CN113086933A - Refueling mechanism and refueling system - Google Patents
Refueling mechanism and refueling system Download PDFInfo
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- CN113086933A CN113086933A CN202110372492.7A CN202110372492A CN113086933A CN 113086933 A CN113086933 A CN 113086933A CN 202110372492 A CN202110372492 A CN 202110372492A CN 113086933 A CN113086933 A CN 113086933A
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- Prior art keywords
- oil
- oil pipe
- refueling
- fuel
- pipe
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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
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
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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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- 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
- B67D7/38—Arrangements of hoses, e.g. operative connection with pump motor
- B67D7/40—Suspending, reeling or storing devices
-
- 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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- 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)
Abstract
The application provides an oiling mechanism and an oiling system, and relates to the technical field of automatic oiling. This refueling mechanism includes the arm and refuels the executor, refuels the executor and includes mounting bracket, lifting unit and oil pipe, and the arm is connected with the mounting bracket, and on lifting unit located the mounting bracket, lifting unit and tubing connection for drive oil pipe removes, so that oil pipe is stretching into to the interior oiling of oil tank under the state of oil tank bottom. The oiling mechanism is high in oiling efficiency, and oiling time is effectively saved. The application provides a refueling system includes the oil tank and foretell mechanism of refueling, can improve and refuel efficiency to make fluid fill the oil tank fast.
Description
Technical Field
The invention relates to the technical field of automatic oiling, in particular to an oiling mechanism and an oiling system.
Background
Traditional modes that equipment such as vehicle, engineering machine tool adopted the top to refuel mostly, for guaranteeing the security of refueling, before the filling opening of oil pipe was not submerged by fluid, filling rate should not exceed 1m/s, consequently, when adopting top oil charging, filling efficiency was slower, and is consuming time longer, can't realize the purpose of refueling fast.
Disclosure of Invention
The invention aims to provide a refueling mechanism and a refueling system, which can enable an oil pipe to extend into the bottom of an oil tank so as to improve the oil filling speed, greatly shorten the oil filling time and improve the oil filling operation efficiency.
Embodiments of the invention may be implemented as follows:
in a first aspect, the invention provides an oil filling mechanism, which comprises a mechanical arm and an oil filling actuator, wherein the oil filling actuator comprises a mounting frame, a lifting assembly and an oil pipe, the mechanical arm is connected with the mounting frame, the lifting assembly is arranged on the mounting frame, and the lifting assembly is connected with the oil pipe and used for driving the oil pipe to move so as to fill oil into the oil tank when the oil pipe extends into the bottom of the oil tank.
In an optional embodiment, the lifting assembly includes a driving member, a first transmission shaft and a driving wheel, the driving member is installed on the mounting frame, the driving member is in transmission connection with the first transmission shaft, the driving wheel is arranged on the first transmission shaft, and the driving wheel is in transmission connection with the oil pipe to drive the oil pipe to move.
In an optional embodiment, a first concave surface is arranged on the surface of the driving wheel, and the first concave surface is matched with the outer surface of the oil pipe, so that the driving wheel drives the oil pipe to move through friction force.
In an alternative embodiment, the refueling actuator further comprises a driven assembly, the driven assembly comprises a mounting base, a second transmission shaft, a driven wheel and an encoder, the mounting base is arranged on the mounting base, the second transmission shaft is arranged on the mounting base, the driven wheel is arranged on the second transmission shaft, and the encoder is arranged on the driven wheel or the second transmission shaft;
the oil pipe is clamped between the driving wheel and the driven wheel, the oil pipe is used for driving the driven wheel to rotate, and the encoder is used for metering the moving distance of the oil pipe.
In an optional embodiment, the refueling actuator further includes a tensioning assembly, the tensioning assembly is connected to the mounting seat, and the tensioning assembly is configured to drive the mounting seat to move away from or close to the oil pipe, so as to adjust a friction force between the driven wheel and the oil pipe and a friction force between the driving wheel and the oil pipe.
In an optional embodiment, a linear guide rail is arranged on the mounting frame, and the mounting seat is arranged on the linear guide rail, so that the tensioning assembly drives the mounting seat to move away from or close to the oil pipe.
In an optional embodiment, a positioning identifier is arranged on the mounting frame, and the mechanical arm is used for moving the oil pipe to the oil filling port of the oil tank according to a positioning signal of the positioning identifier.
In an optional embodiment, a guide sleeve is arranged on the oil pipe, and the guide sleeve is fixed on the mounting frame.
