Fuel tank cover opening and closing device for automatic refueling mechanical arm and automatic refueling device

Abstract

The utility model relates to an oil tank cover opening and closing device for an automatic refueling mechanical arm, which comprises a telescopic assembly, the telescopic assembly comprises a fixed end and a movable end, and the fixed end is connected with a robot arm; the suction cup assembly is of a cylindrical structure made of a flexible material and is arranged at the moving end of the telescopic assembly, and an opening of the suction cup assembly is arranged away from the telescopic assembly; when a to-be-refueled vehicle is automatically refueled, the suction cup assembly moves along with the moving end and deforms along with movement of the moving end after making contact with an oil tank cover of the to-be-refueled vehicle, and therefore the suction cup assembly adsorbs the oil tank cover of the to-be-refueled vehicle. The first end of the supporting column is fixedly connected to the moving end, and the second end of the supporting column is located in the suction cup assembly; the rubber head is fixedly arranged at the second end of the supporting column. The oil tank cap opening and closing device mainly solves the problem that an existing oil tank cap opening and closing device cannot open an oil tank cap with the lack of elastic performance, so that the follow-up automatic oil filling process cannot be normally carried out.

Description

Technical Field

[0001] The present application relates to the technical field of automotive unmanned refueling equipment, and particularly relates to a fuel tank cap opening and closing device for an automatic refueling robotic arm and an automatic refueling device. Background Art

[0002] Currently, most of the processes for refueling automobiles are completed manually, which is time-consuming and laborious. Moreover, since it is impossible for humans to maintain a high level of concentration for a long time, accidents may occur due to improper operations. And in some areas, the environment is harsh and not suitable for manual operations. With the increasing requirements for improving the working environment of workers, this has continuously prompted manufacturers to try and use new technologies. The research and development work on robots in China has been carried out for many years, and its research results have been successively applied to actual production. Therefore, it is necessary to introduce robotic arm technology in automobile refueling, and a vision system for guiding the robot to work is also essential.

[0003] Chinese Patent Publication No. CN114644315A discloses a precise positioning device and method for a fuel tank cap for automatic refueling. This device and method pre-set reference points with prominent colors around the automobile refueling scene, and locate the position information of the fuel tank cap through each reference point and the characteristic points of the automobile.

[0004] In order to achieve a higher degree of automation, after obtaining the position of the fuel tank cap of the vehicle to be refueled, it is necessary to open the fuel tank cap of the vehicle to be refueled through a mechanical structure and close the fuel tank cap of the vehicle to be refueled after refueling is completed. Currently, the fuel tank caps of most vehicles are opened and closed by pressing. Therefore, the commonly used fuel tank cap opening and closing devices widely used in the field of automatic refueling generally contact the fuel tank cap through tentacles or hard contacts and apply a force to the fuel tank cap to simulate the actions of a human hand to open or close the fuel tank cap. The above fuel tank cap opening and closing devices can normally open the fuel tank cap when opening a fuel tank cap with complete performance, but for some fuel tank caps with missing elastic performance, after the fuel tank cap is pressed by the contact, the fuel tank cap cannot be fully opened, so that the subsequent automatic refueling process cannot be carried out normally. Summary of the Invention

[0005] The present application mainly solves the problem that the existing fuel tank cap opening and closing device cannot open a fuel tank cap with missing elastic performance, so that the subsequent automatic refueling process cannot be carried out normally.

[0006] In an embodiment of the present application, there is provided a fuel tank cap opening and closing device for an automatic refueling robotic arm, which is arranged on an automatic refueling robotic arm and is used to open or close the fuel tank cap of a vehicle to be refueled when automatically refueling the vehicle to be refueled. The fuel tank cap opening and closing device includes:

[0007] A telescopic component, the telescopic component includes a fixed end and a mobile end, the fixed end is connected to the robotic arm; when the telescopic component is operated, the mobile end moves relative to the fixed end in a linear direction;

[0008] A suction cup component, the suction cup component is a cylindrical structure made of a flexible material, arranged on the mobile end of the telescopic component, and the opening of the suction cup component is arranged away from the telescopic component; when automatically refueling a vehicle to be refueled, the suction cup component moves with the mobile end, and after contacting the fuel tank cap of the vehicle to be refueled, the suction cup component deforms as the mobile end moves, so that the suction cup component adsorbs the fuel tank cap of the vehicle to be refueled;

[0009] A support column, the first end of the support column is fixedly connected to the mobile end, and the second end of the support column is located inside the suction cup component;

[0010] A rubber head, the rubber head is fixedly arranged on the second end of the support column; when automatically refueling a vehicle to be refueled, the suction cup component is used to contact the fuel tank cap based on the movement of the mobile end, so as to open or close the fuel tank cap of the vehicle to be refueled.

