Bilateral supply robot device

Abstract

The utility model relates to the technical field of automobile refueling, in particular to a double-side supply robot device. The double-side supply robot device comprises a frame body support structure, a first supply robot and a second supply robot, the first supply robot is fixedly arranged on the upper surface of a lower frame body, the first supply robot is provided with first foldable mechanical legs and a first body part, and the first body part faces the first side; and the second supply robot is hung upside down on the lower surface of the upper frame body, the second supply robot is provided with second foldable mechanical legs and a second body part, and the second body part faces the second side. According to the double-side supply robot device, the spaces on the two sides of the frame body support can be fully utilized, and different refueling robots can be used for supplementing fuel to devices to be supplied on the different sides; and meanwhile, different supply robots are arranged on the two sides through the space of the frame structure in the height direction, and the size of the whole frame structure can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile refueling, in particular to a double-side supply robot device. Background Art

[0002] Refueling a car at a gas station usually requires a worker to hold a refueling gun to operate. With the gradual increase in labor costs, there is an increasing demand for automated refueling of cars. Refueling robots are gradually coming into people's sight and entering gas stations. The existing refueling robots on the market are generally single-sided refueling robots with low space utilization, which cannot meet the needs of efficient automated refueling.

[0003] In order to optimize the existing single-side refueling robot, the utility model proposes a double-side refueling robot device. Summary of the invention

[0004] In order to optimize the above existing device, the utility model proposes a double-sided supply robot device, comprising:

[0005] The frame support structure comprises an upper frame and a lower frame which are arranged opposite to each other, and a support structure sandwiched between the upper frame and the lower frame;

[0006] A first supply robot, fixedly disposed on the upper surface of the lower frame, adapted to supply fuel to the device to be supplied located on the first side, the first supply robot comprising a first foldable mechanical leg and a first body portion connected to the first foldable mechanical leg, the first body portion facing the first side;

[0007] The second supply robot is upside down on the lower surface of the upper frame, and is suitable for providing fuel to the device to be supplied located on the second side. The second supply robot has a second foldable mechanical leg and a second body part connected to the second foldable mechanical leg, and the second body part faces the second side, and the second side is the opposite side of the first side.

[0008] Specifically, in the above-mentioned double-sided supply robot device, when the first foldable mechanical leg and the second foldable mechanical leg are in a folded state, the first foldable mechanical leg and the second foldable mechanical leg have overlapping center lines in the vertical direction, and the first body part and the second body part are located on opposite sides of the center line.

[0009] Optionally, in the above-mentioned double-sided supply robot device, the first foldable mechanical leg includes a first rotating part, and two ends of the first rotating part are respectively vertically provided with a first rotating shaft and a second rotating shaft, the first rotating shaft extends from the first rotating part to the lower frame, and the second rotating shaft extends from the first rotating part to the first body part, and the first body part is rotatably connected to the first foldable mechanical leg through the second rotating shaft; the second foldable mechanical leg includes a second rotating part, and two ends of the second rotating part are respectively vertically provided with a third rotating shaft and a fourth rotating shaft, the third rotating shaft extends from the second rotating part to the upper frame, and the fourth rotating shaft extends from the second rotating part to the second body part, and the second body part is rotatably connected to the second foldable mechanical leg through the fourth rotating shaft;

[0010] Wherein, when the first foldable mechanical leg and the second foldable mechanical leg are in a folded state, the axis of the first rotating shaft coincides with the axis of the fourth rotating shaft, and the axis of the second rotating shaft coincides with the axis of the third rotating shaft.

[0011] Optionally, in the above-mentioned double-sided supply robot device, the first body part includes a first trunk and first manipulators located on both sides of the first trunk, the first manipulators include a first upper arm and a first lower arm; the second body part includes a second trunk and second manipulators located on both sides of the second trunk, the second manipulators include a second upper arm and a second lower arm;

[0012] Among them, when the first manipulator and the second manipulator are both in a folded state, the lower surface of the first upper arm and the lower surface of the second upper arm are located at the same height, and the lower surface of the first lower arm and the lower surface of the second lower arm are located at the same height.

