An automatic oil filling device

Abstract

The application discloses an oil automatic filling device in the technical field of engineering machinery, which comprises a cover removing manipulator for opening a filling port cover, a quick-change connecting disc for connecting different types of filling gun assemblies, at least one industrial manipulator for driving the cover removing manipulator and the quick-change connecting disc to realize X / Y / Z direction movement and rotation, a compressed air source for driving the cover removing manipulator and the quick-change connecting disc to realize clamping operation and quick-change operation, and an image acquisition device for acquiring a position image and transmitting the image to a server after image processing, so that the server plans a motion track of a joint of the industrial manipulator. The cover removing manipulator, the quick-change connecting disc, the industrial manipulator, the compressed air source and the image acquisition device are integrated to simulate the functions of manually opening the filling port cover and filling oil, so that full automation and intelligent control of the oil filling process are realized. The pneumatic quick-change disc structure is adopted to realize quick matching of the filling gun for different types of filling ports.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, and more specifically, relates to an automatic oil filling device. Background Technology

[0002] In the construction machinery industry, the current method for adding fluids (such as engine oil, hydraulic oil, and antifreeze) is mainly manual operation of the filling equipment. Taking antifreeze as an example, manual operation requires manually opening the antifreeze filling port of the product, setting the filling program, visually aligning the filling port, and holding the filling gun to the filling port to add fluid. During the filling process, personnel need to supervise, which affects work efficiency, and improper manual operation can pose safety hazards.

[0003] Therefore, there is an urgent need to design and develop an automatic oil filling device for engineering machinery to improve the efficiency and safety of oil filling. Summary of the Invention

[0004] The purpose of this invention is to address the above-mentioned shortcomings by providing an automatic oil filling device. By integrating a cap-removing robotic arm, a quick-change connecting plate, an industrial robotic arm, a compressed air source, and an image acquisition device, it simulates the function of manually opening the filling port cap and filling oil, thus achieving fully automated and intelligent control of the oil filling process. It adopts a pneumatic quick-change plate structure to achieve rapid matching of filling guns for different types of filling ports.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: This invention discloses an automatic oil filling device, comprising: A cap-removing robotic arm used to open the filling port cap; Quick-change connector for connecting different models of filling gun assemblies; At least one industrial robotic arm used to drive a cap-removing robot and a quick-change connecting plate to achieve movement and rotation in the X / Y / Z directions; Compressed air source used to drive the cap-removing robot and quick-change connecting plate for clamping and quick-change operations; An image acquisition device is used to acquire position images, process the images, and transmit them to a server so that the server can plan the motion trajectory of the joints of the industrial robotic arm.

[0006] Furthermore, the cap-removing robot is connected to the end of an industrial robotic arm via a first mounting plate, and the quick-change connecting plate is connected to the end of another industrial robotic arm via a second mounting plate. Springs are provided between the first and second mounting plates and their respective mounting positions on the industrial robotic arms for cushioning and to prevent damage to the cap-removing robot and the quick-change connecting plate.

[0007] Furthermore, the automatic oil filling device also includes a main body mechanism; the cap removal robot, quick-change connecting plate, and image acquisition device are all mounted on the main body mechanism, and the end of the industrial robotic arm is connected to the main body mechanism, which drives the cap removal robot and quick-change connecting plate to move and rotate.

[0008] Furthermore, the cap removal robot is connected to one side of the main body mechanism via a first mounting plate, and the quick-change connecting plate is connected to the other side of the main body mechanism via a second mounting plate. Springs are provided between the first and second mounting plates and their respective mounting positions on the main body mechanism for cushioning and to prevent damage to the cap removal robot and the dispensing gun.

[0009] Furthermore, the mounting position of the cap-removing robot is equipped with a gripper proximity switch sensor, which is used to detect the distance between the gripper of the cap-removing robot and the oil filling port. When the limit distance is reached, the equipment alarms and stops operating to prevent further squeezing that could damage the gripper. The mounting position of the quick-change connecting plate is equipped with a filling gun proximity switch sensor, which is used to detect the distance between the filling gun assembly and the oil filling port. When the limit distance is reached, the equipment alarms and stops operating to prevent further squeezing that could damage the filling gun.

[0010] Furthermore, the main body mechanism is also equipped with a solenoid valve assembly for controlling the on / off state, direction, and flow rate of compressed air.

[0011] Furthermore, the main body mechanism includes a support body, the image acquisition device is a vision camera, which is installed above the support body; and the solenoid valve assembly is installed below the support body.

