CN113044797B - Automatic oil gun arranged on unmanned vehicle - Google Patents
Automatic oil gun arranged on unmanned vehicle Download PDFInfo
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- CN113044797B CN113044797B CN202110118526.XA CN202110118526A CN113044797B CN 113044797 B CN113044797 B CN 113044797B CN 202110118526 A CN202110118526 A CN 202110118526A CN 113044797 B CN113044797 B CN 113044797B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/42—Filling nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/08—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses an automatic oil gun arranged on an unmanned vehicle, which comprises a chassis, wherein at least two driving wheels and at least one driven wheel are arranged below the chassis, and the two driving wheels are respectively connected with the outputs of two vehicle driving servo motors through driving shafts; the upper part of the chassis is provided with a lifting driving mechanism, a lifting part in the lifting driving mechanism is connected with a lifting platform, the lifting platform is provided with a rotary driving mechanism, the rotary driving mechanism is provided with a turntable, the turntable is provided with a transverse driving mechanism, the transverse driving mechanism is provided with a transverse moving part, the transverse moving part is provided with a refueling gun swinging driving part and a fuel tank cover switch driving part, the refueling gun swinging driving part is connected with a refueling gun clamping part, the chassis is provided with a battery and a fuel tank position detecting device which are respectively connected with a controller, and the controller is also respectively electrically connected with a servo motor and driving parts in each driving mechanism. The oil gun has the characteristics of high automation degree of vehicle oiling, simple structure and the like.
Description
Technical Field
The invention relates to the technical field of automatic automobile refueling equipment, in particular to an automatic refueling gun arranged on an unmanned vehicle.
Background
As the number of vehicles increases, the amount of fuel for vehicles is increasing. For many gas stations with large traffic flow, the phenomenon of queuing for refueling is very common, and particularly for high-speed trunk roads and other major roads, the phenomenon of queuing for refueling seriously affects the traveling of people, and passenger transportation and freight transportation are greatly affected. In the face of manual refueling, the filling station needs to queue for refueling, and meanwhile, cash settlement faces the phenomena of change making, cash safety, queuing and payment and the like, so that the working efficiency of the gas station is improved, the refueling speed is accelerated, and the filling station is imperative.
To address this problem, some service stations have sampled self-service refueling systems. Although the problem of waiting in line for refueling is solved to a certain extent by the existing self-service refueling system, the problems of low payment efficiency and incapability of fundamentally improving the refueling speed still exist. The existing self-service refueling system has two types: one is a self-service fueling system that uses cash to conduct transactions, such systems are not identifiable for most worn cash, and the cash identification system identification process takes some time. The other is a self-service refueling system using a fuel filling card stored in advance, in the system, the fuel filling card accounts for most of the fuel filling cards without name in one-time quota and cannot be recharged, and the stored fuel filling card needs to purchase cash at fixed points. In summary, the existing self-service refueling system is inefficient.
The existing refueling mode is that a fuel tank cap is unlocked through central control, then the fuel tank cap is manually pressed, the fuel tank cap is opened, then a fuel tank plug is manually unscrewed for refueling, the refueling is carried out after the refueling amount is determined manually, then the charging is carried out, then the fuel tank plug is manually screwed, the fuel tank cap is covered, and the refueling is completed. The mode is general, ordinary, and market share is high, but relies on manual operation, and is inefficient, produces easily when the flow is big and blocks up, along with internet and automatic rapid development, is eliminated easily. To sum up, a vehicle automatic refueling system which is convenient for self-service refueling and payment and improves refueling efficiency is needed.