[0011] In the above fuel tank cap opening and closing device for an automatic refueling robotic arm, as a preferred solution, the suction cup component includes a buffer chamber, a waist portion, and a port portion. The buffer chamber, the waist portion, and the port portion are connected in sequence and are all made of a flexible material. One end of the buffer chamber is connected to the mobile end of the telescopic component, and the opening of the suction cup component is arranged on the port portion.

[0012] In the above fuel tank cap opening and closing device for an automatic refueling robotic arm, as a preferred solution, the outer diameter of the waist portion is smaller than the outer diameters of the buffer chamber and the port portion, and the connection between the waist portion and the buffer chamber is a conical surface.

[0013] In the above fuel tank cap opening and closing device for an automatic refueling robotic arm, as a preferred solution, the suction cup component further includes a skirt lining. At least one air hole is opened at the connection between the waist portion and the buffer chamber. One end of the skirt lining is sleeved on the waist portion, and the other end covers the air hole.

[0014] In the above fuel tank cap opening and closing device for an automatic refueling robotic arm, as a preferred solution, the suction cup component further includes a corrugated portion. The corrugated portion is arranged between the waist portion and the port portion, and the corrugated portion is in the shape of a corrugated pipe.

[0015] In the above fuel tank cap opening and closing device for an automatic refueling robotic arm, as a preferred solution, the rubber head is located inside the corrugated portion.

[0016] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the fuel tank cap opening and closing device further includes:

[0017] A flange for detachably connecting the robotic arm; the fixed end of the telescopic assembly is fixedly connected to the flange.

[0018] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the telescopic assembly includes a cylinder. The cylinder is the fixed part of the telescopic assembly, the piston rod of the cylinder is the moving part of the telescopic assembly, and one end of the cylinder is fixedly connected to the flange.

[0019] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the first end of the strut is fixedly connected to the end of the piston rod, and the suction cup assembly is connected to the connection between the strut and the piston rod.

[0020] This application also provides an automatic fueling device. The automatic fueling device includes the above-mentioned fuel tank cap opening and closing device, and further includes a robotic arm, a mounting seat, and a fuel delivery device. The mounting seat is arranged at the end of the robotic arm, and both the fuel tank cap opening and closing device and the fuel delivery device are arranged on the mounting seat;

[0021] The fuel tank cap opening and closing device is used to open or close the fuel tank cap of the vehicle to be refueled by moving based on the robotic arm when automatically refueling the vehicle to be refueled;

[0022] The fuel delivery device at least includes a fuel gun, and the fuel delivery device is used to refuel the vehicle to be refueled through the fuel gun based on the movement of the robotic arm;

[0023] When the robotic arm is controlled, the end of the robotic arm is moved so that the fuel tank cap opening and closing device or the fuel delivery device approaches or moves away from the fuel tank cap of the vehicle to be refueled.

[0024] According to the fuel tank cap opening and closing device and the automatic fueling device for the automatic fueling robotic arm of the above embodiments, a suction cup assembly, a support column and a rubber head located inside the suction cup assembly are provided. The suction cup assembly is arranged on the mobile end. When the suction cup assembly moves with the mobile end, the end of the suction cup assembly will first contact the fuel tank cap and deform as the mobile end continues to move, forming a negative pressure inside the suction cup assembly and gradually strengthening the negative pressure, so that the suction cup assembly adsorbs the fuel tank cap of the vehicle to be refueled. At the same time, as the mobile end continues to move, the rubber head located inside the suction cup assembly contacts the fuel tank cap and applies a force to the fuel tank cap simulating the movement of a human hand, thus unlocking the fuel tank cap. After the fuel tank cap is unlocked, the mobile end moves in the opposite direction or moves away from the fuel tank cap, thus driving the suction cup assembly to move. Since the suction cup assembly adsorbs the fuel tank cap of the vehicle to be refueled, the fuel tank cap of the vehicle to be refueled is opened while the mobile end moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 FIG. is a schematic diagram of the use of the fuel tank cap opening and closing device for the automatic fueling robotic arm provided by the embodiment of the present application;

[0026] Figure 2 FIG. is a schematic diagram of the overall structure of the fuel tank cap opening and closing device for the automatic fueling robotic arm provided by the embodiment of the present application;

[0027] Figure 3 FIG. is an exploded view of the fuel tank cap opening and closing device for the automatic fueling robotic arm provided by the embodiment of the present application;

[0028] Figure 4 FIG. is a schematic cross-sectional structure diagram of the suction cup assembly of the fuel tank cap opening and closing device for the automatic fueling robotic arm provided by the embodiment of the present application.