[0013] Optionally, the above-mentioned double-sided supply robot device further includes a control unit component, and the control unit component is placed in the upper frame, and the control unit component is electrically connected to the first supply robot and the second supply robot.

[0014] Optionally, in the above-mentioned double-sided supply robot device, the support structure includes a first support structure, which is vertically arranged at one end of the upper frame, and the first support structure has a shape that is narrow in the middle and wide on both sides in the vertical direction, so that the first manipulator or the second manipulator does not interfere with the first support structure when it is fully extended in the first direction; wherein, the first direction refers to the direction from the first trunk to the first support structure along the horizontal direction.

[0015] Optionally, in the above-mentioned double-sided supply robot device, a first operating screen and a second operating screen are provided on the first supporting structure, which are respectively arranged on two adjacent or opposite side surfaces of the first supporting structure; wherein, the first operating screen is suitable for the staff to operate the supply information of the device to be supplied on the first side of the frame support structure, and the second operating screen is suitable for the staff to operate the supply information of the device to be supplied on the second side of the frame support structure.

[0016] Optionally, in the above-mentioned double-sided supply robot device, the support structure also includes a second support structure, the second support structure is vertically arranged at the other end of the upper frame, the first supply robot and the second supply robot are arranged between the first support structure and the second support structure, and the first support structure, the lower frame, the second support structure, and the upper frame are vertically connected in sequence from head to tail to form the frame support structure.

[0017] Optionally, in the above-mentioned double-sided supply robot device, the second support structure includes a support column and a shell, an oil engine is arranged in the shell, the two ends of the support column are respectively fixedly connected to the upper frame and the lower frame, the oil engine is arranged adjacent to the support column, and the oil engine is connected to the first manipulator and the second manipulator through a pipeline. An air pump is arranged in the second support structure, and the air pump is located above the oil pump. When the first manipulator and the second manipulator need to be driven by an air source to operate, the air pump is suitable for providing the air source.

[0018] Optionally, the above-mentioned double-sided supply robot device also includes an identification mechanism and a display screen. The identification mechanism includes a camera, which is fixedly connected to the upper end of the second supporting structure and is used to take pictures and identify the device to be supplied; the display screen is used to display the fuel supply information of the device to be supplied.

[0019] One or more technical solutions provided by the utility model produce at least the following beneficial effects:

[0020] (1) The utility model proposes a double-sided supply robot device, including a frame support structure, including an upper frame and a lower frame, a support structure, a first supply robot, and a second supply robot, wherein the first supply robot supplies fuel to a device to be supplied located on the first side, and the first supply robot has a first foldable mechanical leg and a first body part, and the first body part faces the first side; the second supply robot is used to supply fuel to a device to be supplied located on the second side, and the second supply robot has a second foldable mechanical leg and a second body part, and the second body part faces the second side. Through the double-sided supply robot device of the utility model, the space on both sides of the frame support can be fully utilized to realize the use of different refueling robots to refuel the devices to be supplied on different sides.

[0021] (2) The utility model proposes a double-sided supply robot device, wherein the first supply robot is fixedly arranged on the upper surface of the lower frame, and the second supply robot is hung upside down on the lower surface of the upper frame. The first supply robot and the second supply robot are relatively arranged on the lower frame and the upper frame of the frame structure, and in the folded state, the first foldable mechanical leg and the second foldable mechanical leg have overlapping center lines in the vertical direction. That is, the space at the height of the frame structure is used to complete the arrangement of two different supply robots on both sides, which can reduce the size of the entire frame structure, reduce the materials used to make the frame structure, and achieve efficient use of the ground space of the gas station.