The application numbers are: CN201610645550.8 discloses an automatic refueling system for vehicles, in which an electronic control unit is connected to a refueling server and a third-party platform through a network; the liquid crystal display is used for selecting oil product information and carrying out online payment; the fuel tank cap switching device comprises a driving motor and a revolute pair and is used for driving the fuel tank cap to be opened and closed, a fuel tank plug is arranged on the inner side of the fuel tank cap and is used for pressing a fuel tank opening of a vehicle fuel tank, and a distance measuring receiving transmitter is arranged beside the fuel tank opening; the refueling robot is a mechanical arm which extends in space, and the bottom of the mechanical arm moves on a plane; the refueling robot is provided with a distance measuring transmitter and a distance measuring receiver close to the refueling gun; and the controller is used for receiving signals of the ranging receiving transmitter, the ranging receiver and the liquid level alarm, controlling the ranging transmitter and the oil gun, and receiving the signals of the ranging transmitter by the ranging receiving transmitter. However, the technical solution of the fueling robot is not provided in the technical document disclosed in the patent, however, the fueling robot is a very complicated mechanical control system, and the cost is high, and there is a safety hazard.
The application numbers are: CN201910490133.4 discloses an automatic fuel gun connected with a fuel charger, which comprises a ceiling arranged above a fuel station, a fuel gun traveling frame and a monitoring camera are hung below the ceiling, and a fuel gun, a voice prompter, a fuel filler port identification camera and a fuel gun transverse driver are hung below the fuel gun traveling frame; the ground of the gas station is provided with a pressure sensor, the oil gun is connected with the oiling machine, the oiling machine is connected with the controller, and the position information of the oil filling port of the oil tank of various vehicle types is stored in the memory of the controller. The method comprises the steps of hoisting a refueling gun on a refueling gun traveling frame, starting a controller connected with the refueling machine, monitoring image information sent by a camera and wheel position information collected by a pressure sensor arranged on the ground of a gas station, sending a driving instruction by the controller according to vehicle type information stored in a memory, controlling the movement of the refueling gun traveling frame, moving the refueling gun to the position of a fuel tank port of a vehicle, and returning the refueling gun to the original position after refueling. The fuel filler pipe of the fuel filler is hung on the top nozzle, the fuel filler pipe is long in pipeline, the driving structure of the fuel gun is complex, and the fuel gun is aligned to the fuel tank port of the vehicle, so that the accuracy of the fuel gun aligning to the fuel tank port of the vehicle is improved, and the structure of the fuel filler pipe is required to be improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the automatic oiling gun arranged on the unmanned vehicle, which has the advantages of high degree of automation of vehicle oiling, high accuracy of oiling operation, high flexibility, small and exquisite automatic oiling equipment, good safety performance and simple structure.
In order to achieve the aim, the technical scheme of the invention is to provide an automatic oil gun arranged on an unmanned vehicle, the unmanned vehicle comprises a chassis, at least two driving wheels and at least one driven wheel are arranged below the chassis, and the two driving wheels are respectively connected with the output of two vehicle driving servo motors through driving shafts; the device comprises a chassis, a lifting driving mechanism, a rotary driving mechanism, a transverse moving part, a refueling gun swinging driving part and a fuel tank cover switch driving part, wherein the upper part of the chassis is provided with the lifting driving mechanism, a lifting part in the lifting driving mechanism is connected with a lifting platform, the lifting platform is provided with the rotary driving mechanism, the rotary driving mechanism is provided with a rotary table, the rotary table is provided with the transverse driving mechanism, the transverse driving mechanism is provided with the transverse moving part, the transverse moving part is provided with the refueling gun swinging driving part and the fuel tank cover switch driving part, the refueling gun swinging driving part is connected with a refueling gun clamping part, the chassis is provided with a battery and a fuel tank position detecting device which are respectively connected with a controller, and the controller is also electrically connected with a servo motor and the driving parts in the driving mechanisms.
In order to facilitate the stable, safe and flexible operation of the unmanned vehicle, the preferred technical scheme is that the two vehicle driving servo motors are arranged below the chassis through a supporting plate or a supporting frame, the output shafts of the vehicle driving servo motors are connected with driving shafts on the driving wheels through flanges, the driven wheels adopt two universal wheels connected below the chassis, and the two driving wheels and the two universal wheels are arranged below the chassis in a rectangular distribution manner.
