End execution device for automatic refueling

Abstract

The utility model relates to an end executive device for automatic refueling, which comprises a tray, an oil tank plug opening assembly, an oil tank cover opening assembly, an oil gun refueling assembly and a mounting rack, the oil tank plug opening assembly and the oil tank cover opening assembly are mounted on the mounting rack side by side, and the output ends of the oil tank plug opening assembly and the oil tank cover opening assembly face the same direction. The output end of the fuel tank plug opening assembly movably clamps the tray, the tray is detachably adsorbed to a vehicle body under driving of the fuel tank plug opening assembly, and the fuel gun refueling assembly is installed on the installation frame and used for refueling a vehicle fuel tank. The whole refueling process does not need manual work, functions are complete, the step of taking and placing the fuel tank plug is considered, the tray used for placing the fuel tank plug and the fuel tank plug opening assembly are designed to be of a detachable structure, use is more flexible, a tail end execution device is extremely flexible, and refueling action can be conveniently and autonomously completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic oiling equipment technical field, especially an automatic oiling end execution device. BACKGROUND

[0002] Most of the vehicles on the market are fuel vehicles, which need to go to the gas station to add oil after the fuel is exhausted. Most of the gas stations are manually operated, that is, the oil gun is manually held and the oil outlet of the oil gun is inserted into the oil tank of the vehicle. This oiling method has high labor cost. In order to save labor cost, most gas stations hire fewer workers than the number of oiling machines. If the number of vehicles to be refueled is too large, there will be a shortage of manpower, low work efficiency, and users need to wait for a long time, resulting in poor user experience.

[0003] With the development of automation and information technology, the traditional production mode dominated by people is changing to an intelligent production mode dominated by robots. With the development of robot technology, the oiling robot provides a new service mode for the gas station. In the existing oiling robot, the end effector structure of part of the oiling robot is complex, and the mechanical arm needs to grab each end effector in turn to complete the oiling problem in the oiling process. The overall efficiency is low, the end effectors are not integrated into one end, the structure size is bloated, the oil gun grabbing efficiency is low, and the flexibility is poor. And the current automatic fuel filling execution mechanism does not consider the disassembly and placement of the oil tank plug, which is easy to lose the oil tank plug. In view of the above problems, further improvement is needed. UTILITY MODEL CONTENT

[0004] Therefore, it is necessary to provide an end execution device for automatic oiling in view of the above problems.

[0005] An end execution device for automatic oiling, comprising a tray, an oil tank plug opening assembly, an oil tank cover opening assembly, an oil gun oiling assembly and a mounting rack, the oil tank plug opening assembly and the oil tank cover opening assembly are installed side by side on the mounting rack, and the output ends are consistent in direction, the output end of the oil tank plug opening assembly movably clamps the tray, the tray is detachably adsorbed on the vehicle body under the drive of the oil tank plug opening assembly, the oil gun oiling assembly is installed on the mounting rack and used for adding fuel to the vehicle oil tank.

[0006] Preferably, the tray comprises a support and a suction cup, the rear end of the support is movably clamped by the output end of the oil tank plug opening assembly, and the front end of the support is connected with the suction cup.

[0007] Preferably, the front end of the support is further provided with a hollow position for mounting a magnetic block.

[0008] Preferably, the oil tank plug opening assembly comprises a rotary motor, a transmission member, a first connecting rod, a first cylinder and a first clamp jaw, the rotary motor and the transmission member are installed side by side on the side wall of the mounting frame, the output end of the rotary motor is movably connected with the input end of the transmission member through a belt, the output end of the transmission member is connected with the fixed end of the first cylinder through the first connecting rod, the output end of the first cylinder is connected with the first clamp jaw, and the first clamp jaw movably clamps the tray.

[0009] Preferably, the oil tank cover opening assembly comprises a second cylinder, a second connecting rod and a vacuum chuck, the second cylinder is installed on the mounting frame, and the output end of the second cylinder is connected with the vacuum chuck through the second connecting rod.

[0010] Preferably, the oil gun filling assembly comprises a third cylinder, a fourth cylinder, a pulling finger, an oil gun support, a left jaw, a right jaw, a swing frame and a bracket, the third cylinder is connected with the mounting frame through the swing frame, the left jaw and the right jaw are installed on the output end of the third cylinder and move towards or away from each other under the drive of the third cylinder, the oil gun support is installed on the left jaw, one end of the bracket is movably connected with the swing frame through a pin shaft, and the other end of the bracket is connected with the right jaw, the fourth cylinder is installed on the bracket, and the output end of the fourth cylinder is connected with the pulling finger.

[0011] Preferably, the swing frame and the mounting frame are movably connected through a pin shaft, and the edge portion of the mounting frame is further provided with a limiting block, and the swing frame movably abuts against the limiting block.

