An adaptive servo docking and filling device

Abstract

The present invention relates to the technical field of filling application equipment, and particularly relates to an adaptive servo docking filling device, which comprises a vehicle or a movable equipment, a floating docking filling component, and an overshoot adaptive component. The floating docking filling component is detachably connected to the vehicle or the movable equipment and fills the vehicle or the movable equipment. The overshoot adaptive component is slidably connected to the floating docking filling component and is used for overshoot adaptation of the vehicle or the movable equipment. The present invention has the following advantages: it can automatically connect the fluid after the vehicle arrives through adaptive passive following and adaptive floating of the filling interface, stably fill when the vehicle continues to move slowly within a small range, automatically disconnect the fluid and retract the filling device to avoid damage after the vehicle overshoots, adaptively avoid and protect when the vehicle hits at high speed, support the vehicle to fill again in the reverse direction, and automatically reset after the filling is completed, thereby providing technical support for the automatic continuous filling of gas or liquid for the vehicle or the movable equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of filling application equipment, and in particular to an adaptive servo docking filling device. Background Art

[0002] Gas or liquid refueling of vehicles and mobile equipment is trending toward automation. Adaptive servo-assisted refueling devices deployed at fixed locations on the ground enable automated refueling, eliminating the need for human intervention in hazardous environments. Mining vehicles, transport trucks (for liquids or gas), and other vehicles feature external fluid refueling ports to control pneumatic or hydraulic systems or refuel fluids. Serial refueling of multiple vehicles is also a requirement. Electric vehicles currently utilize various circuit docking interfaces to support automated charging.

[0003] However, there is no detailed research on gas or liquid adaptive servo docking and filling devices for vehicles or mobile equipment. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and provide an adaptive servo docking and filling device, which can automatically connect the fluid after the vehicle is in place through adaptive passive following and adaptive floating of the filling interface, stably fill the fluid when the vehicle continues to move at a low speed in a small range, automatically disconnect the fluid and retract the filling device to avoid damage after the vehicle overshoots, adaptively avoid protection when the vehicle collides with an overspeed collision, support the vehicle to re-refill in the opposite direction, and automatically reset after filling is completed, thereby providing technical support for the automatic continuous filling of gas or liquid in vehicles or movable equipment.

[0005] In order to achieve the above object, the technical solution provided by the present invention is:

[0006] An adaptive servo docking and filling device, characterized in that it includes a vehicle or movable equipment 300, a floating docking and filling assembly 200 and an overshoot adaptive assembly 100, wherein the floating docking and filling assembly 200 is detachably connected to the vehicle or movable equipment 300 and can fill the vehicle or movable equipment 300, and the overshoot adaptive assembly 100 is slidably connected to the floating docking and filling assembly 200 for adapting to overshoot of the vehicle or movable equipment 300.

[0007] The vehicle or mobile equipment 300 includes a vehicle or mobile equipment and a filling port 1, wherein the filling port 1 is located on the side of the vehicle or mobile equipment close to the ground, and the axis of the filling port 1 is perpendicular to the movement direction of the vehicle or mobile equipment and parallel to the ground.

[0008] The filling port 1 is a cylindrical structure with a spherical front end and a hollow interior. The rear end is fixed to the side of a vehicle or movable equipment and is connected to a fluid pipeline.

[0009] The floating docking and filling assembly 200 includes a trolley 19, on which a telescopic arm 20 is slidably connected. The other end of the telescopic arm 20 is swingably connected to a deflecting support arm 24. Two floating shafts 31 are fixedly connected to the upper surface of the deflecting support arm 24. An X-shaped guiding and limiting groove 26 is floatingly sleeved in the middle of the two floating shafts 31. The X-shaped guiding and limiting groove 26 is used for guiding and adaptively adjusting the position after the cylindrical section of the filling port 1 falls in. On both sides of the telescopic arm 20, there is a deflecting return spring 22 respectively. The rear end of the deflecting return spring 22 is fixedly connected to the front side surface of the telescopic arm 20, and the front end of the deflecting return spring 22 is fixedly connected to the side surface of the deflecting support arm 24. A forward extension linear actuator 38 is fixedly connected to the top of the trolley 19. The first telescopic part 3801 of the forward extension linear actuator 38 is connected to a forward extension linear actuator connecting block 21, and the bottom of the forward extension linear actuator connecting block 21 is fixedly connected to the front end of the telescopic arm 20.