In order to facilitate the oiling gun to refuel different vehicles and adapt to different oil tank heights of different vehicles, the preferred technical scheme is that the lifting driving mechanism is a screw nut lifting mechanism which comprises a lifting driving servo motor connected with the upper surface of the chassis, the lifting driving servo motor is connected with one end of a lifting driving screw rod, the lifting driving screw rod is in threaded fit with the lifting driving nut, a lifting slider is arranged on one side of the lifting driving nut and is in sliding fit with a guide groove of a lifting guide part arranged on the upper surface of the chassis, a cantilever type lifting platform is arranged on the other side of the lifting driving nut, and the other end of the lifting driving screw rod is connected with the lifting guide part through a supporting part.
In order to facilitate the control of the oil gun to stretch out the oil gun to the outside of the unmanned vehicle when the oil gun is required to be used for oiling the vehicle, the oil gun is recycled into the unmanned vehicle when the oil gun is not required to be used for oiling the vehicle, so that other vehicles and the oil gun cannot be damaged due to collision.
In order to facilitate the unmanned vehicle to be close to the fueled vehicle and then insert the fueling gun into the fuel tank of the fueled vehicle, the preferred technical scheme is that the transverse driving mechanism is a transverse lead screw nut driving mechanism which comprises a transverse driving servo motor arranged on a turntable, an output shaft of the transverse driving servo motor is connected with one end of a transverse driving lead screw, the other end of the transverse driving lead screw is connected onto the turntable through a bracket, the transverse driving lead screw is in threaded fit with the transverse driving nut, a transverse guide groove sliding block is arranged below the transverse driving nut and is in sliding fit with a transverse guide groove sliding groove arranged on the turntable, a transverse moving part is arranged above the transverse driving nut, and the transverse moving part is a supporting plate.
In order to facilitate the insertion of the oil gun into the oil tank of the vehicle to be refueled after the unmanned vehicle approaches the vehicle to be refueled, the preferred technical scheme is that the oil gun swinging driving part comprises an oil gun driving servo motor which is arranged on a transverse moving part and drives the oil gun to swing up and down, an output shaft of the oil gun driving servo motor is connected with an oil gun clamping part, the oil gun clamping part is used for clamping and fixing the oil gun, and the oil gun clamping part is of a triangular support frame structure or a triangular clamping sleeve type clamping structure.
In order to facilitate the fact that an oil tank door of an oiled vehicle is opened to be oiled after the unmanned vehicle approaches the oiled vehicle, and the oil tank door is closed well after the oiling, the preferred technical scheme is that the oil tank cover switch driving part comprises a transverse ejector rod driving servo motor which is arranged on a rotary disc and drives a transverse ejector rod to swing left and right, the output shaft of the transverse ejector rod driving servo motor is connected with the transverse ejector rod which is vertically connected with the output shaft, the transverse ejector rod is divided into a rigid section and an elastic flexible section, one end of the rigid section is connected with the output shaft of the transverse ejector rod driving servo motor, the other end of the rigid section is connected with one end of the elastic flexible section, and the other end of the elastic flexible section is provided with a rubber mushroom head.
In order to facilitate the simplification of a driving mechanism for inserting the oil gun into the oil tank and a driving mechanism for opening and closing the oil tank door, the two driving mechanisms are arranged on the same transverse moving part, and the preferable technical scheme is that the oil gun swinging driving part and the oil tank cover switch driving part are respectively arranged at two positions on the transverse moving part, and the swinging surface direction of the oil gun swinging driving part and the driving direction of the oil tank cover switch driving part driving the accelerator switch form an included angle of 60-180 degrees.
In order to facilitate the monitoring of the position of the refueled vehicle and the position of the oil tank, and facilitate the accurate and comprehensive monitoring of the position of the refueled vehicle and the position of the oil tank, the further preferred technical scheme is that the lifting guide part is a guide plate or a guide frame, an oil tank position detection device is arranged on the guide plate or the guide frame, the oil tank position detection device comprises a laser range finder or a radar speed and distance measuring instrument, an optical camera and a far infrared probe, and a voice prompt and an alarm are arranged on the guide plate or the guide frame.