[0022] (3) The utility model proposes a double-sided supply robot device, wherein the first rotating part of the first foldable mechanical leg is provided with a first rotating shaft and a second rotating shaft at both ends, and the second rotating part of the second foldable mechanical leg is provided with a third rotating shaft and a fourth rotating shaft at both ends. When the first foldable mechanical leg and the second foldable mechanical leg are in the folded state, the axis of the first rotating shaft coincides with the axis of the fourth rotating shaft, and the axis of the second rotating shaft coincides with the axis of the third rotating shaft. The arrangement of the completely symmetrical foldable mechanical legs makes the path planning basically consistent when the foldable mechanical legs are extended, which can reduce the modification of the program by the control system when controlling different foldable mechanical legs, saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Further details, features and advantages of the present invention are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0024] Figure 1 This is a schematic diagram of the overall structure of the double-sided supply robot device proposed by the utility model;

[0025] Figure 2 This is a main diagram of the overall structure of the double-sided supply robot device proposed by the utility model;

[0026] Figure 3This is a top view of the overall structure of the double-sided supply robot device proposed by the utility model;

[0027] Figure 4 This is a side view of the overall structure of the double-sided supply robot device proposed by the utility model;

[0028] Figure 5 This is one of the structural schematic diagrams of the double-sided supply robot device proposed in the utility model;

[0029] Figure 6 This is the second structural schematic diagram of the double-sided supply robot device proposed by the utility model;

[0030] Figure 7 This is the third structural schematic diagram of the double-sided supply robot device proposed by the utility model;

[0031] Figure 8 This is the fourth structural schematic diagram of the double-sided supply robot device proposed by the utility model;

[0032] Fig. 9 It is a partial schematic diagram of the first foldable mechanical leg of the double-sided supply robot device proposed by the utility model;

[0033] Fig.10 This is an overall schematic diagram of the first foldable mechanical leg of the double-sided supply robot device proposed in the utility model;

[0034] Fig.11 This is a schematic diagram of the frame support structure of the double-sided supply robot device proposed in the utility model;

[0035] Fig.12 This is a schematic diagram of the on-site installation of the overall structure of the double-sided supply robot device proposed by the utility model.

[0036] Description of reference numerals:

[0037] 1-frame support structure, 11-upper frame, 12-lower frame, 13-support structure, 131-first support structure, 1311-first operation screen, 1312-second operation screen, 132-second support structure, 1321-support column, 1322-shell; 2-first supply robot, 21-first foldable mechanical leg, 211-first rotating part, 212-first rotating shaft, 213-second rotating shaft, 22-first body Part, 221-first trunk, 222-first manipulator, 2221-first upper arm, 2222-first lower arm; 3-second supply robot, 31-second foldable mechanical leg, 311-second rotating part, 312-third rotating shaft, 313-fourth rotating shaft, 32-second body part, 321-second trunk, 322-second manipulator, 3221-second upper arm, 3222-second lower arm, 4-identification mechanism, 5-display screen. DETAILED DESCRIPTION

[0038] The embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0039] It should be understood that the various steps described in the method implementation of the present utility model can be performed in different orders and / or performed in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present utility model is not limited in this respect.

[0040] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in the present utility model are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0041] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0042] The names of the messages or information exchanged between multiple devices in the implementation manner of the present utility model are only used for illustrative purposes, and are not used to limit the scope of these messages or information. Specific embodiment 1

[0044] The utility model relates to the technical field of automobile refueling supply, in particular to a double-side supply robot device.

[0045] like Figure 1-12 As shown, the double-sided supply robot device proposed in the utility model includes: a frame support structure 1, a first supply robot 2, and a second supply robot 3; wherein the frame support structure 1 includes an upper frame 11, a lower frame 12, and a support structure 13, and the support structure 13 includes a first support structure 131 and a second support structure 132, the first support structure 131 and the second support structure 132 are arranged at both ends of the upper frame 11, and the first support structure 131 and the second support structure 132 are respectively fixedly connected to the upper frame 11 and the lower frame 12, that is, the first support structure 131, the upper frame 11, the second support structure 132, and the lower frame 12 are connected end to end to form the frame support structure 1. The first supply robot 2 is fixedly arranged on the upper surface of the lower frame 12, and the first supply robot 2 is sequentially connected with a first foldable mechanical leg 21 and a first body part 22 from the lower frame 12 upward, and the first body part 22 is directed outward from the geometric center of the frame structure. The second supply robot 3 is hung upside down on the lower surface of the upper frame 11. The second supply robot 3 is sequentially connected with a second foldable mechanical leg 31 and a second body part 32 from the lower frame 12 downward. The second body part 32 faces outward from the geometric center of the frame structure, and the direction of the second body part 32 is opposite to that of the first body part 22. The first foldable mechanical leg 21 and the second foldable mechanical leg 31 can be folded and unfolded left and right for fuel filling operations. In the folded state, the center lines of the first foldable mechanical leg 21 and the second foldable mechanical leg 31 coincide in the vertical direction, that is, they are aligned up and down. Through the opposite directions of the first body part 22 and the second body part 32 and the manipulators connected to the body parts, the first supply robot 2 provides fuel to the device to be supplied on the first side, and the second supply robot 3 provides fuel to the device to be supplied on the second side.