In an optional embodiment, a telescopic protective cover is sleeved on the oil pipe, one end of the telescopic protective cover is fixed on the mounting frame, and the other end of the telescopic protective cover is fixed on the oil pipe.
In a second aspect, the present invention provides a refueling system, including a fuel tank and the refueling mechanism as described in any one of the foregoing embodiments, wherein the fuel pipe is filled with fuel into the fuel tank in a state where the lifting assembly drives the fuel pipe to extend into the bottom of the fuel tank.
In an optional embodiment, a groove is formed in the bottom of the oil tank, an oil outlet is formed in the oil tank, the bottom of the groove is lower than the oil outlet, and the oil pipe can extend into the groove.
In an optional embodiment, a sleeve is arranged in the oil tank, one end of the sleeve is connected with an oil filling port of the oil tank, the other end of the sleeve extends into the groove, and the sleeve is used for guiding the oil pipe in the moving process of the oil pipe.
The embodiment of the invention has the beneficial effects that:
according to the oiling mechanism provided by the embodiment of the invention, the lifting component can drive the oil pipe to move, so that the oil pipe extends into the bottom of the oil tank, and oil is injected into the oil tank under the condition that the oil pipe extends into the bottom of the oil tank, so that an oil injection port of the oil pipe can be quickly submerged by the oil liquid, the oil injection speed is conveniently increased, the oil injection time is greatly shortened, the oil injection efficiency is improved, and the purpose of quickly and safely oiling is achieved.
The oiling system provided by the embodiment of the invention comprises the oil tank and the oiling mechanism, the oil pipe can extend into the bottom of the oil tank under the driving of the lifting assembly, an oil filling port of the oil pipe is quickly immersed by oil liquid in the oiling process, the oiling speed can be increased, the oiling efficiency is improved, and the effect of quickly and safely oiling is realized.
Secondly, the lifting component in this embodiment, action wheel and oil pipe realize the transmission through frictional force cooperation, and simple structure, compactness, spare part is small in quantity, and occupation space is small, and the transmission is reliable. The arrangement of the first concave surface on the driving wheel can increase the contact area between the driving wheel and the oil pipe, increase the friction force and improve the transmission efficiency. In the oil pipe lifting process, the driven wheel is driven to rotate through friction force, the encoder calculates the actual lifting displacement of the oil pipe according to the number of rotation turns of the driven wheel, the lifting condition of the oil pipe can be accurately fed back, and effective lifting of the oil pipe is guaranteed. The setting of tensioning assembly can increase the pretightning force between follow driving wheel and the oil pipe and between oil pipe and the action wheel, improves transmission reliability. The location recognizer sets up on the mounting bracket for to the vision guide of arm, can promote the degree of automation who refuels the mechanism, fix a position more accurately, the location is efficient, thereby promotes and refuels the operating efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic overall structural diagram of a refueling mechanism provided in an embodiment of the present invention;
FIG. 2 is a partially disassembled schematic view of the mounting bracket of FIG. 1;
FIG. 3 is an exploded view of the refueling mechanism of FIG. 1;
FIG. 4 is a schematic diagram of a lift assembly of the fueling actuator of FIG. 3;
FIG. 5 is a schematic diagram of the driven assembly and the tensioning assembly of the fueling actuator of FIG. 3;
FIG. 6 is a cross-sectional schematic view of an installation scenario of a tensioning assembly of the oiling actuator of FIG. 3;
FIG. 7 is a schematic structural diagram of a fuel tank of a refueling system according to an embodiment of the invention;
fig. 8 is a schematic cross-sectional view of a-a in fig. 7.
