A refueling robot's cover pushing structure

Abstract

The utility model discloses a kind of uncap structures of refueling robot, located at the end of mechanical arm of refueling robot, including installation part and pry part, the pry part is connected to the one end of the installation part away from mechanical arm, and extend to form one end part to installation part side, and the end part of pry part is configured to be able to after oil tank cover pops up into the gap between oil tank cover and vehicle body opening, to realize hooking uncap. The uncap structure of refueling robot is integrated in the end of mechanical arm in the utility model, simplify overall structure, reduce the need of additional actuator, reduce weight and cost;Meanwhile, this uncapping mode is not influenced by oil tank outer cover modeling, dust etc., and starting operation success rate is higher.

Description

Technical Field

[0001] This utility model relates to the field of refueling robot technology, and in particular to a cover-opening structure for a refueling robot. Background Technology

[0002] As people's living standards improve, car ownership is increasing, with gasoline-powered vehicles relying on regular or irregular refueling to maintain normal operation. Traditional refueling processes primarily rely on manual operation, requiring long hours of on-call duty, especially during night shifts, which is labor-intensive and poses safety risks. To improve efficiency and reduce manpower burden, automation technology is gradually being applied to the refueling industry, giving rise to refueling robots. These robots can achieve 24 / 7 automated operation, minimizing human intervention.

[0003] Before refueling a car, the fuel tank cap needs to be opened. Existing refueling robots typically use a suction cup mechanism to achieve this: the robot's end effector is equipped with a ejector to push out the suction cup, the robotic arm manipulates the suction cup to adhere to the cap, and then negative pressure is generated by suction, allowing the robotic arm to pull the suction cup open. However, this method has significant drawbacks: First, the mechanism is complex, with many parts, and the suction cup occupies a large space, which is not conducive to the subsequent refueling actions and increases the system's complexity and burden. Second, the suction cup relies on negative pressure for adsorption, making it susceptible to factors such as irregular shapes of the fuel tank cap, surface dust, or dirt. Some car models have curved or undulating fuel tank cap surfaces, which are not conducive to sealing and adsorption, and dirt can damage the adsorption effect, leading to opening failure. Therefore, there is an urgent need to improve the cap-opening structure of refueling robots. Summary of the Invention

[0004] The purpose of this utility model is to provide a cap-removing structure for a refueling robot, which solves the problems of complex cap-removing structures in the prior art and susceptibility to irregular shapes and surface dirt and dust on car fuel tank caps.

[0005] To achieve this objective, the present invention adopts the following technical solution: A cap-pulling structure for a refueling robot is located at the end of the robot's robotic arm, including a mounting part and a prying part. The prying part is connected to the end of the mounting part away from the robotic arm and extends to one side of the mounting part to form an end. The end of the prying part is configured to extend into the gap between the fuel tank cap and the vehicle body opening after the fuel tank cap pops up, so as to hook the cap.

[0006] Furthermore, the pressure skid includes: The first working surface is located at the end of the lever that is furthest from the robotic arm; The second working surface is disposed at the end of the pressure skid and is disposed opposite to the first working surface; The second working surface is inclined relative to the first working surface, so that the thickness of the pressure skid gradually increases from the end away from the mounting part to the end closer to the mounting part.

[0007] Furthermore, a plurality of fin-shaped protrusions are provided on the second working surface; each of the fin-shaped protrusions has a guide surface and a stop surface, the guide surface and the stop surface are inclined in the same direction as the second working surface, and the guide surface and the stop surface are connected to each other. The fin-shaped protrusions are made of an elastomer.

[0008] Furthermore, a transition surface is provided between the first working surface and the second working surface, so that the end of the pressure skid gradually decreases in thickness in the direction away from the mounting part to form a pointed shape.

[0009] Furthermore, the transition surface includes a first transition surface connected to the first working surface and a second transition surface connected to the second working surface, wherein the first transition surface and the second transition surface are connected to form a pointed shape; The first transition surface is an arc surface, and the second transition surface is an inclined surface.

[0010] Furthermore, when viewed along a direction perpendicular to the first or second working surface, the end of the pressure skid is arc-shaped; The first working surface is set perpendicular to the mounting part.

[0011] Furthermore, both the mounting part and the pressure skid part are made of rubber.

[0012] Furthermore, the cover-opening structure of the refueling robot is mounted on the gripper at the end of the robotic arm, and the end of the pry bar faces the non-gripping surface of the gripper.

[0013] Furthermore, the mounting part has a mounting opening, and the gripper is at least partially accommodated in the mounting opening, so that the mounting part is mounted on the gripper.