[0012] Furthermore, the cap-removing robot includes a gripping base, a gripping drive, grippers, and an air inlet valve. The grippers are connected to the gripping drive. The gripping base has an air passage inside, which is connected to the air inlet valve and the gripping drive. By adjusting the air pressure at the air inlet valve, the gripping drive moves radially to open and close the grippers to perform the cap-removing operation.

[0013] Furthermore, the gripper of the cap-removing robotic arm is a three-finger gripper.

[0014] Furthermore, the quick-change connector includes a pneumatic quick-change male connector mounted on the second mounting plate and a pneumatic quick-change female connector mounted on the filling gun assembly; the pneumatic quick-change male connector has a protruding positioning structure on its end face facing the pneumatic quick-change female connector, and the side wall of the positioning structure is equipped with a plurality of pneumatically telescopic locking balls; the pneumatic quick-change female connector has a guide groove that matches the positioning structure, and the side wall of the guide groove has a limiting groove that matches the locking balls.

[0015] Furthermore, the filling gun assembly includes a filling gun fixing assembly and a filling gun, wherein the filling gun fixing assembly includes a quick-change connecting plate mounting plate, a filling gun fixing sleeve, and a filling gun positioning and placement plate.

[0016] The industrial robotic arm and its motion control involved in this invention, as well as the on / off and regulation control of the air circuit by the solenoid valve assembly, all fall within the scope of existing technology. Specific implementation details can be found by referring to existing technical solutions that can be understood and implemented by those skilled in the art, based on actual needs; further elaboration is not provided here.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The automatic filling device of this invention integrates a cap-opening robotic arm, a quick-change connecting plate, an industrial robotic arm, a compressed air source, and an image acquisition device, achieving a high degree of automation and intelligence in the oil filling process. It can automatically complete a series of actions such as cap opening, precise docking, and filling, significantly reducing manual intervention and greatly improving operational efficiency and continuity. It can save one operator and increase filling efficiency by approximately 14%. The quick-change connecting plate design allows for matching different specifications of filling guns to different types of filling ports, enabling rapid switching between different models during production to meet the production needs of multiple product models. Combined with the multi-degree-of-freedom motion capability of the industrial robotic arm, it is highly adaptable and compatible with the filling needs of various vehicle models or equipment. Simultaneously, through the collaborative work of the image acquisition device and the server, it achieves vision-based real-time positioning and motion trajectory planning, significantly improving positioning accuracy and operational reliability. The device described in this invention is suitable for filling various fluids used in engineering machinery, such as antifreeze, engine oil, and hydraulic oil. Its entire system has a high degree of integration, and the operation of each unit is coordinated and smooth. It not only reduces the complexity of the system and labor costs, but also effectively avoids the safety risks that may be caused by manual operation. It provides an efficient, accurate and flexible automated solution for large-scale, multi-variety fluid filling operations. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an automatic oil filling device provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of the main body mechanism described in Example 1; Figure 3 This is a schematic diagram of the cap-removing robotic arm described in Example 1; Figure 4 This is a schematic diagram of the quick-change connecting plate described in Example 1; Figure 5 This is a schematic diagram of the pneumatic quick-change male connector described in Example 1; Figure 6 This is a schematic diagram of the pneumatic quick-change female connector described in Example 1; Figure 7 This is a schematic diagram of the filling gun assembly described in Example 1; Figure 8 This is a schematic diagram of the filling gun fixing assembly described in Example 1.

[0019] In the diagram: 1. Industrial robotic arm; 2. Main body mechanism; 3. Cap removal robot; 4. Quick-change connecting plate; 5. Dispensing gun assembly; 6. Support body; 7. Vision camera; 8. Gripper proximity switch sensor; 9. Dispensing gun proximity switch sensor; 10. Solenoid valve assembly; 11. Gripping base; 12. Gripping drive component; 13. Gripper; 14. Air inlet; 15. Pneumatic quick-change male connector; 16. Pneumatic quick-change female connector; 17. Positioning structure; 18. Snap-fit ​​ball; 19. Limiting groove; 20. Dispensing gun fixing assembly; 21. Dispensing gun; 22. Quick-change connecting plate mounting plate; 23. Dispensing gun fixing sleeve; 24. Dispensing gun positioning and placement plate; 25. First mounting plate; 26. Second mounting plate. Detailed Implementation

[0020] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings and specific examples.