Icon: 10-a refueling mechanism; 100-a robotic arm; 110-a flange; 200-an oiling actuator; 210-a mounting frame; 211-upper side plate; 2111-first via; 212-lower side plate; 2121-a second via; 213-left side plate; 214-right side panel; 215-front side panel; 216-rear side panel; 220-a lifting assembly; 221-a drive member; 2211-electric machine; 2213-speed reducer; 223-a first drive shaft; 225-driving wheel; 2251-a first concave surface; 230-oil pipe; 231-an oil filling port; 240-a driven assembly; 241-a mounting seat; 2411-installing groove; 242-a second drive shaft; 243-driven wheel; 2431-a second concave surface; 244-an encoder; 245-a linear guide; 250-a tensioning assembly; 251-adjusting rod; 252-a fixation sleeve; 253-an elastic member; 254-a mounting portion; 255-a limit nut; 261-a first guide sleeve; 263-second guide sleeve; 265-telescoping protective cover; 266-a grip sleeve; 270-a location identifier; 30-a fuel tank; 310-oil filler; 311-a sleeve; 320-grooves; 330-oil outlet; 340-a breathing valve; 351-a first level sensor; 353 — second liquid level sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, the present embodiment provides a refueling mechanism 10, which can be applied to a gas station or a tank truck, and is used for filling oil into other vehicles or engineering machinery, so as to effectively improve the oil filling efficiency and shorten the oil filling time. This refueling mechanism 10 includes arm 100 and refuel executor 200, refuel executor 200 includes mounting bracket 210, lift assembly 220 and oil pipe 230, and arm 100 is connected with mounting bracket 210, and lift assembly 220 locates on mounting bracket 210, and lift assembly 220 is connected with oil pipe 230 for drive oil pipe 230 removes, so that oil pipe 230 is to oiling in stretching into the state to the oil tank 30 bottom in oil pipe 230. The lifting assembly 220 can extend the oil pipe 230 into the bottom of the oil tank 30, and in the oil filling process, the oil outlet 330 of the oil pipe 230 is quickly submerged by oil liquid, so that the oil filling speed can be quickly increased, the oil filling time is shortened, and the oil filling efficiency is improved.
It is understood that according to the electrostatic safety regulations (GB13348-2009) for liquid petroleum products, for oil with a conductivity below 50pS/m, the initial flow rate should not be greater than 1m/s before the injection port is submerged, and when the injection port is submerged for 200mm, the flow rate can be gradually increased, but the maximum flow rate should not be greater than 7 m/s. In this embodiment, since the oil pipe 230 extends into the bottom of the oil tank 30 for filling, the oil filling port 231 of the oil pipe 230 is rapidly immersed by the oil, and when the oil filling port 231 is immersed by 200mm, the oil filling rate can be greatly increased, and the oil filling rate can be increased to 7m/s at most. Optionally, the highest oiling efficiency can reach 1900L/min, quick and safe oiling can be realized for engineering machinery, agricultural machinery or ship machinery and the like, the method can also be applied to the field of other vehicles, and the oiling operation efficiency can be greatly improved.
Referring to fig. 2 to 4, optionally, the lifting assembly 220 includes a driving member 221, a first transmission shaft 223, and a driving wheel 225, the driving member 221 is mounted on the mounting frame 210, the driving member 221 is in transmission connection with the first transmission shaft 223, the driving wheel 225 is disposed on the first transmission shaft 223, and the driving wheel 225 is in transmission connection with the oil pipe 230 to drive the oil pipe 230 to move. The driving member 221 may be, but not limited to, a motor 2211, and the motor 2211 is directly or indirectly connected to the first transmission shaft 223, for example, the driving member 221 includes a motor 2211 and a speed reducer 2213, the motor 2211 is connected to the speed reducer 2213, and the speed reducer 2213 is connected to the first transmission shaft 223 to rotate the first transmission shaft 223. The driving wheel 225 and the first transmission shaft 223 may be integrally formed or fixedly connected in a separated manner, and are not particularly limited herein. Further, a first concave surface 2251 is formed on the surface of driver 225, and first concave surface 2251 is engaged with the outer surface of oil pipe 230, so that driver 225 frictionally drives oil pipe 230 to move. It is easy to understand that the arc of the recess of the first concave surface 2251 is adapted to the arc of the outer surface of the oil pipe 230, and during the rotation of the first transmission shaft 223 to drive the driving wheel 225, the first concave surface 2251 rubs against the outer surface of the oil pipe 230, and drives the oil pipe 230 to move by friction. It will be appreciated that the adaptation of the first concave surface 2251 to the outer surface of the oil pipe 230 allows for a larger contact area between the two during the driving process, a higher friction force and a more reliable driving. Optionally, the driving member 221 drives the driving wheel 225 to rotate forward, so that the oil pipe 230 can descend to extend into the bottom of the oil tank 30; the driver 221 rotates the driver 225 in reverse, which raises the oil pipe 230 to be drawn out from the bottom of the oil tank 30. In this embodiment, the driving wheel 225 and the oil pipe 230 are driven by friction, so that the structure is simple and compact, the number of parts is small, the size is small, and the reliability is high.
