自动加油机器人的关键技术设计分析

针对大型运输设备加油操作需求,设计了一款自动加油机器人。如果将橡胶油管捆绑在传统工业机器人本体上作业,受到橡胶油管弯曲抗力的影响,会给机器人运动带来额外的阻力,本文所设计的自动化防爆加油机器人,创新性地利用转动接头连接金属油管实现内置输油管线,避免了橡胶油管弯曲抗力影响;对机器人进行运动学和动力学仿真,验证机器人设计合理性。最后简要介绍机器人视觉引导系统,确定机器人各模块的控制和通信方式。

Design and Research of Key Technology of Automatic Refueling Robot

Design an automatic refueling robot for the needs of large transportation equipment.If the rubber tubing is bundled on the body of a conventional industrial robot,it will be affected by the bending resistance of the rubber tubing,which will bring additional resistance to the robot movement.The automatic explosion-proof refueling robot designed in this paper innovatively uses the rotary joint to connect the metal oil pipe to realize the built-in oil pipeline,which avoids the influence of the rubber tubing bending resistance;the kinematics and dynamics simulation of the robot is carried out to verify the rationality of the robot design.Finally,the robot vision guidance system is briefly introduced to determine the control and communication methods of each module of the robot.