[0010] The X-shaped guiding and limiting groove 26 is composed of two V-shaped openings 2601 arranged in opposite directions. At the middle position of the X-shaped guiding and limiting groove 26, there are two second round holes 2602 that cooperate with the two floating shafts 31, and are constrained on the two floating shafts 31 by two lower floating springs 25 and two upper floating springs 29, so that the X-shaped guiding and limiting groove 26 has a certain floating ability in position and attitude.

[0011] A lower floating spring 25 is sleeved on the floating shaft 31 between the deflecting support arm 24 and the X-shaped guiding and limiting groove 26, and an upper floating spring 29 is sleeved on the floating shaft 31 above the X-shaped guiding and limiting groove 26.

[0012] On both sides of the upper surface of the X-shaped guiding and limiting groove 26, a left docking and filling linear actuator 32 and a right docking and filling linear actuator 30 are fixedly installed respectively. The third telescopic part 3201 of the left docking and filling linear actuator 32 is connected to a left linear actuator connecting block 39. A left trumpet-shaped filling port 34 is fixedly connected to the left linear actuator connecting block 39. The trumpet mouth of the left trumpet-shaped filling port 34 matches the filling port 1. The other end of the left trumpet-shaped filling port 34 is connected to a left filling hose 36. The second telescopic part 3001 of the right docking and filling linear actuator 30 is connected to a right linear actuator connecting block 33. A right trumpet-shaped filling port 35 is fixedly connected to the right linear actuator connecting block 33. The trumpet mouth of the right trumpet-shaped filling port 35 matches the filling port 1. The other end of the right trumpet-shaped filling port 35 is connected to a right filling hose 37.

[0013] At the positions closest to the left edge of the innermost sides of the two V-shaped openings 2601 of the X-shaped guiding and limiting groove 26, front-stage in-place detection switches 27 are respectively installed. At the positions closest to the right edge of the innermost sides of the two V-shaped openings 2601 of the X-shaped guiding and limiting groove 26, rear-stage in-place detection switches 28 are respectively installed. The front-stage in-place detection switches 27 and the rear-stage in-place detection switches 28 are used to jointly detect whether the filling port 1 moves to the innermost side of the V-shaped opening 2601 on the X-shaped guiding and limiting groove 26 and is closely attached.

[0014] At the upper part of the pulley 19, a first square guiding hole 1901 is provided, which cooperates with the rectangular outer shell of the telescopic arm 20 to realize the linear telescopic guiding of the telescopic arm 20. At the two sides of the lower part of the pulley 19, second square guiding holes 1902 are provided, which cooperate with the linear slide rail 18 of the overshoot self-adaptive assembly 100 to realize the linear movement guiding of the pulley 19.

[0015] The floating shaft 31 is a cylindrical structure with a larger upper end and a smaller lower end, and the diameter of the smaller cylindrical structure at the lower part is smaller than the two second round holes 2602 on the X-shaped guiding and limiting groove 26.

[0016] The right-side docking filling linear actuator 30 is used to linearly drive the right-side linear actuator connecting block 33 to drive the right-side flared filling port 35 to press against the filling port 1, so as to realize the connection of the right-side fluid channel; the left-side docking filling linear actuator 32 is used to linearly drive the left-side linear actuator connecting block 39 to drive the left-side flared filling port 34 to press against the filling port 1, so as to realize the connection of the left-side fluid channel

[0017] The left-side flared filling port 34 and the right-side flared filling port 35 have the same structure, both are flared, and the inside is spherical, and are used for docking, sealing and transmitting fluids with the filling port 1.

