to the embodiments of the present invention can adapt to spatial displacement deviations within a certain range, isolate the disturbances of the vehicle to the robot, and at the same time does not affect the normal operation of the end tool of the robot. This greatly improves the reliability and stability of the fueling robot.

[0082] To trigger the spatial movement of the movable frame and the Z-axis output shaft in the present invention, a certain amount of external force is required. The threshold of this force is approximately equal to the radial suction force of six pairs of strong magnets plus the static friction when the entire mechanism operates. Among them, the suction force of the strong magnets is the main factor. Otherwise, the movable frame will not have a spatial position change. This can effectively avoid the deviation of the movable frame and the Z-axis output shaft from the central axis to different degrees at different spatial positions due to the attitude change of the end of the robot tool and the influence of gravity.

[0083] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The appended method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy recited.

[0084] In the above detailed description, various features are combined in a single embodiment to simplify the present disclosure. This method of disclosure should not be construed as reflecting an intention that the embodiments of the claimed subject matter require more features than are expressly recited in each claim. On the contrary, as reflected in the appended claims, the present invention is in a state less than all the features of the single disclosed embodiment. Therefore, the appended claims are hereby expressly incorporated into the detailed description, where each claim stands alone as a separate preferred embodiment of the present invention.

[0085] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments. However, those of ordinary skill in the art should recognize that the various embodiments can be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, this term is covered in a manner similar to the term "including" as interpreted when "including" is used as a transitional word in a claim. In addition, any use of the term "or" in the claims or specification is intended to mean "non-exclusive or".

Claims

1. A flexible and adaptive end effector for a refueling robot, characterized in that Comprising: Fixed seat; A two-way translation module arranged at the front end position of the fixed seat to achieve translation in the X-axis direction and translation in the Y-axis direction; A Z-direction output shaft arranged at the front end of the two-way translation module to achieve movement in the Z-axis direction; A movable frame arranged at the front end of the Z-direction output shaft, and the movable frame can rotate relative to the Z-direction output shaft; A plurality of adaptive micro-vibration components connecting the fixed seat and the movable frame; The adaptive micro-vibration component includes a main connecting rod and a sub-link module. One end of the main connecting rod is hinged to the fixed seat, and the other end is hinged to one end of the sub-link module. The other end of the sub-link module is hinged to the movable frame; A stable reset mechanism arranged on the fixed seat to reset the movable frame that has moved and rotated.

2. The end effector according to claim 1, wherein The two-way translation module includes: an X-direction sliding block and a Y-direction sliding block; An X-direction sliding groove is formed on the X-direction sliding block, and it cooperates with the X-direction guiding rib on the fixed seat to achieve translation in the X-axis direction; A Y-direction sliding groove is formed on the Y-direction sliding block, and it cooperates with the Y-direction guiding rib on the X-direction sliding block to achieve translation in the Y-axis direction.

3. The end effector according to claim 1, characterized in that, An anti-rotation telescopic hole is arranged on the Y-direction sliding block, and the Z-direction output shaft is movably connected to the telescopic hole; a pressing spring is arranged on the Z-direction output shaft to press against the movable frame and the Y-direction sliding block.

4. The end effector according to claim 1, wherein, A plurality of adaptive micro-vibration components are arranged at equal intervals along the circumferences of the fixed seat and the movable frame.

5. The end effector according to claim 1, characterized in that, The sub-link module includes a pair of sub-link rods and a link connecting member connected between the pair of sub-link rods; the link connecting member includes a tension spring and / or a reinforcing bar; A first hinge shaft hole is arranged at one end of the main connecting rod, and a second hinge shaft hole is arranged on the fixed seat. A hinge shaft is arranged in the first hinge shaft hole and the second hinge shaft hole to achieve the hinge connection between the main connecting rod and the fixed seat through the hinge shaft; A first spherical crown hole is arranged on the main connecting rod, and a corresponding second spherical crown hole is arranged on the sub-link rod. Steel balls are arranged in the first spherical crown hole and the second spherical crown hole to achieve the hinge connection between the main connecting rod and the sub-link rod; A third spherical crown hole is arranged on the convex block on the outer edge of the movable frame, and a corresponding fourth spherical crown hole is arranged on the sub-link rod. Steel balls are arranged in the third spherical crown hole and the fourth spherical crown hole to achieve the hinge connection between the movable frame and the sub-link rod.

6. The end effector according to claim 1, wherein The stable reset mechanism is a magnetic reset mechanism arranged between the fixed seat and the main connecting rod to achieve the automatic reset of the movable frame; The magnetic reset mechanism includes a pair of magnets correspondingly arranged on the fixed seat and the main connecting rod; In the state where the movable frame is in its original position, the pair of magnets attract each other and are in direct contact. After the movable frame moves, the magnets are misaligned to generate an attractive force for resetting the movable frame.

7. The end effector according to claim 1, wherein Further comprising: An auxiliary reset mechanism arranged between the fixed seat and the main connecting rod; A reset installation hole is arranged on the fixed seat to install the auxiliary reset mechanism; The auxiliary reset mechanism includes a setscrew, a reset assisting spring sleeved on the setscrew, and a cylindrical plug in sequence; the setscrew is connected to the reset installation hole and its installation height can be adjusted; the cylindrical plug cooperates with the chamfered plane at one end of the main connecting rod near the hinge shaft, and under the restoring force after the reset assisting spring is compressed, the main connecting rod is reset.

8. The end effector according to claim 1, wherein Further comprising: A pneumatic slip ring and a flange connection member provided at the rear end position of the fixed seat; The flange connection member is used to connect the robotic arm of the fueling robot; The stator of the pneumatic slip ring is connected to the flange connection member, and the rotor of the pneumatic slip ring is connected to the fixed seat to transmit torque.

9. The end effector according to any one of claims 1-8, characterized in that, It further includes: A front-end connection block and a finger cylinder; The front-end connection block is installed on the movable frame; The finger cylinder is installed on the front-end connection block and is used to unscrew and / or tighten the inner cap of the fuel tank.

10. A refueling robot, characterized in that, It includes: The flexible adaptive end tool of the fueling robot according to any one of claims 1-9.

11. Application of the flexible adaptive end tool of the fueling robot according to any one of claims 1-9 in the automatic fueling process of the robot.

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