Referring to fig. 5, the oil filling actuator 200 further includes a driven assembly 240 and a tensioning assembly 250, the driven assembly 240 includes a mounting base 241, a second transmission shaft 242, a driven wheel 243 and an encoder 244, the mounting base 241 is disposed on the mounting frame 210, the second transmission shaft 242 is mounted on the mounting base 241, the driven wheel 243 is disposed on the second transmission shaft 242, the encoder 244 is mounted on the driven wheel 243 or the second transmission shaft 242, and in this embodiment, the encoder 244 is mounted on the second transmission shaft 242. Oil pipe 230 is clamped between driving wheel 225 and driven wheel 243, oil pipe 230 moves to drive driven wheel 243 to rotate, and encoder 244 is used for measuring the moving distance of oil pipe 230. Optionally, the driven wheel 243 is provided with a second concave surface 2431 on the surface, the curvature of the second concave surface 2431 is matched with the curvature of the outer surface of the oil pipe 230, and the oil pipe 230 is sandwiched between the first concave surface 2251 and the second concave surface 2431. It can be understood that the driving wheel 225 drives the oil pipe 230 to move up and down by friction force, and since there is also friction force between the oil pipe 230 and the driven wheel 243, the oil pipe 230 moves up and down by friction force to drive the driven wheel 243 and the second transmission shaft 242 to rotate, and the encoder 244 on the second transmission shaft 242 can record the number of rotation turns of the driven wheel 243, thereby achieving the purpose of measuring the up and down displacement of the oil pipe 230. The driven assembly 240 is configured to detect the actual lifting displacement of the oil pipe 230, and obtain feedback of the lifting of the oil pipe 230, so as to ensure that the oil pipe 230 extends into the bottom of the oil tank 30 for refueling. The driven wheel 243 and the second transmission shaft 242 may be integrally formed or may be fixedly connected in a separated manner, and this is not particularly limited. In other alternative embodiments, the actual lifting displacement of the oil pipe 230 may be detected by installing a displacement sensor on the oil pipe 230, or other displacement measurement methods may be adopted, which are not specifically limited herein.
Referring to FIG. 6, optionally, a tensioning assembly 250 is coupled to mount 241, and tensioning assembly 250 is configured to move mount 241 away from or toward tubing 230 to adjust the friction between driven wheel 243 and tubing 230, and also to adjust the friction between drive wheel 225 and tubing 230. In this embodiment, the mounting base 241 is provided with a mounting groove 2411, the tensioning assembly 250 includes an adjusting rod 251, a fixing sleeve 252, an elastic member 253, and a limit nut 255, the adjusting rod 251 passes through the fixing sleeve 252 and is in threaded fit with the fixing sleeve 252, one end of the adjusting rod 251 is provided with a mounting portion 254, the mounting portion 254 is connected in the mounting groove 2411 through a fixing member, and the fixing member includes, but is not limited to, a screw or a bolt. The elastic member 253 can be a spring, which is sleeved on the adjusting rod 251 and is abutted between the fixing sleeve 252 and the mounting portion 254 to perform a buffering and adjusting function. The limiting nut 255 is arranged at one end of the fixing sleeve 252 far away from the mounting part 254 and has a limiting effect. Of course, the tensioning assembly 250 and the mounting base 241 may be clamped, welded, riveted, bonded or connected by other methods, which are not limited in particular. In this embodiment, the fixing sleeve 252 is movably connected to the mounting bracket 210, and the mounting bracket 210 is used for limiting the axial movement of the fixing sleeve 252.
During adjustment, the fixing sleeve 252 is rotated in the counterclockwise direction, and since the fixing sleeve 252 is limited by the axial direction of the mounting frame 210, only the fixing sleeve can rotate without moving in the axial direction, the adjusting rod 251 moves backwards relatively, the spring is lengthened, and the adjusting rod 251 can push the mounting seat 241 to move close to the oil pipe 230, so that the friction force between the oil pipe 230 and the driven wheel 243 is increased; as mount 241 continues to move closer to tubing 230, the clamping force of drive wheel 225 and driven wheel 243 on tubing 230 may be increased, i.e., the friction between drive wheel 225 and tubing 230 may be increased, and finally, stop nut 255 may be tightened. Similarly, when the fixing sleeve 252 is rotated clockwise, the adjusting rod 251 moves forward relatively, so that the adjusting rod 251 pushes the mounting base 241 to move away from the oil pipe 230 integrally, and the spring shortens to reduce the friction force between the oil pipe 230 and the driven wheel 243; as mount 241 continues to move away from oil tube 230, the clamping force of drive wheel 225 and driven wheel 243 on oil tube 230 may be reduced, i.e., the frictional force between drive wheel 225 and oil tube 230 is reduced. It can be understood that the tension assembly 250 can adjust the friction force, i.e. the pre-tightening force, between the driven wheel 243 and the oil pipe 230, and between the oil pipe 230 and the driving wheel 225, so that the friction transmission is more reliable, and the oil pipe 230 can be ensured to be effectively lifted. It should be understood that the structure of the tension assembly 250 is not limited thereto, and may be other structures such as screws, threaded rods, push rods or cylinders, as long as the mounting base 241 can move relatively close to or away from the oil pipe 230, and is not limited thereto.