[0012] Preferably, the inner side of the right jaw is provided with a positioning protrusion, and the inner side of the oil gun support is provided with a positioning groove corresponding to the positioning protrusion.

[0013] Preferably, a controller is further installed on the mounting frame, and the controller is used for controlling the mechanical actions of the oil tank plug opening assembly, the oil tank cover opening assembly and the oil gun filling assembly.

[0014] The beneficial effects of the utility model lie in that the whole oil filling process does not need manual operation, is complete in function, and considers the taking and placing steps of the oil tank plug, the tray for placing the oil tank plug and the oil tank plug opening assembly are designed as a detachable structure, are more flexible to use, and the end execution device is extremely flexible, so that the oil filling action can be conveniently and autonomously completed. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a three-dimensional schematic view of an end execution device for automatic oil filling;

[0016] Fig. 2 It is an explosion schematic view of an end execution device for automatic oil filling. DETAILED DESCRIPTION

[0017] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0018] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] like Figs. 1-2 As shown, an automatic refueling end effector includes a tray 1, a fuel tank plug opening assembly 2, a fuel tank cap opening assembly 3, a fuel nozzle refueling assembly 4, and a mounting frame 5. The fuel tank plug opening assembly 2 and the fuel tank cap opening assembly 3 are mounted side-by-side on the mounting frame 5 with their output ends facing the same direction. The output end of the fuel tank plug opening assembly 2 movably clamps the tray 1. The tray 1 is detachably and adsorbed onto the vehicle body under the drive of the fuel tank plug opening assembly 2. The fuel nozzle refueling assembly 4 is mounted on the mounting frame 5 and is used to refuel the vehicle's fuel tank. Specifically, the operation and use steps of this technical solution are as follows: First, the end effector is mounted on a movable and liftable robotic arm (not shown in the figure) to facilitate adjustment of the end effector's position according to the location of the vehicle to be refueled. The robotic arm can drive the end effector to move horizontally, move vertically, or rotate; the specific displacement parameters can be set according to actual needs.

[0021] The camera and the distance measuring sensor can be integrated on the mechanical arm to facilitate real-time detection of target position information, control of the oil tank plug opening assembly 2, the oil tank cover opening assembly 3, and the orientation action flow of the oil gun refueling assembly 4. According to the information detected by the camera and the distance measuring sensor in real time, the mechanical arm drives the end execution device to approach the oil tank opening of the vehicle. After approaching the vehicle, the oil tank cover opening assembly 3 first acts to open the oil tank cover of the vehicle body. Since the oil tank cover is usually a flip type, the opening can be achieved by using the suction type. After the oil tank cover is opened, the oil tank plug of the vehicle is exposed. At this time, the oil tank plug opening assembly 2 drives the tray 1 to approach the vehicle body. The tray 1 can be firmly adsorbed on the vehicle body by suction or magnetic adsorption under the action of the oil tank plug opening assembly 2. The output end of the oil tank plug opening assembly 2 is separated from the tray 1. The output end of the oil tank plug opening assembly 2 is driven by the mechanical arm to align with the oil tank plug, screw down the oil tank plug, and place the oil tank plug on the tray 1. At this time, the oil gun refueling assembly 4 can carry the oil gun (not shown in the figure) to approach the oil tank opening and control the oil gun trigger to open, thereby completing the refueling operation. The entire refueling process does not require manual operation, and the function is complete. The tray for placing the oil tank plug and the oil tank plug opening assembly are designed as a detachable structure, which is more flexible. The entire end execution device is extremely flexible, which facilitates autonomous completion of the refueling action and reduces the degree of human intervention.

[0022] As shown in Figs. 1-2 , the tray 1 includes a support 11 and a suction cup 12. The rear end of the support 11 is movably clamped by the output end of the oil tank plug opening assembly 2, and the front end of the support 11 is connected with the suction cup 12. Specifically, when the tray 1 is driven by the oil tank plug opening assembly 2 to approach the vehicle body, the tray 1 specifically approaches the position of the vehicle body below the oil tank cover. Since the suction cup 12 faces the side of the vehicle body, the suction cup 12 can be deformed by being pressed to be adsorbed on the vehicle body, thereby fixing the support 11 on the vehicle body. At this time, the oil tank plug opening assembly 2 can be separated from the tray 1 to prepare for the subsequent action of screwing down the oil tank plug. When the oil tank plug is screwed down, it needs to be aligned. At this time, the overall height of the end execution device can be adjusted by the mechanical arm, so that the oil tank plug opening assembly 2 is aligned with the oil tank plug to accurately screw down the oil tank plug from the oil tank, and then the oil tank plug is placed on the support 11.