[0018] The left-side filling hose 36 and the right-side filling hose 37 are respectively connected to the left-side flared filling port 34 and the right-side flared filling port 35 to transmit fluids.

[0019] Compared with the prior art, the present invention has the following advantages: it can automatically connect the fluid after the vehicle arrives through adaptive passive following and adaptive floating of the filling interface, stably fill when the vehicle continues to move at a low speed within a small range, automatically disconnect the fluid and retract the filling device to avoid damage after the vehicle overshoots, adaptively avoid and protect when the vehicle hits at high speed, support the vehicle to refill in the reverse direction again, and automatically reset after the filling is completed, so as to provide technical support for the automatic continuous filling of gas or liquid for vehicles or mobile equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly understand the present invention, the present disclosure is further introduced by combining the specification drawings and the schematic embodiments. The drawings and the embodiments are used for explanation and do not constitute a limitation to the disclosure.

[0021] Figure 1 This is a schematic diagram of the overall layout of the docking and refueling device of the present invention for vehicle refueling;

[0022] Figure 2 This is a schematic diagram of the structure of the floating docking and refueling component of the docking and refueling device of the present invention;

[0023] Figure 3 This is a schematic cross-sectional view of the structure of the floating docking and refueling component of the docking and refueling device of the present invention;

[0024] Figure 4 This is a schematic cross-sectional view of the horn-shaped refueling port and the vehicle-side refueling port of the docking and refueling device of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the X-shaped guiding and limiting groove of the docking and refueling device of the present invention;

[0026] Figure 6 This is a schematic diagram of the deflection of the floating docking and refueling component of the docking and refueling device of the present invention;

[0027] Figure 7 This is a schematic diagram of the contracted state and the deployed state of the docking and refueling device of the present invention;

[0028] Figure 8 This is a schematic diagram of the deployed state and the contracted state of the docking and refueling device of the present invention.

[0029] As shown in the figure: refueling port 1, right weight support plate 2, right weight 3, right limit detection switch 4, right lower roller 5, right pulling rope 6, right support rod 7, right upper roller 8, signal lamp 9, left upper roller 10, left support rod 11, left pulling rope 12, left limit detection switch 13, left lower roller 14, left weight 15, left weight support plate 16, bracket 17, linear slide rail 18, pulley block 19, telescopic arm 20, front extension linear actuator connection block 21, deflection return spring 22, deflection rotating shaft 23, deflection support arm 24, lower floating spring 25, X-shaped guiding and limiting groove 26, front section in-place detection switch 27, rear section in-place detection switch 28, upper floating spring 29, right docking and refueling linear actuator 30, floating shaft 31, left docking and refueling linear actuator 32, docking and refueling linear actuator connection block 33, left horn-shaped refueling port 34, right horn-shaped refueling port 35, left refueling hose 36, right refueling hose 37, front extension linear actuator 38, left linear actuator connection block 39, first square guiding hole 1901, second square guiding hole 1902, V-shaped opening 2601, second round hole 2602, second telescopic part 3001, third telescopic part 3201, first telescopic part 3801. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. The components of the embodiments of this application generally described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application that is claimed, but merely represents selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts belong to the scope of protection of this application.

[0032] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0033] Embodiment 1

[0034] An adaptive servo docking and filling device, a vehicle or mobile equipment 300, a floating docking and filling assembly 200, an overshoot adaptive assembly 100; the vehicle or mobile equipment 300 includes a vehicle or mobile equipment and a filling port 1, the filling port 1 is located at a position close to the ground on the side of the vehicle, the axis is perpendicular to the moving direction of the vehicle or mobile equipment, and is parallel to the ground. The filling port 1 is a cylindrical structure, the front end is spherical, the inside is hollow, and the rear end is fixed to the side of the vehicle or mobile equipment and is communicated with a fluid pipeline.