In order to ensure the use safety of the oil gun, improve the oil filling efficiency of the oil gun and simplify the controller, the preferable technical proposal is that a transparent cover shell with three side surfaces and a ceiling is arranged on the chassis, and an oil filling pipe of the oil gun penetrates through the ceiling or the side wall of the transparent cover shell to be connected with the oil gun; the battery and the controller are arranged on the chassis in the transparent housing, the controller is a PLC (programmable logic controller) or an industrial computer, the controller is also connected with a display, and the display is hung below a ceiling; the oil filling pipe of the oil filling gun is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.
The invention has the advantages and beneficial effects that: the automatic oiling gun arranged on the unmanned vehicle has the characteristics of high degree of automation of vehicle oiling, high accuracy of oiling operation, high flexibility, small and exquisite automatic oiling equipment, good safety performance, simple structure and the like.
When the refueled vehicle enters the gas station, the vehicle fuel tank position detecting device on the unmanned vehicle can judge the distance between the refueled vehicle and the unmanned vehicle and the position of the fuel tank door of the refueled vehicle. At the moment, an unmanned vehicle with a refueling gun drags a refueling pipe to run to a position parallel to and close to the refueled vehicle and is positioned on one side of an oil tank of the refueled vehicle, then a lifting driving mechanism, a rotary driving mechanism arranged on a lifting platform, a rotary disc arranged on the rotary driving mechanism, a transverse driving mechanism arranged on the rotary disc, a transverse moving part in the transverse driving mechanism, a refueling gun swinging driving part and an oil tank cover switch driving part on the transverse moving part and a refueling gun clamping part connected on the refueling gun swinging driving part are used, and the parts can control the refueling gun to carry out a full-automatic operation process of refueling the refueled vehicle through a controller arranged on a chassis.
Drawings
FIG. 1 is a schematic view of the main structure of an automatic fuel gun according to the present invention;
FIG. 2 is a side view schematic of the structure of FIG. 1;
FIG. 3 is a diagram of the fueling state of FIG. 2;
FIG. 4 is a diagram of the refuel condition of FIG. 2;
FIG. 5 is a diagram of the open throttle condition of FIG. 2;
fig. 6 is a diagram of the open throttle condition of fig. 2.
In the figure: 1. a chassis; 1.1, a support plate; 2. a drive wheel; 3. a driven wheel; 4. a vehicle drive servo motor; 5. a lifting drive mechanism; 5.1, driving a servo motor in a lifting way; 5.2, lifting a driving screw rod; 5.3, lifting the driving nut; 5.4, lifting the sliding block; 6. a lifting platform; 7. a rotation driving mechanism; 7.1, rotationally driving a servo motor; 8. a turntable; 8.1, a transverse guide chute; 9. a lateral drive mechanism; 9.1, transversely driving a servo motor; 9.2, transversely driving a screw rod; 9.3, transversely driving the nut; 9.4, a transverse guide groove slide block; 10. a lateral moving member; 11. an oil gun swing drive part; 11.1, driving a servo motor by swinging an oil gun; 12. a fuel tank cap switch drive member; 12.1, a transverse ejector rod; 12.11, a rigid section; 12.12, a flexible section; 12.2, driving a servo motor by a transverse ejector rod; 12.3, rubber mushroom heads; 13. a fuel gun clamping component; 14. a controller; 14.1, a display; 15. a battery; 16. a tank position detecting device; 17. a lifting guide member; 17.1, sliding the guide groove; 18. a transparent cover shell; A. an unmanned vehicle; B. a fuel nozzle.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 6, the present invention is an automatic fuel gun installed on an unmanned vehicle a, which includes a chassis 1, two driving wheels 2 and two driven wheels 3 are installed under the chassis 1, the two driving wheels 2 are respectively connected with the output of two vehicle driving servo motors 4 through driving shafts; the upper portion of chassis 1 is equipped with lift drive mechanism 5, the lifting unit in lift drive mechanism 5 is connected with elevating platform 6, be equipped with rotary drive mechanism 7 on the elevating platform 6, rotary drive mechanism 7 is equipped with carousel 8, be equipped with horizontal drive mechanism 9 on the carousel 8, be equipped with horizontal moving part 10 in the horizontal drive mechanism 9, be equipped with nozzle swing actuating part 11 and fuel tank cap switch actuating part 12 on the horizontal moving part 10, be connected with nozzle clamping part 13 on the nozzle swing actuating part 11, be equipped with battery 15 and the oil tank position detection device 16 that are connected with controller 14 respectively on the chassis 1, controller 14 still is connected with the drive unit electricity in servo motor and each actuating mechanism respectively.