[0029] In the figure: 81, fuel tank cap opening and closing device; 82, fuel delivery device; 83, robotic arm; 84, mounting seat; 811, flange; 812, cylinder; 8121, first end; 8122, second end; 813, piston rod; 814, suction cup assembly; 8141, buffer chamber; 8142, air hole; 8143, waist; 8144, corrugated part; 8145, port part; 815, skirt lining; 816, rubber head; 817, support column. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The present application will be further described in detail below in conjunction with the specific embodiments and the accompanying drawings. Similar elements in different embodiments are denoted by related similar element numbers. In the following embodiments, many detailed descriptions are provided to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid overwhelming the core part of the present application with excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the descriptions in the specification and the general technical knowledge in the art.

[0031] In addition, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can also be reordered or adjusted in an obvious manner by those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for clearly describing a certain embodiment, and do not mean that they are the necessary sequences, unless it is stated otherwise that a certain sequence must be followed.

[0032] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meaning. The terms "connected" and "coupled" used in the present application, unless otherwise specified, both include direct and indirect connections (couplings).

[0033] Please refer to Figure 2 、 Figure 3 and Figure 4, to solve the problem that the existing fuel tank cap opening and closing device 81 cannot open the fuel tank cap with missing elastic performance, resulting in the inability to perform the subsequent automatic refueling process normally. In the embodiments of the present application, a fuel tank cap opening and closing device for an automatic refueling robotic arm is provided. It is arranged on the robotic arm 83 of the automatic refueling robot and is used to open or close the fuel tank cap of the vehicle to be refueled when automatically refueling the vehicle to be refueled. The fuel tank cap opening and closing device 81 includes: a telescopic assembly, which includes a fixed end and a movable end. The fixed end is connected to the robotic arm 83; when the telescopic assembly is operated, the movable end moves relative to the fixed end in a linear direction; a suction cup assembly 814, which is a cylindrical structure made of flexible material and is arranged on the movable end of the telescopic assembly. The opening of the suction cup assembly 814 is arranged away from the telescopic assembly; when automatically refueling the vehicle to be refueled, the suction cup assembly 814 deforms as the movable end moves. After contacting the fuel tank cap of the vehicle to be refueled, the suction cup assembly 814 adsorbs the fuel tank cap of the vehicle to be refueled as the movable end moves; a support column 817, the first end 8121 of the support column 817 is fixedly connected to the movable end, and the second end 8122 of the support column 817 is located inside the suction cup assembly 814; a rubber head 816, which is fixedly arranged on the second end 8122 of the support column 817; when automatically refueling the vehicle to be refueled, the suction cup assembly 814 is used to contact the fuel tank cap based on the movement of the movable end, so as to open or close the fuel tank cap of the vehicle to be refueled. The suction cup assembly 814 is arranged on the movable end. When the suction cup assembly 814 moves with the movable end, the end of the suction cup assembly 814 will first contact the fuel tank cap and deform as the movable end continues to move, forming a negative pressure inside the suction cup assembly 814 and gradually strengthening the negative pressure, so that the suction cup assembly 814 adsorbs the fuel tank cap of the vehicle to be refueled.

[0034] In the above fuel tank cap opening and closing device for an automatic refueling robotic arm, as a preferred solution, the suction cup assembly 814 includes a buffer chamber 8141, a waist portion 8143, and a port portion 8145. The buffer chamber 8141, the waist portion 8143, and the port portion 8145 are connected in sequence and are all made of flexible material. One end of the buffer chamber 8141 is connected to the movable end of the telescopic assembly, and the opening of the suction cup assembly 814 is arranged on the port portion 8145.

[0035] In the above fuel tank cap opening and closing device for an automatic refueling robotic arm, as a preferred solution, the outer diameter of the waist portion 8143 is smaller than the outer diameters of the buffer chamber 8141 and the port portion 8145, and the connection between the waist portion 8143 and the buffer chamber 8141 is a conical surface.

[0036] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the suction cup assembly 814 further includes a skirt lining 815. At least one air hole 8142 is provided at the connection between the waist portion 8143 and the buffer chamber 8141. One end of the skirt lining 815 is sleeved on the waist portion 8143, and the other end covers the air hole 8142.