[0046] The double-sided supply robot device of the utility model has two supply robots arranged in the upper and lower parts of the frame support, and the body parts of the two supply robots move outward from the geometric center of the frame support respectively, so that the space on both sides of the frame support can be fully utilized, and different refueling robots can be used to refuel the devices to be supplied on different sides. At the same time, the folding mechanical legs of the two supply robots of the utility model are symmetrically arranged in the vertical direction, and the middle part is used to install the body part, that is, the space on the height of the frame structure is used to complete the arrangement of the two supply robots on both sides, which can reduce the lateral size of the entire frame structure and fully utilize the longitudinal space of the gas station.

[0047] In some embodiments, a billboard and a fire-fighting device or an alarm prompt device can also be set on the upper frame 11. The advertisement is used to display the advertising information of the gas station, the fire-fighting device is used to extinguish the fire in time when a fire occurs, and the alarm prompt device is used to broadcast or sound prompts to remind the staff to deal with it in time when an accident occurs.

[0048] In some embodiments, in the above-mentioned double-sided supply robot device, the above-mentioned first foldable mechanical leg 21 includes a first rotating part 211, and the first foldable mechanical leg 21 includes a plurality of stacked rotating parts, and the ends of each rotating part are connected upward step by step through a rotating shaft. The first rotating part 211 is located on the above-mentioned foldable mechanical leg, and the first rotating part 211 is the last rotating part of the first foldable mechanical leg 21. The first rotating shaft 212 and the second rotating shaft 213 are respectively vertically arranged at both ends of the above-mentioned first rotating part 211. The above-mentioned first rotating shaft 212 extends from the above-mentioned first rotating part 211 to the above-mentioned lower frame 12, and the above-mentioned first body part 22 is rotatably connected to the first rotating part 211 of the above-mentioned first foldable mechanical leg 21 through the above-mentioned second rotating shaft 213. When the above-mentioned first foldable mechanical leg 21 is folded, all the rotating parts constituting it are stacked up and down together. When in the unfolded state, all the rotating parts can be fully unfolded outward in sequence, thereby driving the first body part 22 connected to the end of the first rotating part 211 to unfold outward. The second foldable mechanical leg 31 has a similar structure to the first foldable mechanical leg 21. The second foldable mechanical leg 31 includes a second rotating portion 311. A third rotating shaft 312 (not shown) and a fourth rotating shaft 313 are vertically disposed at both ends of the second rotating portion 311. The third rotating shaft 312 is connected upward from the second rotating portion 311 to other rotating portions of the second foldable mechanical leg 31. The second body portion 32 is rotatably connected to the second foldable mechanical leg 31 through the fourth rotating shaft 313. When the first foldable mechanical leg 21 and the second foldable mechanical leg 31 are in a folded state, the axis of the first rotating shaft 212 coincides with the axis of the fourth rotating shaft 313, and the axis of the second rotating shaft 213 coincides with the axis of the third rotating shaft 312. That is, when the first foldable mechanical leg 21 and the second foldable mechanical leg 31 are in the folded state, the axes at both ends of the rotating parts are correspondingly coincident, the vertical centers of the first body part 22 and the second body part 32 are parallel, and at the same time, the parts of the first body part 22 and the second body part 32 in the vertical direction are at the same height and are staggered front to back; in the unfolded state, the first body part 22 and the second body part 32 are staggered and unfolded outside the geometric center of the frame to avoid collision.