[0021] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0022] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0023] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0024] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0025] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] Example 1 like Figure 1 As shown, this embodiment provides an automatic oil filling device, including an industrial robotic arm 1, a main body mechanism 2, a cap removal robotic arm 3, a quick-change connecting plate 4, and a filling gun assembly 5. The main body mechanism 2 is connected to the end of the industrial robotic arm 1, and the movement and rotation in the X / Y / Z directions are achieved through the joint movement of the industrial robotic arm 1. The cap removal robotic arm 3 and the quick-change connecting plate 4 are both connected to a compressed air source through air passages, and the clamping and quick-change operations are driven by compressed air.

[0027] like Figure 2 As shown, in this embodiment, the main body mechanism 2 includes a support body 6, and a vision camera 7 is installed on the top of the support body 6. The vision camera 7 serves as an image acquisition device, used to acquire position images, process the images, and transmit them to the server so that the server can plan the motion trajectory of the joints of the industrial robotic arm 1.

[0028] The cap-removing robotic arm 3 is connected to one side of the main body mechanism 2 via a first mounting plate 25. A buffer spring is provided between the first mounting plate 25 and the main body mechanism 2. The quick-change connecting plate 4 is connected to the other side of the main body mechanism 2 via a second mounting plate 26. A buffer spring is also provided between the second mounting plate 26 and the main body mechanism 2. A solenoid valve assembly 10 is also provided below the support body 6. The solenoid valve assembly 10 controls the on / off state, direction, and flow rate of compressed air through electrical signals, thereby driving the cap-removing robotic arm 3 and the quick-change connecting plate 4 to complete the action.

[0029] In this embodiment, the cap-removing robotic arm 3 is used to simulate manually opening the filling port cap, such as... Figure 3 As shown, the device includes a clamping base 11, a clamping drive component 12, grippers 13, and an air inlet valve 14. The grippers 13 are three-finger grippers connected to the clamping drive component 12. The clamping base 11 has internal air passages that communicate with both the air inlet valve 14 and the clamping drive component 12. Adjusting the air pressure at the air inlet valve 14 controls the radial movement of the clamping drive component 12, thereby opening and closing the grippers 13 to perform the lid-opening operation. Figure 2 As shown, on the main body mechanism 2, the mounting position of the cap-removing robot 3 is also equipped with a gripper proximity switch sensor 8, which is used to detect the distance between the gripper 13 of the cap-removing robot 3 and the filling port. When the limit distance is reached, the equipment alarms and stops running to prevent further squeezing and damage to the gripper.

[0030] In this embodiment, as Figure 4As shown, the quick-change connector 4 includes a matching pneumatic quick-change male connector 15 and a pneumatic quick-change female connector 16. The pneumatic quick-change male connector 15 is fixed on the second mounting plate 26, and the pneumatic quick-change female connector 16 is fixed on the dispensing gun assembly 5, used to match different models of dispensing guns to achieve quick gun changes. Figure 2 As shown, on the main body mechanism 2, the quick-change connecting plate 4 is equipped with a dispensing gun proximity switch sensor 9, which is used to detect the distance between the dispensing gun assembly 5 and the dispensing port. When the limit distance is reached, the equipment alarms and stops operating to prevent further compression that could damage the dispensing gun.

[0031] like Figure 5 and Figure 6 As shown, the pneumatic quick-change male connector 15 has a protruding positioning structure 17 on its end face facing the pneumatic quick-change female connector 16. The side wall of the positioning structure 17 is equipped with several pneumatically telescopic locking balls 18. The pneumatic quick-change female connector 16 has a guide groove that matches the positioning structure 17, and the side wall of the guide groove has a limiting groove 19 that matches the locking balls 18. The locking balls 18 can extend outward or retract inward under the action of air pressure in the gas passage. When extending outward, the locking balls 18 can engage with the limiting groove 19 to achieve the assembly of the dispensing gun assembly 5; when retracting inward, the locking balls 18 are unlocked to achieve the unloading of the dispensing gun assembly 5.

[0032] like Figure 7 As shown, in this embodiment, the filling gun assembly 5 includes a filling gun fixing assembly 20 and a filling gun 21, used for filling the required oil. Figure 8 As shown, the filling gun fixing assembly 20 includes a quick-change connecting plate mounting plate 22, a filling gun fixing sleeve 23, and a filling gun positioning and placement plate 24, which fix and support the filling gun 21.