In order to facilitate the stable, safe and flexible operation of the unmanned vehicle, the preferred embodiment of the invention is that the two vehicle driving servo motors 4 are arranged below the chassis 1 through a supporting plate 1.1 or a supporting frame, the output shaft of the vehicle driving servo motor 4 is connected with the driving shaft on the driving wheel 2 through a flange, the driven wheel 3 adopts two universal wheels connected below the chassis 1, and the two driving wheels 2 and the two universal wheels are arranged below the chassis 1 in a rectangular distribution.
In order to facilitate the refueling of the refueling gun B for different vehicles and adapt to different fuel tank heights of different vehicles, the preferred embodiment of the invention is that the lifting driving mechanism 5 is a lead screw nut lifting mechanism, the lead screw nut lifting mechanism comprises a lifting driving servo motor 5.1 connected with the upper surface of the chassis 1, the lifting driving servo motor 5.1 is connected with one end of a lifting driving lead screw 5.2, the lifting driving lead screw 5.2 is in threaded fit with the lifting driving nut 5.3, a lifting slider 5.4 is arranged on one side of the lifting driving nut 5.3, the lifting slider 5.4 is in sliding fit with a guide groove 17.1 of a lifting guide part 17 arranged on the chassis 1, a cantilever type lifting platform 6 is arranged on the other side of the lifting driving nut 5.3, and the other end of the lifting driving lead screw 5.2 is connected with the lifting guide part 17 through a support part.
In order to facilitate the control of the oil gun B to extend out of the unmanned vehicle when the oil gun B is required to be used for refueling the vehicle, and to recycle the oil gun into the unmanned vehicle when the oil gun B is not required to be used for refueling the vehicle, so that the oil gun can not damage other vehicles and the oil gun due to collision.
In order to facilitate the insertion of the refueling gun B into the oil tank of the refueled vehicle after the unmanned vehicle A approaches the refueled vehicle, the preferred embodiment of the present invention further includes that the transverse driving mechanism 9 is a transverse lead screw nut driving mechanism, the transverse lead screw nut driving mechanism includes a transverse driving servo motor 9.1 mounted on the turntable 8, an output shaft of the transverse driving servo motor 9.1 is connected with one end of a transverse driving lead screw 9.2, the other end of the transverse driving lead screw 9.2 is connected to the turntable 8 through a bracket, the transverse driving lead screw 9.2 is in threaded fit with the transverse driving nut 9.3, a transverse guiding groove slider 9.4 is arranged below the transverse driving nut 9.3, the transverse guiding groove slider 9.4 is in sliding fit with a transverse guiding sliding groove 8.1 arranged on the turntable 8, a transverse moving part 10 is arranged above the transverse driving nut 9.3, and the transverse moving part 10 is a supporting plate.
In order to facilitate the insertion of the fueling gun B into the fuel tank of the vehicle to be fueled after the unmanned vehicle a approaches the vehicle to be fueled, in a preferred embodiment of the present invention, the fueling gun swing driving part 11 includes a fueling gun swing driving servo motor 11.1 disposed on the lateral moving part 10 for driving the fueling gun B to swing up and down, an output shaft of the fueling gun swing driving servo motor 11 is connected with a fueling gun clamping part 13, the fueling gun clamping part 13 is used for clamping and fixing the fueling gun B, and the fueling gun clamping part 13 is a triangular support frame structure or a triangular clamping sleeve type clamping structure.