[0049] In some embodiments, in the above-mentioned double-sided supply robot device, the above-mentioned first body part 22 includes a first trunk 221 and a first manipulator 222 located on both sides of the above-mentioned first trunk 221, and the above-mentioned first manipulator 222 includes a first large arm 2221 and a first small arm 2222; the above-mentioned second body part 32 includes a second trunk 321 and a second manipulator 322 located on both sides of the above-mentioned second trunk 321, and the above-mentioned second manipulator 322 includes a second large arm 3221 and a second small arm 3222; when actually refueling the car, the ends of the first manipulator 222 and the second manipulator 322 can be provided with a cover opening manipulator for opening the fuel tank cap and a refueling manipulator for refueling. Wherein, when the above-mentioned first manipulator 222 and the above-mentioned second manipulator 322 are both in a folded state, the lower surface of the above-mentioned first large arm 2221 and the lower surface of the above-mentioned second large arm 3221 are located at the same height, and the lower surface of the above-mentioned first small arm 2222 and the lower surface of the above-mentioned second small arm 3222 are located at the same height. From the folded state to the unfolded state, when folded, corresponding to the three-dimensional coordinate system, the coordinates of the first manipulator and the second manipulator in two dimensions are consistent, which reduces the number of initial variables and the error rate of the end-execution manipulator, and is conducive to better control of the manipulator's movements. In some embodiments, during the operation of the manipulator, the first large arm 2221 and the second large arm 3221 are always on the same horizontal plane, and the first small arm 2222 and the second small arm 3222 are always on the same horizontal plane, which simplifies the movement of the manipulator arm, reduces the complexity of the control program, reduces redundant code, and is conducive to reducing the possibility of control errors and increasing fault tolerance.

[0050] In some embodiments, the above-mentioned double-sided supply robot device also includes a control unit component (not shown in the figure), the above-mentioned control unit component is placed in the above-mentioned upper frame 11, and the above-mentioned control unit component is electrically connected to the above-mentioned first supply robot 2 and the above-mentioned second supply robot 3. The above-mentioned control unit component includes multiple different modules such as sensors, actuators, controllers, communication modules, and power systems. Among them, sensors include but are not limited to visual sensors, tactile sensors, and force / torque sensors to analyze the difference between the coordinate position of the manipulator and the target position in real time. The actuator includes a motor, a hydraulic cylinder, a pneumatic motor, etc. The actuator is used to complete various complex movements and power outputs of the manipulator. The controller includes a single-chip microcomputer, a microcontroller, an embedded system, etc., and the transmission and completion of the instructions are realized by the controller. The communication module mainly includes WI FI, Bluetooth, Ethernet, USB, etc., which connects the manipulator to the outside and realizes communication and interaction between the manipulator and humans. The power system includes batteries, power systems, generators, power systems, etc., which can be used as the power source of the manipulator control system.

[0051] In some embodiments, in the above-mentioned double-sided supply robot device, the above-mentioned support structure 13 includes a first support structure 131, which is vertically arranged at one end of the above-mentioned upper frame 11, and the above-mentioned first support structure 131 has a shape of being narrow in the middle and wide on both sides in the vertical direction, so that the above-mentioned first manipulator 222 or the above-mentioned second manipulator 322 does not interfere with the above-mentioned first support structure 131 when it is fully deployed in the first direction; wherein the above-mentioned first direction refers to the direction from the above-mentioned first trunk 221 to the above-mentioned first support structure 131 in the horizontal direction. That is, when the first manipulator 222 and the second manipulator 322 are deployed to the first support structure 131, they can reasonably avoid each other to avoid collision and affect the service life of the manipulators.

[0052] In some embodiments, the double-sided supply robot device is provided with a first operation screen 1311 and a second operation screen 1312 on the first support structure 131, which are respectively arranged on two adjacent or opposite side surfaces of the first support structure 131. In some implementation examples, the first operation screen 1311 and the second operation screen 1312 are arranged on the first support structure 131 on both sides for refueling the refueling vehicle; in other implementations, the outer shell of the first support structure 131 is a triangular structure, and the first operation screen 1311 and the second operation screen 1312 are respectively arranged on two adjacent surfaces of the triangular structure. When the first operation screen 1311 or the second operation screen 1312 is used to operate the supply information, the supply information includes information related to refueling such as the oil number, oil volume, amount, etc., and also includes the selection of which payment method to pay.