Further, a linear guide 245 is disposed on the mounting frame 210, and the mounting base 241 is disposed on the linear guide 245, so that the tensioning assembly 250 drives the mounting base 241 to move away from or close to the oil pipe 230. In this embodiment, the number of the linear guides 245 is two, and the two linear guides 245 are spaced apart by a distance corresponding to the diameter of the oil pipe 230. The mounting base 241 is arranged on the linear guide 245, so that the driven wheel 243 on the mounting base 241 corresponds to the position of the oil pipe 230, and a pre-positioning function is realized, so as to ensure reliable transmission between the driven wheel 243 and the oil pipe 230. Secondly, when the tensioning assembly 250 drives the mounting base 241 to move close to or away from the oil pipe 230, the mounting base 241 moves along the linear guide rail 245 to play a guiding role, so that the moving precision of the mounting base 241 is improved, and the reliable transmission between the driven wheel 243 and the oil pipe 230 is also ensured.
In this embodiment, referring to fig. 2 and 3, the mounting bracket 210 includes an upper side plate 211 and a lower side plate 212 which are oppositely disposed, a left side plate 213 and a right side plate 214 which are oppositely disposed, and a front side plate 215 and a rear side plate 216 which are oppositely disposed. The upper side plate 211, the lower side plate 212, the left side plate 213, the right side plate 214, the front side plate 215 and the rear side plate 216 are connected to form a frame structure together in an enclosing manner, and the frame structure is used as a mounting carrier for the lifting assembly 220, the driven assembly 240, the tensioning assembly 250 and the like. The upper side plate 211 is provided with a first through hole 2111, the lower side plate 212 is provided with a second through hole 2121 corresponding to the first through hole 2111, and the oil pipe 230 sequentially passes through the first through hole 2111 and the second through hole 2121 from top to bottom and can move in the first through hole 2111 and the second through hole 2121. The lifting assembly 220 is mounted on the left side plate 213, the mounting base 241 is disposed on the lower side plate 212, the driving wheel 225 is disposed on one side of the oil pipe 230 close to the rear side plate 216, the driven wheel 243 is disposed on one side of the oil pipe 230 close to the front side plate 215, the tension assembly 250 penetrates through the front side plate 215 to be connected with the mounting base 241, and optionally, the fixing sleeve 252 is in threaded connection with the front side plate 215. The rear side plate 216 is connected to the robot arm 100, optionally, the rear side plate 216 is fixedly connected to the robot arm 100 through a flange 110, and of course, a connection manner such as riveting, welding, or clamping may also be adopted.
The oil pipe 230 is provided with a guide sleeve, and the guide sleeve is fixed on the mounting frame 210. In this embodiment, the number of the guide sleeves includes two, that is, the first guide sleeve 261 and the second guide sleeve 263, the first guide sleeve 261 is disposed on the upper side plate 211, the second guide sleeve 263 is disposed on the lower side plate 212, the oil pipe 230 sequentially passes through the first through hole 2111, the first guide sleeve 261, the second through hole 2121 and the second guide sleeve 263 from top to bottom, and the first guide sleeve 261 and the second guide sleeve 263 play a role in guiding in the lifting process of the oil pipe 230. In other alternative embodiments, the number of guide sleeves may also be one, three or more. The oil pipe 230 is sleeved with a telescopic protective cover 265, one end of the telescopic protective cover 265 is fixed on the mounting frame 210, the other end of the telescopic protective cover 265 is fixed on the oil pipe 230, and the telescopic protective cover 265 is located on one side, far away from the lower side plate 212, of the upper side plate 211. Optionally, the lower end of the telescopic shield 265 is fixed on the upper side plate 211, the upper end is connected with the oil pipe 230 through the tightening sleeve 266, and the telescopic shield 265 is stretched and lengthened during the ascending process of the oil pipe 230; during lowering of the tubing 230, the telescoping boot 265 is compressed and shortened. The retractable guard 265 provides protection against oil leaking from the outer surface of the oil tube 230 during the raising and lowering of the oil tube 230.