[0014] Furthermore, the two grippers at the end of the robotic arm are each equipped with the cap-removing structure of the refueling robot.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In actual operation, the cap-opening structure of the refueling robot provided by this utility model involves the robotic arm driving the cap-opening structure to move towards the fuel tank cap until the first working surface abuts against and presses the fuel tank cap, unlocking it and creating a gap. The cap-opening structure is then driven to insert the pry bar into this gap. At this point, the second working surface abuts against the inner side of the fuel tank cap to hook it. The robotic arm then drives the cap-opening structure to move outward along an arc, i.e., in the direction of opening the fuel tank cap, until the fuel tank cap is fully opened. This utility model integrates the cap-opening structure of the refueling robot into the end of the robotic arm, simplifying the overall structure, reducing the need for additional actuators, and lowering weight and cost. Furthermore, this cap-opening method is unaffected by the shape of the fuel tank cap or dust, resulting in a higher success rate for the opening action.

[0016] In this invention, the second working surface is inclined relative to the first working surface and cooperates with the fin-shaped protrusion. This allows the inclined second working surface to avoid excessively increasing the overall thickness after adding the fin-shaped protrusion during the insertion of the end into the gap, while also guiding the end to slide in smoothly. The fin-shaped protrusion provides low-resistance guidance during insertion into the gap. When the end of the prying part tends to withdraw, the locking force is increased, achieving high-level locking and anti-slipping of the fin-shaped protrusion in the reverse direction. This results in efficient and reliable cover removal operation, reducing the risk of slippage and failure. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0019] Figure 1 This is a schematic diagram of the cover installation of the refueling robot in this utility model. Figure 2 This is a three-dimensional schematic diagram of the cover-opening structure of the refueling robot in Example 1; Figure 3 This is a front view of the cover-opening structure of the refueling robot in Embodiment 1; Figure 4This is a three-dimensional schematic diagram of the cover-opening structure of the refueling robot in Example 2; Figure 5 This is a front view of the cover-opening structure of the refueling robot in Example 2; Figure 6 for Figure 4 Enlarged diagram of point A in the middle.

[0020] Illustration: 1. Mounting part; 11. Mounting port; 2. Pressing and prying part; 21. First working surface; 22. Second working surface; 23. Fin-shaped protrusion; 231. Guide surface; 232. Anti-reverse surface; 24. First transition surface; 25. Second transition surface; 3. Gripper. Detailed Implementation

[0021] To make the utility model's objectives, features, and advantages more apparent and understandable, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0022] In the description of this utility model, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component centrally located at the same time.

[0023] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0024] Example 1: This embodiment provides a cap-opening structure for a refueling robot, located at the end of the robot's robotic arm, used to assist in opening the fuel tank cap during the refueling process. In a specific embodiment, the end of the robot's robotic arm is equipped with a gripper 3, which is used to hold and fix other components, such as the refueling nozzle, in conjunction with... Figure 1As shown, the cap-removing structure of the refueling robot is mounted on the gripper 3 at the end of the robotic arm. It should be noted that the end of the prying part 2 faces the non-gripping surface of the gripper 3 to avoid interfering with the normal gripping function of the gripper 3, while ensuring that the cap-removing structure does not conflict with the gripping surface during operation. Integrating the cap-removing structure of the refueling robot onto the gripper 3 at the end of the robotic arm means that the cap-removing structure and the gripper 3 share the same robotic arm, avoiding the need for an additional independent actuator, simplifying the end-effector structure, and reducing system complexity and weight. Figures 2-3 As shown, the fuel tank cap removal structure of the refueling robot includes a mounting part 1 and a lever part 2. The mounting part 1 is used to connect to the end of the robotic arm, and the lever part 2 is used to insert into the gap and hook the cap after the fuel tank cap pops up. The lever part 2 is connected to the end of the mounting part 1 away from the robotic arm and extends towards the mounting part 1 to form an end. The end of the lever part 2 is configured to extend into the gap between the fuel tank cap and the vehicle body opening after the fuel tank cap pops up, so as to hook the cap. In a specific embodiment, the mounting part 1 and the lever part 2 are combined to form an L-shape, which facilitates the insertion and removal of the fuel tank cap. Both the mounting part 1 and the lever part 2 are made of elastomers. Elastomers provide good flexibility and resilience, allowing the structure to quickly return to its original shape after deformation, and avoiding scratches or indentations on the surface of the fuel tank cap during operation. By absorbing local stress through elastic deformation, the risk of damage caused by hard contact is reduced, thereby effectively protecting the integrity and appearance of the fuel tank cap. In a specific embodiment, the mounting part 1 and the pressure skid part 2 are integrally molded from an elastomer, enhancing the overall integrity and durability of the structure and reducing weaknesses at the connection points. Furthermore, both the mounting part 1 and the pressure skid part 2 are made of rubber, which possesses good elasticity and wear resistance, preventing scratches on the fuel tank cap and reducing wear. In other embodiments, the mounting part 1 and the pressure skid part 2 are made of thermoplastic elastomer, which combines the elasticity of rubber with the thermoplasticity of plastic, providing excellent wear resistance and shape adaptability, while also facilitating processing and recycling.