[0023] As shown in Figs. 1-2 , the front end of the support 11 is also provided with a hollow position 111 for installing a magnetic block. By using the magnetic block in cooperation with the suction cup 12, the support 11 can be firmly adsorbed on the vehicle body, so as to avoid that the support 11 falls off the vehicle body due to insufficient adsorption force of the suction cup 12.

[0024] As shown in Figs. 1-2As shown, the oil tank plug opening assembly 2 includes a rotary motor 21, a transmission member 22, a first connecting rod 23, a first cylinder 24 and a first clamping jaw 25. The rotary motor 21 and the transmission member 22 are installed side by side on the side wall of the mounting frame 5, the output end of the rotary motor 21 is movably connected with the input end of the transmission member 22 through a belt, the output end of the transmission member 22 is connected with the fixed end of the first cylinder 24 through the first connecting rod 23, the output end of the first cylinder 24 is connected with the first clamping jaw 25, and the first clamping jaw 25 movably clamps the tray 1. Specifically, in this embodiment, when the oil tank plug opening assembly 2 is aligned with the oil tank plug under the driving of the mechanical arm, the first cylinder 24 drives the first clamping jaw 25 to clamp the oil tank plug. At this time, the rotary motor 21 is actuated to drive the transmission member 22 to rotate through the belt. The transmission member 22 is movably installed on the mounting frame 5 through a bearing. When the transmission member 22 rotates, the first cylinder 24 and the first clamping jaw 25 clamping the oil tank plug are synchronously rotated through the first connecting rod 23, so as to rotate and unscrew the oil tank plug from the oil tank. After the first clamping jaw 25 is loosened, the oil tank plug can be placed on the tray 1 adsorbed on the vehicle body, without being clamped all the time. After the refueling is completed, the first clamping jaw 25 can clamp the oil tank plug from the tray 1 again. The rotary motor 21 drives the transmission member 22 to rotate reversely, so as to rotate and screw the oil tank plug back to the oil tank. Then the first clamping jaw 25 clamps the tray, and the tray 1 adsorbed on the vehicle body is detached through screwing, so as to complete the separation of the tray 1 and the vehicle body.

[0025] As shown in the figure, Figs. 1-2 The oil tank cover opening assembly 3 includes a second cylinder 31, a second connecting rod 32 and a vacuum chuck 33. The second cylinder 31 is installed on the mounting frame 5, and the output end thereof is connected with the vacuum chuck 33 through the second connecting rod 32. Specifically, the process of the oil tank cover opening assembly 3 is as follows. The second cylinder 31 drives the vacuum chuck 33 to approach the oil tank cover through the second connecting rod 32. After the vacuum chuck 33 adsorbs the oil tank cover, the second cylinder 31 drives the second connecting rod 32 to retract and reset, so as to make the oil tank cover be flipped and opened, and the opening operation is completed. After the refueling is completed and the oil tank plug is screwed, the second cylinder 31 is repeatedly actuated to drive the vacuum chuck 33 to adsorb the oil tank cover, and then the second cylinder 31 continues to extend until the oil tank cover is closed. At this time, the vacuum chuck 33 is loosened and separated from the oil tank cover. The second cylinder 31 retracts again to separate the vacuum chuck 33 from the oil tank cover.

[0026] As shown in the figure, Figs. 1-2As shown, the oil gun refueling assembly 4 comprises a third cylinder 41, a fourth cylinder 42, a trigger 43, an oil gun support 44, a left jaw 45, a right jaw 46, a swing support 47 and a bracket 48, the third cylinder 41 is connected with the mounting frame 5 through the swing support 47, the left jaw 45 and the right jaw 46 are installed on the output end of the third cylinder 41 and are driven to move towards or away from each other, the oil gun support 44 is installed on the left jaw 45, one end of the bracket 48 is movably connected with the swing support 47 through a pin shaft and the other end is connected with the right jaw 46, the fourth cylinder 42 is installed on the bracket 48 and the output end of the fourth cylinder 42 is connected with the trigger 43. Specifically, in the embodiment, the oil gun support 44 is used to fix the oil gun (not shown in the figure) and the oil gun support 44 is installed on the displaceable left jaw 45, so that the horizontal position of the oil gun can be finely adjusted as needed, the right jaw 46 is used to install the bracket 48, when the right jaw 46 is displaced, the bracket 48 can be driven to rotate around the pin shaft connected with the swing support 47, so that the fourth cylinder 42 and the trigger 43 are synchronously rotated, the fourth cylinder 42 drives the trigger 43 to press the trigger on the oil gun, so that the oil gun can be aligned and pressed without misalignment.