[0035] The upper part of the pulley 19 is provided with a square guide hole, which cooperates with the rectangular outer shell of the telescopic arm 20 to realize the linear telescopic guidance of the telescopic arm 20. Square guide holes are provided on both sides of the lower part of the pulley 19, which cooperate with the linear slide rail 18 to realize the linear motion guidance of the pulley 19. The front extension linear actuator 38 is installed and fixed on the upper surface of the pulley 19. The telescopic arm 20 is a rectangular strip-shaped structure, with the front end fixed to the deflection rotating shaft 23 and the rear part inserted into the square guide hole provided in the upper part of the pulley 19. The front extension linear actuator connecting block 21 is a plate-shaped structure, with the side surface fixedly connected to the front part of the telescopic part of the front extension linear actuator 38, and the bottom surface fixedly connected to the upper surface of the front part of the telescopic arm 20. Two deflection return springs 22 are provided on both sides of the telescopic arm 20. The rear end of the deflection return spring 22 is fixedly connected to the side surface of the front part of the telescopic arm 20, and the front end is fixedly connected to the side surface of the deflection support arm 24. The deflection rotating shaft 23 is a cylindrical structure, fixed to the front end of the telescopic arm 20 and inserted into the circular hole at the rear part of the deflection support arm 24. The deflection support arm 24 is a strip-shaped structure, with a circular hole provided at the rear part, and two floating shafts 31 are fixedly installed on the upper surface in the middle along the length direction of the deflection support arm 24. Two lower floating springs 25 are respectively sleeved on the two floating shafts 31, located between the deflection support arm 24 and the X-shaped guide and limit groove 26. The X-shaped guide and limit groove 26 is provided with two V-shaped openings arranged in opposite directions, which are used for the guidance and adaptive position adjustment after the cylindrical section of the filling port 1 falls in. Two circular through holes are provided in the middle position, and are constrained on the two floating shafts 31 by the two lower floating springs 25 and the two upper floating springs 29, so that the X-shaped guide and limit groove 26 has a certain position and attitude floating ability. Two front-end in-place detection switches 27 are respectively installed at the innermost side of the upper V-shaped opening of the X-shaped guide and limit groove 26 near the left edge position, and two rear-end in-place detection switches 28 are respectively installed at the innermost side of the upper V-shaped opening of the X-shaped guide and limit groove 26 near the right edge position, which are used to jointly detect whether the filling port 1 moves to the innermost side of the V-shaped opening of the X-shaped guide and limit groove 26 and is tightly attached. Two upper floating springs 29 are respectively sleeved on the two floating shafts 31, located between the deflection support arm 24 and the upper surface of the X-shaped guide and limit groove 26. The right-side docking filling linear actuator 30 is used to linearly drive the docking filling linear actuator connecting block 33 to drive the right-side trumpet-shaped filling port 35 to press against the filling port 1, so as to realize the connection of the right-side fluid channel. The floating shaft 31 is a cylindrical structure with a larger upper end and a smaller lower end, and the diameter of the smaller cylindrical structure at the lower part is slightly smaller than the two circular through holes on the X-shaped guide and limit groove 26. The left-side docking filling linear actuator 32 is used to linearly drive the docking filling linear actuator connecting block 33 to drive the left-side trumpet-shaped filling port 3 to press against the filling port 1, so as to realize the connection of the left-side fluid channel. A docking filling linear actuator connecting block 33 is a plate-shaped structure, with the side surface fixedly connected to the front part of the telescopic part of the left-side docking filling linear actuator 32, and at the same time fixing the left-side trumpet-shaped filling port 34. A docking filling linear actuator connecting block 33 is a plate-shaped structure, with the side surface fixedly connected to the front part of the telescopic part of the right-side docking filling linear actuator 30, and at the same time fixing the right-side trumpet-shaped filling port 35.The left trumpet-shaped filling port 34 and the right trumpet-shaped filling port 35 have the same structure, both being trumpet-shaped with a spherical inner surface, and are used for docking with the filling port 1, sealing, and transmitting fluid. The left filling hose 36 and the right filling hose 37 are respectively connected to the left trumpet-shaped filling port 34 and the right trumpet-shaped filling port 35 to transmit fluid. The forward linear actuator 38 is fixedly installed on the upper surface of the trolley 19, and the front part of the telescopic part is fixed to the forward linear actuator connection block 21.