In order to facilitate the opening of a fuel tank door of a vehicle to be refueled and the closing of the fuel tank door after refueling when the unmanned vehicle A approaches the vehicle to be refueled, the preferred embodiment of the invention is further that the fuel tank cover switch driving part 12 comprises a transverse ejector rod driving servo motor 12.2 which is mounted on the turntable 8 and drives the transverse ejector rod 12.1 to swing left and right, the output shaft of the transverse ejector rod driving servo motor 12.2 is connected with the transverse ejector rod 12.1 which is vertically connected with the output shaft, the transverse ejector rod 12.1 is divided into two parts, namely a rigid section 12.11 and an elastic flexible section 12.12, one end of the rigid section 12.11 is connected with the output shaft of the transverse ejector rod driving servo motor 12.2, the other end of the rigid section 12.11 is connected with one end of the elastic flexible section 12.12, and the other end of the elastic flexible section 12.12 is provided with a rubber mushroom head 12.3.
In order to simplify the driving mechanism for inserting the fueling gun B into the fuel tank and the driving mechanism for opening and closing the fuel tank door, the two driving mechanisms are mounted on the same lateral moving member 10, and in a preferred embodiment of the present invention, the fueling gun swing driving member 11 and the fuel tank cover switch driving member 12 are respectively mounted at two locations on the lateral moving member 10, and the direction of the swing surface of the fueling gun swing driving member 11 and the direction of the fuel tank cover switch driving member 12 driving the fuel tank switch form an angle of 60 ° to 180 °, preferably 90 °.
In order to facilitate the monitoring of the position of the vehicle to be refueled and the position of the oil tank, and to facilitate the accurate and comprehensive monitoring of the position of the vehicle to be refueled and the position of the oil tank, a further preferred embodiment of the present invention is that the lifting guide component 17 is a guide plate or a guide frame, the guide plate 17 or the guide frame is provided with an oil tank position detection device 16, the oil tank position detection device 16 comprises a laser range finder or a radar speed and distance measuring instrument, an optical camera and a far infrared probe, and the guide plate or the guide frame is provided with a voice prompt and an alarm (not shown in the figure).
In order to ensure the use safety of the fuel gun B, improve the fuel efficiency of the fuel gun B and simplify the controller, the preferred embodiment of the invention is that a transparent cover shell 18 with three side surfaces and a ceiling is arranged on the chassis 1, and a fuel filling pipe of the fuel gun B is connected with the fuel gun B by penetrating through the ceiling or the side wall of the transparent cover shell 18; the battery 15 and the controller 14 are arranged on the chassis 1 in the transparent housing 18, the controller 14 is a PLC (programmable logic controller) or an industrial computer, the controller 14 is also connected with a display 14.1, and the display 14.1 is hung and installed below the transparent ceiling 18; the oil filling pipe of the oil filling gun B is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight (not shown in the figure).