[0033] The working process of the automatic oil filling device described in this embodiment when filling antifreeze is as follows: (1) After receiving the antifreeze filling signal, the main body mechanism 2 moves and rotates in the X / Y / Z directions through the joint movement of the industrial robotic arm 1, so that it reaches the vicinity of the antifreeze filling port; (2) Positioning is performed by the vision camera 7 on the main body mechanism 2, and then the distance between the cap removal robot 3 and the antifreeze filling port is determined by the gripper proximity switch sensor 8 to prevent collisions caused by excessive closeness. After passing the test, the next step is performed. (3) Control the opening and closing of the gripper 13 of the cap removal robot 3 through the air inlet valve 14, adjust it to a suitable size and remove the cap of the antifreeze filling port, thus completing the cap removal action. (4) Based on the model, determine the corresponding filling gun model, locate it through vision camera 7, and move the industrial robotic arm 1 to the antifreeze filling gun placement rack by rotating joint, and connect it to the filling gun assembly 5 through pneumatic quick change plate 4; (5) Adjust the joint rotation of the industrial robotic arm 1 and position it using the vision camera 7. Move the joint of the industrial robotic arm 1 to the vicinity of the antifreeze filling port. (6) Adjust the joint rotation of the industrial robotic arm 1 to enter the antifreeze filling posture. At this time, the filling gun assembly 5 is facing down and the cap removal robotic arm 3 is facing up. (7) Positioning is performed by the vision camera 7 on the main body mechanism 2, and then the distance between the cap removal robot 3 and the antifreeze filling port is determined by the proximity switch sensor 9 of the filling gun to prevent collisions caused by excessive distance. After passing the test, the antifreeze filling gun 21 is inserted into the antifreeze filling port to add antifreeze. (8) When the antifreeze is added to the specified amount, stop adding. The joint of the industrial robotic arm 1 rotates and is adjusted so that the antifreeze filling gun assembly 5 is facing down and the cap removal robotic arm 3 is facing down. (9) Positioning is achieved through vision camera 7, industrial robotic arm 1 rotates its joint to move to the vicinity of antifreeze filling port, and cap removal robot 3 puts the antifreeze filling port cap back in; (10) Positioning is achieved through vision camera 7, and the industrial robotic arm 1 rotates its joints to move to the antifreeze filling gun holder, and disconnects from the filling gun assembly 5 through pneumatic quick-change plate 4; (11) Adjust the rotation of joint 1 of the industrial robotic arm to return to the initial waiting position and wait for the next refueling cycle.

[0034] Example 2 This embodiment provides an automatic oil filling device. The difference from embodiment 1 is that this embodiment does not include the main body mechanism 2. The cap removal robot 3 and the quick-change connecting plate 4 are each driven by an industrial robot arm 1.

[0035] In this embodiment, the cap removal robot 3 is connected to the end of an industrial robot arm 1 via a first mounting plate 25, and the quick-change connecting plate 4 is connected to the end of another industrial robot arm 1 via a second mounting plate 26. Springs are provided between the first mounting plate 25 and the second mounting plate 26 and their respective mounting positions on the industrial robot arm for cushioning and to prevent damage to the cap removal robot 3 and the quick-change connecting plate 4.

[0036] In this embodiment, a gripper proximity sensor 8 is provided at the mounting position of the cap-removing robot 3 on one industrial robotic arm 1. This sensor detects the distance between the gripper 13 of the cap-removing robot 3 and the mounting position of the cap-removing robot 3. When the limit distance is reached, the equipment alarms and stops operating to prevent further squeezing that could damage the gripper 13. A dispensing gun proximity sensor 9 is provided at the mounting position of the quick-change connecting plate 4 on the other industrial robotic arm 1. This sensor detects the distance between the dispensing gun assembly 5 and the mounting position of the quick-change connecting plate 4. When the limit distance is reached, the equipment alarms and stops operating to prevent further squeezing that could damage the dispensing gun.

[0037] In this embodiment, both the cap removal robot 3 and the quick-change connecting plate 4 are connected to a compressed air source through an air circuit, and a solenoid valve assembly 10 is installed in its air circuit.

[0038] In this embodiment, a vision camera 7 is installed at the end of each of the two industrial robotic arms 1.

[0039] Apart from the above structure, the structural features and working principles of other components in this embodiment are the same as those in Embodiment 1. The implementation method and working process are the same as those in Embodiment 1, and will not be repeated here.