The mounting bracket 210 is provided with a positioning identifier 270, and the robot arm 100 is configured to move the oil pipe 230 to the oil filling port 310 of the oil tank 30 according to a positioning signal of the positioning identifier 270. Alternatively, the positioning identifier 270 is a 3D camera, the 3D camera is fixed on the lower side plate 212, the 3D camera is used for identifying the oil filling opening 310 of the oil tank 30 and feeding back a position signal of the oil filling opening 310 to the controller, and the controller sends a command to the mechanical arm 100, so that the mechanical arm 100 drives the oil filling actuator 200 to move, so that the oil filling opening 231 of the oil pipe 230 is aligned with the oil filling opening 310 of the oil tank 30. It can be understood that the second guiding sleeve 263 is fixed on the side of the lower side plate 212 far from the upper side plate 211, the oil pipe 230 passes through the second guiding sleeve 263, that is, the axis of the oil pipe 230 and the axis of the second guiding sleeve 263 are located on the same straight line, in the actual operation process, under the visual guiding and positioning of the 3D camera, the mechanical arm 100 can drive the oil filling actuator 200 to move, and with the second guiding sleeve 263 as a reference datum, when the second guiding sleeve 263 is aligned with the oil filling opening 310 of the oil tank 30, it can be ensured that the oil filling opening 231 of the oil pipe 230 corresponds to the oil filling opening 310, at this time, the lifting assembly 220 further drives the oil pipe 230 to descend, so that the oil pipe 230 can accurately extend into the bottom of the oil tank. Other positioning elements can be adopted for the positioning identifier 270, and are not specifically limited here, and the arrangement of the positioning identifier 270 improves the automation degree of the oiling mechanism 10, so that the positioning is more accurate, and the oiling operation efficiency is higher.
The embodiment of the present invention further provides a refueling system, which includes the oil tank 30 and the above refueling mechanism 10, wherein the oil pipe 230 is filled with oil into the oil tank 30 in a state that the lifting assembly 220 drives the oil pipe 230 to extend into the bottom of the oil tank 30. Thus, the oil filling port 231 of the oil pipe 230 can be quickly submerged, so as to increase the oil filling speed, shorten the oil filling time, achieve the purpose of quick oil filling and improve the oil filling efficiency.
Referring to fig. 7 and 8, in the present embodiment, the oil filling opening 310 of the oil tank 30 is located at the top of the oil tank 30, that is, a top-filling manner is adopted. The bottom of the fuel tank 30 is provided with a groove 320, and optionally, the groove 320 is located below the fuel filler opening 310, so that the fuel pipe 230 can directly and rapidly extend from the fuel filler opening 310 into the groove 320 at the bottom of the fuel tank 30. The oil tank 30 is provided with an oil outlet 330, and the bottom of the groove 320 is lower than the oil outlet 330, so that the oil filling port 231 of the oil pipe 230 can be quickly submerged by oil. The groove 320 at the bottom of the oil tank 30 is arranged to enable the oil filling opening 231 of the oil pipe 230 to be submerged in a shorter time, so as to improve the oil filling efficiency and achieve the purpose of rapid oil filling. Optionally, a sleeve 311 is disposed in the oil tank 30, one end of the sleeve 311 is communicated with the oil filling port 310, and the other end of the sleeve 311 extends into the groove 320 and is communicated with the groove 320. After the oil pipe 230 is aligned with the oil filler port 310, it descends along the sleeve 311 and extends into the groove 320 under the driving action of the lifting assembly 220. Alternatively, the lower end of the sleeve 311 is spaced from the bottom of the recess 320 by a distance of about 200mm, and the oil filling port 231 of the oil pipe 230 is spaced from the bottom of the recess 320 by a distance of about 200mm after the oil pipe 230 is inserted into the recess 320. The sleeve 311 is arranged to guide the oil pipe 230 in the lifting process, so that the oil pipe 230 is prevented from swinging too much, the oil pipe 230 can be conveniently and accurately extended into the groove 320, and the purpose of fast and safe oiling is achieved.
Further, a breather valve 340 is provided at the top of the fuel tank 30, and the breather valve 340 is used to adjust the pressure inside the fuel tank 30. A first liquid level sensor 351 and a second liquid level sensor 353 are arranged in the oil tank 30, the first liquid level sensor 351 is arranged at the bottom of the oil tank 30 and is approximately positioned on the plane of the notch of the groove 320, and the second liquid level sensor 353 is arranged at the top of the oil tank 30 and is close to the oil filling port 310. The first and second level sensors 351 and 353 are used to detect a filling degree of oil in the oil tank 30, i.e., a level state. When the first liquid level sensor 351 detects an oil liquid signal, the oil filling port 231 of the oil pipe 230 is in a soaking state, the immersed depth of the oil filling port 231 is more than 200mm, and the oil filling oil pump can quickly fill oil and can increase the oil filling speed to 7 m/s; when the second level sensor 353 detects an oil signal indicating that the oil tank 30 is about to be filled with oil, the refueling pump stops refueling.