[0053] In some embodiments, the above-mentioned double-sided supply robot device, the above-mentioned support structure also includes a second support structure 132, the above-mentioned second support structure 132 is vertically arranged at the other end of the above-mentioned upper frame 11, the above-mentioned first supply robot 2 and the above-mentioned second supply robot 3 are arranged between the above-mentioned first support structure 131 and the above-mentioned second support structure 132, and the above-mentioned first support structure 131, the above-mentioned lower frame 12, the above-mentioned second support structure 132, and the above-mentioned upper frame 11 are vertically connected end to end in sequence to form the above-mentioned frame support structure 1. Sufficient space is set between the first support structure 131 and the second support structure 132 for the first supply robot 2 and the second supply robot 3 to stretch out for refueling operations, and the frame support structure 1 connected end to end provides stable support for the first supply robot 2 and the second supply robot 3.

[0054] In some embodiments, the above-mentioned double-sided supply robot device, the above-mentioned second support structure 132 includes a support column 1321 and a shell 1322, and an oil engine (not shown in the figure) is arranged in the above-mentioned shell 1322. The two ends of the above-mentioned support column 1321 are respectively fixedly connected to the above-mentioned upper frame 11 and the above-mentioned lower frame 12. The above-mentioned oil engine is arranged adjacent to the above-mentioned support column, and the above-mentioned oil engine is connected to the above-mentioned first manipulator 222 and the above-mentioned second manipulator 322 through a pipeline. Wrapping the oil engine in the shell of the support column 1321, the integrated shell is more beautiful, and at the same time reduces the safety hazards caused by the leakage of the oil engine.

[0055] In some embodiments, in the above-mentioned double-sided supply robot device, an air pump is provided in the above-mentioned second support structure 132, and the above-mentioned air pump is located above the above-mentioned oil engine. When the above-mentioned first manipulator 222 and the above-mentioned second manipulator 322 need to be driven by an air source to operate, the above-mentioned air pump is suitable for providing the above-mentioned air source. Placing the air pump above the oil engine reasonably utilizes the space above the oil engine, and does not increase the size of the outer periphery of the entire frame structure.

[0056] In some embodiments, the above-mentioned double-sided supply robot device also includes an identification mechanism 4 and a display screen 5. The identification mechanism 4 includes a camera, which is fixedly connected to the upper end of the above-mentioned second support structure 132, and is used to take pictures and identify the device to be supplied; the above-mentioned display screen 5 is used to display the fuel supply information of the above-mentioned device to be supplied. The above-mentioned camera can quickly identify the license plate number of the vehicle that needs to be refueled, and display the relevant information on the display screen 5. Among them, the camera and the display screen 5 are symmetrically arranged on both sides of the second support structure 132, and are respectively used to identify and display the vehicles to be supplied located on the corresponding sides of the frame structure. In some implementation examples, the display screen 5 can also be used for the owner to select the amount of refueling or the amount of refueling. At the same time, a variety of payment methods (such as online payment, face payment, etc.) can be selected for payment to provide convenience for customers.

[0057] like Fig.12 As shown, the double-sided supply robots are respectively installed on the upper and lower frames of the frame support structure. During the overall installation, the second support structure of the frame support structure is installed on the infrastructure at the gas station site.

[0058] The above descriptions are only some embodiments of the utility model and the explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the utility model is not limited to the technical solutions formed by the specific combination of the above technical features, but also should cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the utility model (but not limited to) by each other to form a technical solution.

[0059] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A double-sided feeding robot device, It is characterized in that include, The frame support structure comprises an upper frame and a lower frame which are arranged opposite to each other, and a support structure sandwiched between the upper frame and the lower frame; A first supply robot, fixedly disposed on the upper surface of the lower frame, adapted to supply fuel to the device to be supplied located on the first side, the first supply robot comprising a first foldable mechanical leg and a first body portion connected to the first foldable mechanical leg, the first body portion facing the first side; The second supply robot is upside down on the lower surface of the upper frame, and is suitable for providing fuel to the device to be supplied located on the second side. The second supply robot has a second foldable mechanical leg and a second body part connected to the second foldable mechanical leg, and the second body part faces the second side, and the second side is the opposite side of the first side.