[0036] The weight support plate 2 has a flat plate structure and is fixed to the right side of the linear slide rail 18 to support the right weight 3 to prevent it from falling. The upper end of the right weight 3 is fixedly connected to the right pulling rope 6. The right limit detection switch 4 is located on the left side at the bottom of the right support rod 7 and is used to detect whether the trolley 19 moves to the side of the support rod 7. The right lower roller 5 has a disc-shaped structure and can rotate around its central rotating shaft. It is located at the bottom of the right support rod 7 and is used to change the state of the right pulling rope 6 from a state parallel to the linear slide rail 18 to a vertically upward state. The right pulling rope 6 is used to connect and detect the trolley 19 and the right weight 3 from the right side. The right support rod 7 has a rod-shaped structure, and its lower part is fixed to the linear slide rail 18. The right upper roller 8 has a disc-shaped structure and can rotate around its central rotating shaft. It is located at the upper part of the right support rod 7 and is used to change the state of the right pulling rope 6 from a vertically upward state to a vertically downward state. The signal lamp 9 is fixed to the upper part of the right support rod 7 and displays the state through light signals of different colors. The left upper roller 10 has a disc-shaped structure and can rotate around its central rotating shaft. It is located at the upper part of the left support rod 11 and is used to change the state of the left pulling rope 12 from a vertically upward state to a vertically downward state. The left support rod 11 has a rod-shaped structure, and its lower part is fixed to the linear slide rail 18. The left pulling rope 12 is used to connect and detect the trolley 19 and the left weight 15 from the left side. The left limit detection switch 13 is located on the right side at the bottom of the left support rod 11 and is used to detect whether the trolley 19 moves to the side of the left support rod 11. The left lower roller 14 has a disc-shaped structure and can rotate around its central rotating shaft. It is located at the bottom of the left support rod 11 and is used to change the state of the left pulling rope 12 from a state parallel to the linear slide rail 18 to a vertically upward state. The upper end of the left weight 15 is fixedly connected to the left pulling rope 12. The left weight support plate 16 has a flat plate structure and is fixed to the left side of the linear slide rail 18 to support the left weight 15 to prevent it from falling. The two brackets 17 are fixed to the left and right sides of the linear slide rail 18. The linear slide rail 18 has a long strip structure and is matched with the square guiding holes provided on both sides of the lower part of the trolley 19 to realize the linear motion guiding of the trolley 19.

[0037] Embodiment 2

[0038] The working principle of this capture and docking device:

[0039] I. Normal working condition

[0040] The floating docking and filling assembly 200 is located at the middle position of the linear slide rail 18, and the weights on both sides are located on the weight support plates at the lowest positions. The right docking and filling linear actuator 30, the forward extension linear actuator 38, and the left docking and filling linear actuator 32 inside the floating docking and filling assembly 200 extend to their in-place positions.

[0041] The vehicle runs from right to left, and the vehicle-side filling port 1 enters the V-shaped opening of the X-shaped guiding and limiting groove 26 on the floating docking and filling assembly 200. The X-shaped guiding and limiting groove 26 adaptively adjusts according to the actual pose of the vehicle-side filling port 1 until the vehicle-side filling port 1 triggers the two front-section in-place detection switches 27 and the rear-section in-place detection switch 28 in the X-shaped guiding and limiting groove 26.

[0042] The vehicle starts to decelerate and brake to a stop.