[0037] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the suction cup assembly 814 further includes a corrugated portion 8144. The corrugated portion 8144 is provided between the waist portion 8143 and the port portion 8145, and the corrugated portion 8144 is in the shape of a bellows.

[0038] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the rubber head 816 is located inside the corrugated portion 8144.

[0039] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the fuel tank cap opening and closing device 81 further includes: a flange 811, which is used for detachably connecting the robotic arm 83; the fixed end of the telescopic assembly is fixedly connected to the flange 811.

[0040] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the telescopic assembly includes a cylinder 812. The cylinder 812 is the fixed part of the telescopic assembly, the piston rod 813 of the cylinder 812 is the moving part of the telescopic assembly, and one end of the cylinder 812 is fixedly connected to the flange 811.

[0041] In the above-mentioned fuel tank cap opening and closing device for an automatic fueling robotic arm, as a preferred solution, the first end 8121 of the support column 817 is fixedly connected to the end of the piston rod 813, and the suction cup assembly 814 is connected to the connection between the support column 817 and the piston rod 813.

[0042] In some embodiments, the fuel tank cap opening and closing device for the automatic fueling robotic arm is provided with a suction cup assembly 814, a support pillar 817 and a rubber head 816 located inside the suction cup assembly 814. The suction cup assembly 814 is arranged on the piston rod 813. When the suction cup assembly 814 moves along with the piston rod 813, the port portion 8145 of the suction cup assembly 814 will first contact the fuel tank cap. As the piston rod 813 continues to move, the buffer chamber 8141 and the corrugated portion 8144 are squeezed and deformed. The air inside the buffer chamber 8141 and the corrugated portion 8144 is discharged from the air hole 8142, and the air hole 8142 is unidirectionally conducted through the action of the skirt lining 815. Therefore, a negative pressure is formed inside the suction cup assembly 814 and the negative pressure gradually increases, so that the port portion 8145 of the suction cup assembly 814 adsorbs the fuel tank cap of the vehicle to be refueled. At the same time, as the piston rod 813 continues to move, the rubber head 816 located inside the suction cup assembly 814 contacts the fuel tank cap and applies a force to the fuel tank cap by simulating the movement of a human hand, thereby unlocking the fuel tank cap. After the fuel tank cap is unlocked, the piston rod 813 moves in the reverse direction or moves away from the fuel tank cap, thereby driving the suction cup assembly 814 to move. Since the port portion 8145 of the suction cup assembly 814 adsorbs the fuel tank cap of the vehicle to be refueled, the fuel tank cap of the vehicle to be refueled is opened while the piston rod 813 moves.

[0043] Please refer to Figure 1 , to solve the problem that the existing fuel tank cap opening and closing device 81 cannot open the fuel tank cap with defective elastic performance, resulting in the inability to normally carry out the subsequent automatic fueling process, the embodiments of the present application further provide an automatic fueling device. The automatic fueling device includes the fuel tank cap opening and closing device 81 as described above, and further includes a robotic arm 83, a mounting seat 84 and an oil delivery device 82. The mounting seat 84 is arranged at the end of the robotic arm 83. The fuel tank cap opening and closing device 81 and the oil delivery device 82 are both arranged on the mounting seat 84. The fuel tank cap opening and closing device 81 is used to open or close the fuel tank cap of the vehicle to be refueled based on the movement of the robotic arm 83 when automatically fueling the vehicle to be refueled. The oil delivery device 82 at least includes a fueling gun. The oil delivery device 82 is used to fuel the vehicle to be refueled through the fueling gun based on the movement of the robotic arm 83. When the robotic arm 83 is controlled, the end of the robotic arm 83 is moved so that the fuel tank cap opening and closing device 81 or the oil delivery device 82 approaches or moves away from the fuel tank cap of the vehicle to be refueled.

[0044] Those skilled in the art can understand that all or part of the functions of the various methods in the above embodiments can be implemented in a hardware manner or in a computer program manner. When all or part of the functions in the above embodiments are implemented in a computer program manner, the program can be stored in a computer-readable storage medium. The storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc. The above functions can be realized by a computer executing the program. For example, the program is stored in the memory of the device, and when the processor executes the program in the memory, the above all or part of the functions can be realized. In addition, when all or part of the functions in the above embodiments are implemented in a computer program manner, the program can also be stored in a storage medium such as a server, another computer, magnetic disk, optical disk, flash drive or mobile hard disk, and saved to the memory of the local device by downloading or copying, or the system of the local device is updated. When the processor executes the program in the memory, all or part of the functions in the above embodiments can be realized.