According to the present embodiment, the refueling mechanism 10 and the refueling system have the following working principles:
the refueling system employs a top refueling approach, where the robotic arm 100 is visually guided and positioned by a 3D camera, moving the refueling actuator 200 so that the filler neck 231 of the oil pipe 230 is aligned with the filler neck 310 of the oil tank 30. The driving member 221 drives the first transmission shaft 223 to rotate, the driving wheel 225 on the first transmission shaft 223 rotates, the oil pipe 230 is driven to descend by friction, the oil pipe 230 drives the driven wheel 243 to rotate by friction, and the encoder 244 on the driven wheel 243 records the descending displacement of the oil pipe 230 by the number of rotation turns of the driven wheel 243. The oil pipe 230 descends along the sleeve 311 in the fuel tank 30 and extends into the groove 320 in the bottom of the fuel tank 30, and the fueling pump is started and the oil pipe 230 charges the fuel tank 30. When the first liquid level sensor 351 detects oil, the oil filling port 231 of the oil pipe 230 is in a soaking state at the moment, and the oil filling oil pump can increase the oil filling speed to 7m/s, so that quick oil filling is realized; when the second liquid level sensor 353 detects oil, the refueling oil pump stops refueling.
In summary, the embodiment of the present invention provides a refueling mechanism 10 and a refueling system, which have the following beneficial effects:
the oiling mechanism 10 provided by the embodiment of the invention is suitable for a top oiling mode, the mechanical arm 100 realizes that the oil gun is aligned to the oil filling port 310 of the oil tank 30 through the identification and positioning of the 3D camera, the positioning is accurate, and the automation degree is high. The lifting assembly 220 can drive the oil pipe 230 to ascend and descend, the oil pipe 230 extends into the bottom of the oil tank 30, oil is added, after the oil liquid is immersed in the oil filling port 231 of the oil pipe 230 quickly, the oil adding speed can be increased to 7m/s, the oil adding time is shortened greatly, the oil adding efficiency is improved, the operation safety standard is met, the automatic quick and safe oil adding can be realized, and the safety and the reliability are high. The oiling mechanism 10 is simple in structure, safe and reliable, can feed back the actual lifting displacement of the oil pipe 230, is good in reliability, and greatly improves the oiling efficiency.
The refueling system provided by the embodiment of the invention comprises the oil tank 30 and the refueling mechanism 10, the oil pipe 230 descends along the sleeve 311 in the oil tank 30, the oil pipe 230 is prevented from swinging greatly, the oil pipe 230 can accurately and quickly stretch into the bottom of the oil tank 30, the bottom of the oil tank 30 is provided with the groove 320, the oil filling opening 231 of the oil pipe 230 can be conveniently and quickly immersed by oil, the refueling speed can be conveniently improved, the refueling time can be shortened, the refueling efficiency can be improved, and the refueling system has practical value and great economic benefit.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (12)
1. The refueling mechanism is characterized by comprising a mechanical arm (100) and a refueling actuator (200), wherein the refueling actuator (200) comprises a mounting frame (210), a lifting assembly (220) and a fuel pipe (230), the mechanical arm (100) is connected with the mounting frame (210), the lifting assembly (220) is arranged on the mounting frame (210), and the lifting assembly (220) is connected with the fuel pipe (230) and used for driving the fuel pipe (230) to move so that the fuel pipe (230) is filled with fuel in the fuel tank (30) in a state of extending into the bottom of the fuel tank (30).
2. The refueling mechanism as recited in claim 1, wherein the lifting assembly (220) comprises a driving member (221), a first transmission shaft (223) and a driving wheel (225), the driving member (221) is mounted on the mounting frame (210), the driving member (221) is in transmission connection with the first transmission shaft (223), the driving wheel (225) is arranged on the first transmission shaft (223), and the driving wheel (225) is in transmission connection with the fuel pipe (230) to drive the fuel pipe (230) to move.
3. The refueling mechanism as recited in claim 2, wherein a surface of the drive wheel (225) is provided with a first concave surface (2251), and the first concave surface (2251) cooperates with an outer surface of the oil pipe (230) to allow the drive wheel (225) to frictionally move the oil pipe (230).