[0043] The right docking and filling linear actuator 30 retracts, driving the right trumpet-shaped filling port 35 to insert and engage with the vehicle-side filling port 1, and starts to fill the vehicle; after the filling is completed, the forward extension linear actuator 38 inside the floating docking and filling assembly 200 retracts, and the right docking and filling linear actuator 30 extends to its in-place position; due to the gravitational traction of the weights, the floating docking and filling assembly 200 automatically returns to the middle position of the linear slide rail 18, and the weights on both sides are located at the lowest positions.

[0044] II. Automatic disconnection and reset self-protection under abnormal conditions

[0045] a. Vehicle rollover

[0046] After the vehicle rolls over, the vehicle-side filling port 1 automatically disengages from the device, without affecting the system safety.

[0047] b. Slow overshoot of the vehicle

[0048] When the vehicle drives the floating docking and filling assembly 200 to run to one end of the linear slide rail 18, it will trigger the right limit detection switch 4 or the left limit detection switch 13. The control system automatically and quickly performs a reset operation. The controller controls the forward extension linear actuator 38 inside the floating docking and filling assembly 200 to retract, and the right docking and filling linear actuator 30 to extend to its in-place position; due to the gravitational traction of the weights, the floating docking and filling assembly 200 automatically returns to the middle position of the linear slide rail 18, and the weights on both sides are located at the lowest positions.

[0049] c. Fast overshoot of the vehicle

[0050] The vehicle drives the X-shaped guiding and limiting groove 26 and the deflection support arm 24 on the floating docking and filling assembly 200 to deflect around the deflection rotation shaft 23. The deflection return spring 22 on the rotating side is stretched. Subsequently, the filling port 1 slides out of the X-shaped guiding and limiting groove 26, and the deflection return spring 22 rebounds to reset the X-shaped guiding and limiting groove 26 and the deflection support arm 24 around the deflection rotation shaft 23.

[0051] Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An adaptive servo docking and filling device, characterized in that: It includes a vehicle or movable equipment (300), a floating docking filling component (200), and an overshoot adaptive component (100). The floating docking filling component (200) is detachably connected to the vehicle or movable equipment (300) and fills the vehicle or movable equipment (300). The overshoot adaptive component (100) is slidably connected to the floating docking filling component (200) for overshoot adaptation of the vehicle or movable equipment (300); the vehicle or movable equipment (300) includes a filling port (1); the floating docking filling component (200) includes a trolley (19), on which a telescopic arm (20) is slidably connected. The other end of the telescopic arm (20) is swingably connected to a deflection support arm (24). Two floating shafts (31) are fixedly connected to the upper surface of the deflection support arm (24). An X-shaped guiding and limiting groove (26) is floatingly sleeved in the middle of the two floating shafts (31). The X-shaped guiding and limiting groove (26) is used for guiding and adaptively adjusting the position after the cylindrical section of the filling port (1) falls in; on both sides of the telescopic arm (20), there is respectively a deflection return spring (22). The rear end of the deflection return spring (22) is fixedly connected to the front side surface of the telescopic arm (20), and the front end of the deflection return spring (22) is fixedly connected to the side surface of the deflection support arm (24); a front extension linear actuator (38) is fixedly connected to the top of the trolley (19). The first telescopic part (3801) of the front extension linear actuator (38) is connected to a front extension linear actuator connection block (21). The bottom of the front extension linear actuator connection block (21) is fixedly connected to the front end of the telescopic arm (20); on both sides of the upper surface of the X-shaped guiding and limiting groove (26), a left docking filling linear actuator (32) and a right docking filling linear actuator (30) are respectively fixedly installed. The third telescopic part (3201) of the left docking filling linear actuator (32) is connected to a left linear actuator connection block (39). A left trumpet-shaped filling port (34) is fixedly connected to the left linear actuator connection block (39). The trumpet mouth of the left trumpet-shaped filling port (34) matches the filling port (1). The other end of the left trumpet-shaped filling port (34) is connected to a left filling hose (36). The second telescopic part (3001) of the right docking filling linear actuator (30) is connected to a right linear actuator connection block (33). A right trumpet-shaped filling port (35) is fixedly connected to the right linear actuator connection block (33). The trumpet mouth of the right trumpet-shaped filling port (35) matches the filling port (1). The other end of the right trumpet-shaped filling port (35) is connected to a right filling hose (37); the right docking filling linear actuator (30) is used to linearly drive the right linear actuator connection block (33) to drive the right trumpet-shaped filling port (35) to press against the filling port (1) to realize the connection of the right fluid channel;The left docking filling linear actuator (32) is used to linearly drive the left linear actuator connecting block (39) to drive the left trumpet-shaped filling port (34) to press against the filling port (1), so as to realize the connection of the left fluid channel; the overshoot adaptive component (100) includes a bracket (17), a linear slide rail (18) is fixedly connected to the top of the bracket (17), a left weight support plate (16) and a right weight support plate (2) are respectively fixedly connected to the left and right ends of the linear slide rail (18), left support rods (11) and right support rods (7) are respectively fixedly connected to the left and right tops of the linear slide rail (18), a left upper roller (10) and a left lower roller (14) are respectively installed on the upper and lower parts of the left support rod (11), a left pulling rope (12) is wound around the left upper roller (10) and the left lower roller (14) in sequence, one end of the left pulling rope (12) is connected to a left weight (15), and the other end of the left pulling rope (12) is connected to the left side of a pulley (19); a right upper roller (8) and a right lower roller (5) are respectively installed on the upper and lower parts of the right support rod (7), a right pulling rope (6) is wound around the right upper roller (8) and the right lower roller (5) in sequence, and the two ends of the right pulling rope (6) are respectively connected to a right weight (3) and the right side of the pulley (19).; 2. The adaptive servo docking and filling device according to claim 1, characterized in that: The filling port (1) is located near the ground on the side of the vehicle or mobile equipment. The axis of the filling port (1) is perpendicular to the moving direction of the vehicle or mobile equipment and parallel to the ground.