[0025] Combination Figures 2-3As shown, the pry bar 2 includes a first working surface 21 and a second working surface 22. The first working surface 21 is located at the end of the pry bar 2 away from the robotic arm and is used to abut against the fuel tank cap when pressing it. The second working surface 22 is located at the end of the pry bar 2 and is opposite to the first working surface 21, and is used to abut against the fuel tank cap when hooking it. In a specific embodiment, the first working surface 21 is perpendicular to the mounting part 1 to provide a stable support surface when pressing the fuel tank cap. The second working surface 22 is inclined relative to the first working surface 21, so that the thickness of the pry bar 2 gradually increases from the end away from the mounting part 1 to the end closer to the mounting part 1. This allows the thinner end of the pry bar 2 to contact the edge of the gap before the thicker end when the end of the pry bar 2 is inserted into the gap. Through the thickness gradient design, the end can easily slide into the gap, reducing insertion resistance and achieving self-guidance.

[0026] A transition surface is provided between the first working surface 21 and the second working surface 22, so that the end of the pressure skid 2 gradually decreases in thickness in the direction away from the mounting part 1, forming a pointed shape. The pointed design facilitates the preferential insertion of the end into the gap and plays a guiding role. In a specific embodiment, the transition surface includes a first transition surface 24 connected to the first working surface 21 and a second transition surface 25 connected to the second working surface 22. The first transition surface 24 and the second transition surface 25 are connected to form a pointed shape, which provides a smooth transition and reduces stress concentration. The first transition surface 24 is an arc surface, which reduces the thickness of the end. The second transition surface 25 is a slope, which helps guide the direction during insertion and improves alignment accuracy. It should be noted that the first transition surface 24 and the second transition surface 25 can be either an arc surface or a sloped surface, both of which reduce the thickness of the end to facilitate insertion into the gap. In this embodiment, the second transition surface 25 is chosen as a sloped surface to utilize the guiding advantage of the sloped surface for better guiding effect. The first transition surface 24 is an arc surface to avoid the junction of the first transition surface 24 and the second transition surface 25 being too sharp, thereby reducing sharp corner wear and extending service life. Viewed along a direction perpendicular to the first working surface 21 or the second working surface 22, the end of the pry bar 2 is arc-shaped. The arc design gives the end a gradually changing profile dimension in the width direction. This gradual design allows the end to smoothly transition in a streamlined manner when inserted into the gap, preferentially contacting the edge of the gap with the narrower portion, reducing initial resistance.

[0027] The mounting part 1 has a mounting opening 11, and the gripper 3 is at least partially accommodated within the mounting opening 11, so that the mounting part 1 is mounted on the gripper 3, ensuring a secure installation. In a specific embodiment, mounting holes are provided at corresponding positions on the mounting part 1 and the gripper 3 for mounting the mounting part 1 onto the gripper 3 using fasteners, providing a detachable connection method for easy maintenance and replacement; wherein the fasteners may include threaded fasteners or pins. In other embodiments, the mounting part 1 and the gripper 3 are connected by snap-fit ​​or glue, which simplifies the installation process and is suitable for different scenarios. In a specific embodiment, both grippers 3 at the end of the robotic arm are provided with the refueling robot's cap-opening structure. The presence of cap-opening structures on both grippers 3 can handle situations where the fuel tank cap may open from different directions, improving operational flexibility and success rate. Furthermore, the corresponding prying parts 2 on the two grippers 3 are arranged opposite to each other, i.e., the ends of the prying parts 2 face the non-clamping surfaces of the grippers 3. This opposite arrangement ensures that the cap-opening structure does not interfere with the gripping function of the grippers 3. It should be noted that the focus of this embodiment is to improve the cap-opening structure and integrate the cap-opening structure of the refueling robot into the end of the robotic arm of the refueling robot. When it is necessary to open the car fuel tank cap, the fuel tank cap can be pressed first to make it pop up, and then inserted into the gap to hook the cap. As for the other structures of the refueling robot, such as the specific structure and working principle of the robotic arm and gripper 3, they are known to those skilled in the art and will not be elaborated in detail in this embodiment.