The working principle of the automatic oil gun arranged on the unmanned vehicle is as follows:
after the refueled vehicle enters the gas station, the distance, the direction and the head direction of the refueled vehicle from the unmanned vehicle A and the position of the fuel tank door of the refueled vehicle can be judged by a laser range finder or a radar speed measuring range finder, an optical camera, a far infrared probe and the like in the vehicle fuel tank position detecting device 16 on the unmanned vehicle A. At this time, the unmanned vehicle A carrying the refueling gun B drives the refueling pipe to a position parallel to and approximately aligned with the vehicle to be refueled and located on one side of the fuel tank of the vehicle to be refueled, then the height of the refueling gun B on the lifting platform 6 is adjusted to a position consistent with the height of the fuel tank of the vehicle to be refueled through the lifting driving mechanism 5, the lifting platform 6 is provided with the rotary driving mechanism 7, the rotary driving mechanism 7 rotates the rotary disk 8 to the position of the fuel tank cover switch driving part 12 aligned with the fuel tank of the vehicle to be refueled, then the transverse moving part 10 in the transverse driving mechanism 9 drives the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the driving transverse ejector 12.1 in the fuel tank cover switch driving part 12 to press against the fuel tank cover to open the fuel tank cover, then the transverse moving part 10 in the transverse driving mechanism 9 drives the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector 12.1 in the oil tank cover switch driving part 12 to retreat for a certain distance, and simultaneously the unmanned vehicle also longitudinally and backwards slightly moves for a certain distance, so that the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector 12.1 in the oil tank cover switch driving part 12 moves to one side of the opened oil tank cover, then the transverse ejector driving servo motor 12.2 for driving the transverse ejector 12.1 to swing left and right starts, the oil tank cover is completely rotated and opened by the swinging of the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector 12.1, the transverse moving part 10 drives the oil tank cover switch driving part 12 to retreat again, the rotary table 8 rotates for 90 degrees to align the oil gun at the oil port, the transverse moving part 10 moves forwards and the oil gun swinging driving part 11 drives the oil gun to swing downwards, the oil gun starts to be inserted into the oil tank, after the refueling is finished, the combined movement is in the opposite direction, namely the refueling gun leaves the refueling port of the mailbox. The turntable 8 rotates reversely by 90 degrees, the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the driving transverse ejector rod 12.1 in the driving part 12 for driving the oil tank cover switch is aligned with the oil tank opening again, meanwhile, the unmanned vehicle also slightly moves forwards longitudinally by a certain distance, the transverse moving part 10 moves forwards, the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the driving transverse ejector rod 12.1 in the driving part 12 for driving the oil tank cover switch is advanced by a certain distance, then the transverse ejector rod driving the transverse ejector rod 12.1 to swing left and right drives the servo motor 12.2 to start, the oil tank cover is rotated to a closed position by the swing of the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1, and finally the transverse moving part 10 moves forwards again to drive the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12 to push the oil tank cover again to finally close the oil tank cover. The above-mentioned refueling process is controlled by the controller 14 to complete the whole refueling process fully automatically through the control program.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. An automatic oil gun arranged on an unmanned vehicle is characterized in that the unmanned vehicle comprises a chassis, at least two driving wheels and at least one driven wheel are arranged below the chassis, and the two driving wheels are respectively connected with the outputs of two vehicle driving servo motors through driving shafts; the upper part of the chassis is provided with a lifting driving mechanism, a lifting part in the lifting driving mechanism is connected with a lifting platform, the lifting platform is provided with a rotary driving mechanism, the rotary driving mechanism is provided with a turntable, the turntable is provided with a transverse driving mechanism, the transverse driving mechanism is provided with a transverse moving part, the transverse moving part is provided with a fuel gun swinging driving part and a fuel tank cover switch driving part, the fuel gun swinging driving part is connected with a fuel gun clamping part, the chassis is provided with a battery and a fuel tank position detecting device which are respectively connected with a controller, the controller is also respectively electrically connected with a vehicle driving servo motor and the driving parts in the driving mechanisms, the fuel tank cover switch driving part comprises a transverse ejector rod driving servo motor which is arranged on the turntable and drives the transverse ejector rod to swing left and right, the output shaft of the transverse ejector rod driving servo motor is connected with a transverse ejector rod vertically connected with the output shaft of the transverse ejector rod driving servo motor, the transverse ejector rod is divided into a rigid section and an elastic flexible section, one end of the rigid section is connected with the output shaft of the transverse ejector rod driving servo motor, the other end of the rigid section is connected with one end of the elastic flexible section, the other end of the elastic flexible section is provided with a rubber mushroom head, the oil gun swing driving part and the oil tank cover switch driving part are respectively arranged at two positions on a transverse moving part, and the swing surface direction of the oil gun swing driving part and the direction of the oil tank cover switch driving part driving an accelerator switch form an included angle of 60-180 degrees.