4. The refueling mechanism as recited in claim 2, wherein the refueling actuator (200) further comprises a driven assembly (240), the driven assembly (240) comprising a mounting base (241), a secondary drive shaft (242), a driven wheel (243), and an encoder (244), the mounting base (241) being disposed on the mounting frame (210), the secondary drive shaft (242) being mounted on the mounting base (241), the driven wheel (243) being disposed on the secondary drive shaft (242), the encoder (244) being mounted on the driven wheel (243) or the secondary drive shaft (242);
the oil pipe (230) is clamped between the driving wheel (225) and the driven wheel (243), the oil pipe (230) is used for driving the driven wheel (243) to rotate, and the encoder (244) is used for metering the moving distance of the oil pipe (230).
5. The refueling mechanism as recited in claim 4, wherein the refueling actuator (200) further comprises a tensioning assembly (250), the tensioning assembly (250) being coupled to the mounting base (241), the tensioning assembly (250) being configured to move the mounting base (241) away from or toward the fuel line (230) to adjust a friction between the driven wheel (243) and the fuel line (230) and a friction between the drive wheel (225) and the fuel line (230).
6. The refueling mechanism as recited in claim 5, wherein the mounting bracket (210) is provided with a linear guide rail (245), and the mounting seat (241) is provided on the linear guide rail (245) so that the tensioning assembly (250) drives the mounting seat (241) to move away from or close to the oil pipe (230).
7. The refueling mechanism as recited in any one of claims 1 to 6, wherein a positioning identifier (270) is provided on the mounting bracket (210), and the robot arm (100) is configured to move the fuel pipe (230) to the refueling port (310) of the fuel tank (30) according to a positioning signal of the positioning identifier (270).
8. The refueling mechanism as recited in any one of claims 1 to 6, wherein a guide sleeve is provided on the oil pipe (230), the guide sleeve being fixed to the mounting bracket (210).
9. The refueling mechanism according to any one of claims 1 to 6 wherein a telescopic shield (265) is sleeved on the fuel pipe (230), one end of the telescopic shield (265) being fixed to the mounting bracket (210) and the other end being fixed to the fuel pipe (230).
10. A refueling system comprising a fuel tank (30) and the refueling mechanism as recited in any one of claims 1 to 9, wherein the fuel pipe (230) is filled with fuel into the fuel tank (30) in a state where the lifting assembly (220) drives the fuel pipe (230) to protrude into the bottom of the fuel tank (30).
11. The refuelling system according to claim 10, characterized in that the bottom of the tank (30) is provided with a groove (320), the tank (30) is provided with an oil outlet (330), the bottom of the groove (320) is lower than the oil outlet (330), and the oil pipe (230) can protrude into the groove (320).
12. The refuelling system according to claim 11, characterized in that a sleeve (311) is arranged in the fuel tank (30), one end of the sleeve (311) is connected with the fuel filling opening (310) of the fuel tank (30) and the other end extends into the recess (320), and the sleeve (311) is used for guiding the fuel pipe (230) during the movement of the fuel pipe (230).
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| CN202110372492.7A CN113086933B (en) | 2021-04-07 | 2021-04-07 | Refueling mechanism and refueling system |
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| CN202110372492.7A CN113086933B (en) | 2021-04-07 | 2021-04-07 | Refueling mechanism and refueling system |
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| CN113086933A true CN113086933A (en) | 2021-07-09 |
| CN113086933B CN113086933B (en) | 2022-02-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113734458A (en) * | 2021-09-09 | 2021-12-03 | 香港中文大学（深圳） | Mechanical arm system-assisted aviation fuel filling method |
| CN113911379A (en) * | 2021-11-23 | 2022-01-11 | 中国商用飞机有限责任公司 | Refueling system for aircraft |
| CN114195084A (en) * | 2021-11-27 | 2022-03-18 | 正星科技股份有限公司 | Double-side automatic oiling robot and control method |
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| CN112279207A (en) * | 2020-02-20 | 2021-01-29 | 福建恒劲科博测控技术有限公司 | Automatic vehicle identification and oil injection system and method |
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| GB502001A (en) * | 1938-06-03 | 1939-03-09 | William Wallace Criley | Drop hammer lifting means |
| JPH07257693A (en) * | 1994-03-17 | 1995-10-09 | Tatsuno Co Ltd | Fuel-feeding device |
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| CN114195084A (en) * | 2021-11-27 | 2022-03-18 | 正星科技股份有限公司 | Double-side automatic oiling robot and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113086933B (en) | 2022-02-22 |
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