[0028] In this embodiment, the refueling robot's cap-opening structure operates as follows: the robotic arm drives the cap-opening structure towards the fuel tank cap until the first working surface 21 abuts against and presses the cap. The robotic arm then retracts, unlocking the cap and creating a gap. The cap-opening structure then inserts the pry bar 2 into this gap. At this point, the second working surface 22 abuts against the inner side of the cap to hook it. The robotic arm then drives the cap-opening structure outward along an arc, i.e., in the direction of opening the cap, until the cap is fully opened. Integrating the cap-opening structure into the end of the robotic arm simplifies the overall structure, reduces the need for additional actuators, and lowers weight and cost. Furthermore, this opening method is unaffected by the shape of the fuel tank cap or dust, resulting in a higher success rate for the opening action.

[0029] Example 2: This embodiment provides a cover-opening structure for a refueling robot. The difference between this embodiment and Embodiment 1 is that: [The following text appears to be incomplete and requires further context: "combined with..."] Figures 4-5 As shown, the second working surface 22 is provided with a plurality of fin-shaped protrusions 23; combined with Figure 6As shown, each of the fin-shaped protrusions 23 has a guide surface 231 and a stop surface 232. Both the guide surface 231 and the stop surface 232 are inclined in the same direction as the second working surface 22, and the guide surface 231 and the stop surface 232 are connected to each other. During the process of the end of the pry bar 2 extending into the gap, the guide surface 231 is squeezed by the fuel tank cap, and the fin-shaped protrusion 23 undergoes elastic deformation towards the second working surface 22, causing the overall height of the fin-shaped protrusion 23 to decrease, thereby achieving the fin-like... The protrusion 23 is guided in the forward direction with low resistance. When there is a tendency to withdraw at the end of the pry bar 2, the junction of the guide surface 231 and the anti-retraction surface 232 is subjected to reverse pressure. On the one hand, the junction of the guide surface 231 and the anti-retraction surface 232 is oriented in the opposite direction to the withdrawal direction. Due to the reverse pressure, the contact force increases, thereby increasing the friction. On the other hand, the fin protrusion 23 moves away from the second working surface 22 and undergoes elastic deformation, which increases the overall height of the fin protrusion 23, so as to achieve reverse high locking and anti-slip of the fin protrusion 23. In this design, the guide surface 231 is inclined in the same direction as the second working surface 22. This allows the guide surface 231 to contact the edge of the gap at a low angle during forward insertion, smoothly guiding the compression of the fin-shaped protrusion 23 and achieving low-resistance insertion. The anti-retraction surface 232 is inclined in the same direction as the second working surface 22, forming a wedge-shaped space between them. This space allows the fin-shaped protrusion 23 to elastically deform under pressure. Simultaneously, the junction of the guide surface 231 and the anti-retraction surface 232 faces in the opposite direction to the withdrawal direction, increasing friction and providing a locking function. In a specific embodiment, the fin-shaped protrusion 23 has an obtuse-angled triangular cross-section. The surface corresponding to the opposite side of the obtuse angle serves as the guide surface 231, the surface corresponding to one adjacent side of the obtuse angle serves as the anti-retraction surface 232, and the surface corresponding to the other adjacent side of the obtuse angle coincides with the second working surface 22 to fix the fin-shaped protrusion 23 onto the second working surface 22. Furthermore, the fin-shaped protrusions 23 are made of an elastomer, which allows them to undergo elastic deformation under stress. In a specific embodiment, the fin-shaped protrusions 23 and the pry bar 2 are integrally molded from an elastomer, improving the overall strength and consistency of the structure and avoiding potential malfunctions caused by separate components. The fin-shaped protrusions 23 are distributed along the edge of the second working surface 22. This edge distribution fully utilizes areas with smaller thicknesses, preventing the fin-shaped protrusions 23 from excessively increasing the overall thickness, while also improving the gripping ability at the edge.