[0045] The above uses specific examples to elaborate on the present application, which is only used to help understand the present application and is not intended to limit the present application. For those skilled in the art of the present application, according to the idea of the present application, several simple deductions, deformations or substitutions can also be made.

Claims

1. A fuel tank cap opening and closing device for an automatic refueling robotic arm, which is arranged on the arm of an automatic refueling robot and is used to open or close the fuel tank cap of a vehicle to be refueled when automatically refueling the vehicle to be refueled, characterized in that, The fuel tank cap opening and closing device includes: A telescopic component, which includes a fixed end and a mobile end. The fixed end is connected to the robot arm. When the telescopic component is operated, the mobile end moves relative to the fixed end in a straight line direction. A suction cup component, which is a cylindrical structure made of flexible material and is arranged on the mobile end of the telescopic component. The opening of the suction cup component is arranged away from the telescopic component. When automatically refueling a vehicle to be refueled, as the mobile end moves, the suction cup component deforms as it comes into contact with the fuel tank cap of the vehicle to be refueled, so that the suction cup component adsorbs the fuel tank cap of the vehicle to be refueled. A pillar, the first end of which is fixedly connected to the mobile end, and the second end of which is located inside the suction cup component. A rubber head, which is fixedly arranged on the second end of the pillar. When automatically refueling a vehicle to be refueled, the suction cup component is used to contact the fuel tank cap based on the movement of the mobile end, so as to open or close the fuel tank cap of the vehicle to be refueled.

2. The fuel tank cap opening and closing device for the automatic refueling robotic arm according to claim 1, wherein, The suction cup component includes a buffer chamber, a waist portion, and a port portion. The buffer chamber, the waist portion, and the port portion are connected in sequence and are all made of flexible material. One end of the buffer chamber is connected to the mobile end of the telescopic component, and the opening of the suction cup component is arranged on the port portion.

3. The fuel tank cap opening and closing device for the automatic fueling robotic arm according to claim 2, characterized in that, The outer diameter of the waist portion is smaller than the outer diameters of the buffer chamber and the port portion, and the connection between the waist portion and the buffer chamber is a conical surface.

4. The fuel tank cap opening and closing device for the automatic fueling robotic arm according to claim 3, characterized in that, The suction cup component further includes a skirt lining. At least one air hole is opened at the connection between the waist portion and the buffer chamber. One end of the skirt lining is sleeved on the waist portion, and the other end covers the air hole.

5. The fuel tank cap opening and closing device for the automatic refueling robotic arm according to claim 2, characterized in that, The suction cup component further includes a corrugated portion, which is arranged between the waist portion and the port portion, and the corrugated portion is in the shape of a corrugated pipe.

6. The fuel tank cap opening and closing device for the automatic refueling robotic arm according to claim 5, characterized in that, The rubber head is located inside the corrugated portion.

7. The fuel tank cap opening and closing device for the automatic refueling robotic arm according to claim 1, characterized in that, The fuel tank cap opening and closing device further includes: A flange, which is used to detachably connect the robot arm. The fixed end of the telescopic component is fixedly connected to the flange.

8. The fuel tank cap opening and closing device for the automatic refueling robotic arm according to claim 7, characterized in that, The telescopic component includes a cylinder. The cylinder is the fixed part of the telescopic component, the piston rod of the cylinder is the moving part of the telescopic component, and one end of the cylinder is fixedly connected to the flange.

9. The fuel tank cap opening and closing device for the automatic refueling robotic arm according to claim 8, characterized in that, The first end of the pillar is fixedly connected to the end of the piston rod, and the suction cup component is connected to the connection between the pillar and the piston rod.

10. An automatic fueling device, characterized in that, The automatic refueling device includes the fuel tank cap opening and closing device according to any one of claims 1-9, and further includes a robot arm, a mounting seat, and an oil delivery device. The mounting seat is arranged at the end of the robot arm, and the fuel tank cap opening and closing device and the oil delivery device are both arranged on the mounting seat. The fuel tank cap opening and closing device is used to open or close the fuel tank cap of a vehicle to be refueled by moving the robot arm when automatically refueling the vehicle to be refueled. The oil delivery device at least includes a fueling gun, and the oil delivery device is used to refuel the vehicle to be refueled through the fueling gun based on the movement of the robot arm. When the robot arm is manipulated, the end of the robot arm is moved so that the fuel tank cap opening / closing device or the fuel delivery device approaches or moves away from the fuel tank cap of the vehicle to be refueled.

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