[0040] The industrial robotic arm 1 and its motion control, as well as the on / off and regulation control of the air passages by the solenoid valve assembly 10 involved in this invention, all fall within the scope of existing technology. Specific implementation details can be found in existing technical solutions that can be understood and implemented by those skilled in the art, based on actual needs; further details are omitted here.

[0041] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and principles of the described embodiments, and these modifications and variations should also be considered within the scope of protection of the present invention.

Claims

1. An automatic oil dispensing device, characterized in that, include (3) Cap removal robot for opening the filling port cap; Quick-change connector (4) for connecting different models of filling gun assemblies (5); At least one industrial robotic arm (1) is used to drive the cap removal robot (3) and quick-change connecting plate (4) to achieve X / Y / Z direction movement and rotation. Compressed air source for driving the cap removal robot (3) and quick-change connecting plate (4) to perform clamping and quick-change operations; An image acquisition device is used to acquire position images, process the images and transmit them to a server so that the server can plan the motion trajectory of the joints of the industrial robotic arm (1).

2. The automatic oil filling device according to claim 1, characterized in that, The cap removal robot (3) is connected to the end of an industrial robot arm (1) via a first mounting plate (25), and the quick-change connecting plate (4) is connected to the end of another industrial robot arm (1) via a second mounting plate (26). The first mounting plate (25) and the second mounting plate (26) are each provided with a spring between them and their respective mounting positions on the industrial robot arm (1).

3. The automatic oil filling device according to claim 1, characterized in that, It also includes the main body mechanism (2); The cap removal robot (3), quick-change connecting plate (4), and image acquisition device are all installed on the main body mechanism (2). The end of the industrial robotic arm (1) is connected to the main body mechanism (2), and the cap removal robot (3) and quick-change connecting plate (4) are moved and rotated by the main body mechanism (2).

4. The automatic oil filling device according to claim 3, characterized in that, The cap removal robot (3) is connected to one side of the main body mechanism (2) via the first mounting plate (25), and the quick-change connecting plate (4) is connected to the other side of the main body mechanism (2) via the second mounting plate (26). The first mounting plate (25) and the second mounting plate (26) are each provided with a spring between them and their respective mounting positions on the main body mechanism (2).

5. The automatic oil filling device according to claim 2 or claim 4, characterized in that, The mounting position of the cap removal robot (3) is equipped with a gripper proximity switch sensor (8) for detecting the distance between the gripper of the cap removal robot (3) and the oil filling port; The quick-change connecting plate (4) is equipped with a filling gun proximity switch sensor (9) at the mounting position, which is used to detect the distance between the filling gun assembly (5) and the oil filling port.

6. The automatic oil filling device according to claim 3, characterized in that, The main body (2) is also provided with a solenoid valve assembly (10) for controlling the on / off state, direction and flow of compressed air.

7. The automatic oil filling device according to claim 6, characterized in that, The main body mechanism (2) includes a supporting body (6). The image acquisition device is a visual camera (7), which is installed above the support body (6); The solenoid valve assembly (10) is mounted below the support body (6).

8. The automatic antifreeze filling device according to claim 2 or claim 4, characterized in that, The cap removal robot (3) includes a clamping base (11), a clamping drive (12), a gripper (13), and an air inlet (14). The gripper (13) is connected to the clamping drive (12). The clamping base (11) has an air passage inside and is connected to the air inlet (14) and the clamping drive (12) respectively. By adjusting the air pressure of the air inlet (14), the clamping drive (12) is controlled to move radially to realize the opening and closing of the gripper (13) to perform the cap removal operation.

9. The automatic oil filling device according to claim 2 or claim 4, characterized in that, The quick-change connector (4) includes a pneumatic quick-change male connector (15) disposed on the second mounting plate (26) and a pneumatic quick-change female connector (16) disposed on the filling gun assembly (5). The pneumatic quick-change male connector (15) has a protruding positioning structure (17) on its end face facing the pneumatic quick-change female connector (16). The side wall of the positioning structure (17) is equipped with several pneumatically telescopic snap-fit ​​balls (18). The pneumatic quick-change female connector (16) is provided with a guide groove that matches the positioning structure (17). The side wall of the guide groove is provided with a limiting groove (19) that matches the snap-fit ​​balls (18).

10. The automatic oil filling device according to claim 1, characterized in that, The filling gun assembly (5) includes a filling gun fixing assembly (20) and a filling gun (21). The filling gun fixing assembly (20) includes a quick-change connecting plate mounting plate (22), a filling gun fixing sleeve (23), and a filling gun positioning and placement plate (24).

Images