2. The double-sided feeding robot device according to claim 1, It is characterized in that When the first foldable mechanical leg and the second foldable mechanical leg are in a folded state, the first foldable mechanical leg and the second foldable mechanical leg have overlapping center lines in a vertical direction, and the first body portion and the second body portion are located on opposite sides of the center line.

3. The double-sided feeding robot device according to claim 1, It is characterized in that The first foldable mechanical leg comprises a first rotating part, two ends of the first rotating part are respectively vertically provided with a first rotating shaft and a second rotating shaft, the first rotating shaft extends from the first rotating part to the lower frame, the second rotating shaft extends from the first rotating part to the first body part, and the first body part is rotatably connected to the first foldable mechanical leg through the second rotating shaft; the second foldable mechanical leg comprises a second rotating part, two ends of the second rotating part are respectively vertically provided with a third rotating shaft and a fourth rotating shaft, the third rotating shaft extends from the second rotating part to the upper frame, the fourth rotating shaft extends from the second rotating part to the second body part, and the second body part is rotatably connected to the second foldable mechanical leg through the fourth rotating shaft; Wherein, when the first foldable mechanical leg and the second foldable mechanical leg are in a folded state, the axis of the first rotating shaft coincides with the axis of the fourth rotating shaft, and the axis of the second rotating shaft coincides with the axis of the third rotating shaft.

4. The double-sided feeding robot device according to claim 1, It is characterized in that The first body part includes a first trunk and a first manipulator located on both sides of the first trunk, the first manipulator includes a first upper arm and a first lower arm; the second body part includes a second trunk and a second manipulator located on both sides of the second trunk, the second manipulator includes a second upper arm and a second lower arm; Among them, when the first manipulator and the second manipulator are both in a folded state, the lower surface of the first upper arm and the lower surface of the second upper arm are located at the same height, and the lower surface of the first lower arm and the lower surface of the second lower arm are located at the same height.

5. The double-sided feeding robot device according to claim 1, It is characterized in that It also includes a control unit component, which is placed in the upper frame and is electrically connected to the first supply robot and the second supply robot.

6. The double-sided feeding robot device according to claim 4, It is characterized in that The support structure includes a first support structure, which is vertically arranged at one end of the upper frame. The first support structure has a shape that is narrow in the middle and wide on both sides in the vertical direction, so that the first manipulator or the second manipulator does not interfere with the first support structure when it is fully unfolded in the first direction; wherein the first direction refers to the direction from the first trunk to the first support structure in the horizontal direction.

7. The double-sided feeding robot device according to claim 6, It is characterized in that The first supporting structure is provided with a first operating screen and a second operating screen, which are respectively arranged on two adjacent or opposite side surfaces of the first supporting structure; wherein the first operating screen is suitable for the staff to operate the supply information of the device to be supplied on the first side of the frame support structure, and the second operating screen is suitable for the staff to operate the supply information of the device to be supplied on the second side of the frame support structure.

8. The double-sided feeding robot device according to claim 6, It is characterized in that The support structure also includes a second support structure, which is vertically arranged at the other end of the upper frame, and the first supply robot and the second supply robot are arranged between the first support structure and the second support structure, and the first support structure, the lower frame, the second support structure, and the upper frame are vertically connected in sequence from head to tail to form the frame support structure.

9. The double-sided feeding robot device according to claim 8, It is characterized in that The second supporting structure includes a supporting column and a shell, an oil engine is arranged in the shell, two ends of the supporting column are respectively fixedly connected to the upper frame and the lower frame, the oil engine is arranged adjacent to the supporting column, and the oil engine is connected to the first manipulator and the second manipulator through a pipeline; an air pump is arranged in the second supporting structure, and the air pump is located above the oil engine. When the first manipulator and the second manipulator need to be driven by an air source to operate, the air pump is suitable for providing the air source.

10. The double-sided feeding robot device according to claim 8, It is characterized in that It also includes an identification mechanism and a display screen. The identification mechanism includes a camera, which is fixedly connected to the upper end of the second supporting structure and is used to take pictures and identify the device to be supplied; the display screen is used to display fuel supply information of the device to be supplied.

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