[0030] It should be noted that if the second working surface 22 is set parallel to the first working surface 21, the parallel setting will make the thickness of the end of the pressure skid 2 uniform. If the end of the pressure skid 2 is set to be thicker, it will be difficult to insert into the gap between the fuel tank cap and the vehicle body opening after the fuel tank cap pops up, increasing the difficulty of operation. If a fin-shaped protrusion 23 is then set on the second working surface 22, the fin-shaped protrusion 23 will further increase the local thickness and surface roughness, further hindering insertion and leading to operation failure. If the end of the pressure skid 2 is set to be thinner, although it is easier to insert into the gap, it may lead to insufficient structural strength, making it easy to deform or be damaged during operation, reducing the reliability and durability of the cover. Setting the second working surface 22 at an angle relative to the first working surface 21 also provides space for the setting of the fin-shaped protrusion 23, avoiding excessive increase in overall thickness after adding the fin-shaped protrusion 23. If only the second working surface 22 is inclined relative to the first working surface 21, without the fin-shaped protrusion 23, the anti-reverse function of the fin-shaped protrusion 23 is lacking, and it is easy to slip off when hooking the fuel tank cap, reducing reliability, especially when there is gasoline on the fuel tank cap, the friction is even smaller.

[0031] In this embodiment, the second working surface 22 is inclined relative to the first working surface 21 and cooperates with the fin-shaped protrusion 23. This allows the inclined second working surface 22 to avoid excessively increasing the overall thickness after adding the fin-shaped protrusion 23 during the insertion of the end into the gap, while also guiding the end to slide in smoothly. The fin-shaped protrusion 23 provides forward low-resistance guidance during the insertion into the gap. When there is a tendency for the end of the prying part 2 to withdraw, the locking force is increased, achieving reverse high locking and anti-slip of the fin-shaped protrusion 23. This results in efficient and reliable cover removal operation, reducing the risk of slippage and failure.

[0032] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A cover-opening structure for a refueling robot, characterized in that: Located at the end of the robotic arm of the refueling robot, it includes a mounting part (1) and a prying part (2). The prying part (2) is connected to the end of the mounting part (1) away from the robotic arm and extends to the side of the mounting part (1) to form an end. The end of the prying part (2) is configured to extend into the gap between the fuel tank cap and the vehicle body opening after the fuel tank cap pops up, so as to hook the cap.

2. The cover-opening structure of the refueling robot according to claim 1, characterized in that: The pressure skid (2) includes: The first working surface (21) is located at the end of the lever (2) away from the robotic arm; The second working surface (22) is disposed at the end of the pressure skid (2) and is disposed opposite to the first working surface (21); The second working surface (22) is inclined relative to the first working surface (21), so that the thickness of the pressure skid (2) gradually increases from the end away from the mounting part (1) to the end close to the mounting part (1).

3. The cover-opening structure of the refueling robot according to claim 2, characterized in that: The second working surface (22) is provided with a plurality of fin-shaped protrusions (23); each of the fin-shaped protrusions (23) has a guide surface (231) and a stop surface (232), the guide surface (231) and the stop surface (232) are both inclined in the same direction as the second working surface (22), and the guide surface (231) and the stop surface (232) are connected to each other; The fin-shaped protrusions (23) are made of an elastomer.

4. The cover-opening structure of the refueling robot according to claim 2, characterized in that: A transition surface is provided between the first working surface (21) and the second working surface (22), so that the end of the pressure skid (2) gradually decreases in thickness in the direction away from the mounting part (1) to form a pointed shape.

5. The cover-opening structure of the refueling robot according to claim 4, characterized in that: The transition surface includes a first transition surface (24) connected to the first working surface (21) and a second transition surface (25) connected to the second working surface (22), wherein the first transition surface (24) and the second transition surface (25) are connected to form a point; The first transition surface (24) is an arc surface, and the second transition surface (25) is an inclined surface.

6. The cover-opening structure of the refueling robot according to claim 2, characterized in that: When viewed along a direction perpendicular to the first working surface (21) or the second working surface (22), the end of the pressure skid (2) is arc-shaped; The first working surface (21) is set perpendicular to the mounting part (1).

7. The cover-opening structure of the refueling robot according to claim 1, characterized in that: Both the mounting part (1) and the pressure skid part (2) are made of rubber.

8. The cover-opening structure of the refueling robot according to claim 1, characterized in that: The cover-opening structure of the refueling robot is installed on the gripper (3) at the end of the robotic arm, and the end of the pry bar (2) faces the non-gripping surface of the gripper (3).

9. The cover-opening structure of the refueling robot according to claim 8, characterized in that: The mounting part (1) has a mounting opening (11), and the gripper (3) is at least partially accommodated in the mounting opening (11) so that the mounting part (1) is mounted on the gripper (3).

10. The cover-opening structure of the refueling robot according to claim 8, characterized in that: The two grippers (3) at the end of the robotic arm are equipped with the cover-opening structure of the refueling robot.

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