3. An adaptive servo docking and filling device according to claim 1, characterized in that: The X-shaped guiding and limiting groove (26) is composed of two V-shaped openings (2601) arranged in opposite directions. Two second round holes (2602) matching with two floating shafts (31) are arranged at the middle position of the X-shaped guiding and limiting groove (26), and are constrained on the two floating shafts (31) by two lower floating springs (25) and two upper floating springs (29), so that the X-shaped guiding and limiting groove (26) has the ability to float in position and attitude.

4. An adaptive servo docking and filling device according to claim 1, characterized in that: Front-end in-place detection switches (27) are respectively installed at the positions closest to the left edge on the innermost sides of the two V-shaped openings (2601) of the X-shaped guiding and limiting groove (26), and rear-end in-place detection switches (28) are respectively installed at the positions closest to the right edge on the innermost sides of the two V-shaped openings (2601) of the X-shaped guiding and limiting groove (26). The front-end in-place detection switches (27) and the rear-end in-place detection switches (28) are used to jointly detect whether the filling port (1) moves to the innermost side of the V-shaped opening (2601) on the X-shaped guiding and limiting groove (26) and is tightly attached.

5. An adaptive servo docking and filling device according to claim 1, characterized in that: A first square guiding hole (1901) is provided at the upper part of the pulley block (19), which cooperates with the rectangular outer shell of the telescopic arm (20) to realize the linear telescopic guiding of the telescopic arm (20). Second square guiding holes (1902) are provided on both sides of the lower part of the pulley block (19), which cooperate with the linear slide rail (18) of the overshoot self-adaptive component (100) to realize the linear movement guiding of the pulley block (19).

6. An adaptive servo docking and filling device according to claim 1, characterized in that: The left counterweight (15) is placed above the left counterweight support plate (16), and the right counterweight (3) is placed above the right counterweight support plate (2).

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