2. The automatic fuel filling gun arranged on the unmanned vehicle as claimed in claim 1, wherein the two vehicle driving servo motors are arranged under the chassis through a support plate or a support frame, the output shafts of the vehicle driving servo motors are connected with the driving shafts on the driving wheels through flanges, the driven wheels are two universal wheels connected under the chassis, and the two driving wheels and the two universal wheels are arranged under the chassis in a rectangular distribution.
3. The automatic fuel filling gun provided on the unmanned vehicle according to claim 1, wherein the elevation driving mechanism is a screw nut elevation mechanism, the screw nut elevation mechanism comprises an elevation driving servo motor connected to an upper surface of the base plate, the elevation driving servo motor is connected to one end of an elevation driving screw, the elevation driving screw is in threaded engagement with the elevation driving nut, an elevation slider is provided on one side of the elevation driving nut, the elevation slider is in sliding engagement with a guide groove of an elevation guide member provided on the upper surface of the base plate, a cantilever type elevating platform is provided on the other side of the elevation driving nut, and the other end of the elevation driving screw is connected to the elevation guide member through a support member.
4. The automatic fuel gun as claimed in claim 1, wherein the rotary drive mechanism comprises a rotary drive servomotor connected to the elevating table, and an output shaft of the rotary drive servomotor is connected to the rotary table via a flange.
5. The automatic fuel filling gun provided on the unmanned vehicle according to claim 1, wherein the lateral driving mechanism is a lateral screw nut driving mechanism, the lateral screw nut driving mechanism includes a lateral driving servo motor installed on a turntable, an output shaft of the lateral driving servo motor is connected with one end of a lateral driving screw rod, the other end of the lateral driving screw rod is connected to the turntable through a bracket, the lateral driving screw rod is in threaded fit with the lateral driving nut, a lateral guide groove slider is provided below the lateral driving nut, the lateral guide groove slider is in sliding fit with a lateral guide groove sliding groove provided on the turntable, a lateral moving part is provided above the lateral driving nut, and the lateral moving part is a supporting plate.
6. The automatic fuel gun installed on the unmanned vehicle of claim 1, wherein the fuel gun swing driving part comprises a fuel gun driving servo motor installed on the lateral moving part to drive the fuel gun to swing up and down, a fuel gun clamping part is connected to an output shaft of the fuel gun driving servo motor and used for clamping and fixing the fuel gun, and the fuel gun clamping part is a triangular support frame structure or a triangular clamping sleeve type clamping structure.
7. The automatic oil filling gun arranged on the unmanned vehicle as claimed in claim 3, wherein the lifting guide component is a guide plate or a guide frame, an oil tank position detecting device is arranged on the guide plate or the guide frame, the oil tank position detecting device comprises a laser range finder or a radar speed measuring range finder, an optical camera and a far infrared probe, and a voice prompt and an alarm are arranged on the guide plate or the guide frame.
8. The automatic fuel filling gun arranged on the unmanned vehicle is characterized in that a transparent cover with three side surfaces and a ceiling is arranged on the chassis, and a fuel filling pipe of the fuel filling gun penetrates through the ceiling or the side wall of the transparent cover to be connected with the fuel filling gun; the battery and the controller are arranged on the chassis in the transparent housing, the controller is a PLC (programmable logic controller) or an industrial computer, the controller is also connected with a display, and the display is hung below a ceiling; the oil filling pipe of the oil filling gun is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114313294B (en) * | 2022-01-14 | 2024-05-24 | 上海承飞航空特种设备有限公司 | Lifting device applied to oil delivery pipe of pipeline fuelling vehicle and pipeline fuelling vehicle |
| CN114436199A (en) * | 2022-02-24 | 2022-05-06 | 正星科技股份有限公司 | Intelligent integrated robot oiling machine and oiling method |
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