[0027] As shown in Figs. 1-2 , the swing support 47 is movably connected with the mounting frame 5 through a pin shaft, the edge of the mounting frame 5 is further provided with a limiting block 51 and the swing support 47 movably abuts against the limiting block 51. Specifically, the swing support 47 is movably connected with the mounting frame 5, so that the swing support 47 can swing around the rotating pin shaft, thereby finely adjusting the position of the oil gun support 44 when clamping the oil gun, so that the oil gun can be adapted to the oil tank opening of different types of vehicles, and the limiting block 51 can prevent the swing support 47 from rotating under its own weight and colliding with the lower side of the mounting frame 5.

[0028] As shown in Figs. 1-2 , the inner side of the right jaw 46 is provided with a positioning protrusion 461 and the inner side of the oil gun support 44 is provided with a positioning groove 441 corresponding to the positioning protrusion 461. Specifically, when the third cylinder 41 drives the left jaw 45 and the right jaw 46 to move towards each other, the positioning protrusion 461 is inserted into the positioning groove 441, so that the oil gun support 44 cannot rotate when clamping the oil gun, thereby preventing the oil gun from failing to align with the oil tank filling opening.

[0029] As shown in Figs. 1-2 , the mounting frame 5 is further provided with a controller 6, the controller 6 is used to control the mechanical actions of the oil tank plug opening assembly 2, the oil tank cover opening assembly 3 and the oil gun refueling assembly 4, so as to realize integrated overall control and high integration.

[0030] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but can not therefore be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, without departing from the utility model concept, several modifications and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. An end effector for automatic oiling, characterized by: The application relates to a fuel tank opening device, which comprises a tray, a fuel tank plug opening assembly, a fuel tank cover opening assembly, a fuel gun refueling assembly and a mounting rack, wherein the fuel tank plug opening assembly and the fuel tank cover opening assembly are installed side by side on the mounting rack and the output ends thereof are oriented in the same direction, the output end of the fuel tank plug opening assembly movably clamps the tray, the tray is detachably adsorbed on a vehicle body under the drive of the fuel tank plug opening assembly, and the fuel gun refueling assembly is installed on the mounting rack and used for refueling the fuel tank of the vehicle.

2. The end effector device for automatic oiling as claimed in claim 1, wherein: The tray comprises a support and a suction cup, the rear end of the support is movably clamped by the output end of the fuel tank plug opening assembly, and the front end of the support is connected with the suction cup.

3. The end effector device for automatic oiling as claimed in claim 2, wherein: The front end of the support is further provided with a hollow position for mounting a magnetic block.

4. The end effector device for automatic oiling as claimed in claim 1, wherein: The fuel tank plug opening assembly comprises a rotary motor, a transmission member, a first connecting rod, a first cylinder and a first clamp jaw, the rotary motor and the transmission member are installed side by side on the side wall of the mounting rack, the output end of the rotary motor is movably connected with the input end of the transmission member through a belt, the output end of the transmission member is connected with the fixed end of the first cylinder through the first connecting rod, the output end of the first cylinder is connected with the first clamp jaw, and the first clamp jaw movably clamps the tray.

5. The end effector device for automatic oiling as claimed in claim 1, wherein: The fuel tank cover opening assembly comprises a second cylinder, a second connecting rod and a vacuum suction cup, the second cylinder is installed on the mounting rack, and the output end of the second cylinder is connected with the vacuum suction cup through the second connecting rod.

6. The end effector device for automatic oiling as claimed in claim 1, wherein: The fuel gun refueling assembly comprises a third cylinder, a fourth cylinder, a pulling finger, a fuel gun support, a left jaw, a right jaw, a swing support and a bracket, the third cylinder is connected with the mounting rack through the swing support, the left jaw and the right jaw are installed on the output end of the third cylinder and move towards or away from each other under the drive of the third cylinder, the fuel gun support is installed on the left jaw, one end of the bracket is movably connected with the swing support through a pin shaft, the other end of the bracket is connected with the right jaw, the fourth cylinder is installed on the bracket, and the output end of the fourth cylinder is connected with the pulling finger.

7. An end effector device for automatic oiling as claimed in claim 6, wherein: The swing support and the mounting rack are movably connected through a pin shaft, the edge of the mounting rack is further provided with a limiting block, and the swing support movably abuts against the limiting block.

8. The end effector device for automatic oiling as claimed in claim 6 wherein: The inner side of the right jaw is provided with a positioning protrusion, and the inner side of the fuel gun support is provided with a positioning groove corresponding to the positioning protrusion.

9. The end effector device for automatic oiling as claimed in claim 1 wherein: A controller is further installed on the mounting rack, and the controller is used for controlling the mechanical actions of the fuel tank plug opening assembly, the fuel tank cover opening assembly and the fuel gun refueling assembly.

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