An automatic fueling mechanism for an automobile and its working method

Abstract

The present invention relates to an automatic refueling mechanism for automobiles and its working method, belonging to the technical field of automatic refueling. The mechanism includes a six-axis robotic arm, a cylinder, an automatic refueling device, and a control system. Among them, the end of the six-axis robotic arm is connected to the automatic refueling device through the cylinder, and the six-axis robotic arm, the cylinder, and the automatic refueling device are all connected to the control system. After the laser scanner of the present invention scans and locates, the overall working state can be determined. The actions of opening the fuel tank cap and refueling are coaxial, eliminating the need for multiple attitude adjustments and avoiding the use of a large number of sensors. This enables the entire process of automobile refueling to be automated, improving the efficiency of automobile refueling, reducing the labor intensity of gas station staff, and lowering the labor cost of automobile refueling.

Description

Technical Field

[0001] The present invention relates to an automatic refueling mechanism for automobiles and its working method, belonging to the technical field of automatic refueling. Background Art

[0002] The total number of automobiles in our country is huge, and most automobiles rely on gasoline to work. Currently, most gas stations use manual refueling. The tasks of the staff are heavy, the labor intensity is high, and gas stations need to arrange personnel to be on duty 24 hours a day to provide refueling services. For the existing automatic refueling devices in the market, a large number of sensor groups are required for repeated positioning and monitoring, the control process is complex, and faults are prone to occur, increasing the equipment usage cost and being unfavorable for the popularization of fully automatic refueling services.

[0003] Chinese patent document CN105329192A discloses a method and system for automatic refueling of automobiles. The system includes an intelligent terminal of the automobile, an automobile fuel tank, a cloud database, and a gas station. The gas station includes more than two refueling channels. On one side of each refueling channel, there are more than two intelligent refueling piles. An information matching system and an information display screen are arranged around the intelligent refueling piles. A refueling indicator light and an allow - refueling indicator light are arranged on the front of the intelligent refueling piles, and a fuel pipe is arranged on the side of the intelligent refueling piles. However, this system requires an additional intelligent terminal on the automobile to match the gas station for use, with obvious low applicability and being unfavorable for the promotion of automatic refueling. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides an automatic refueling mechanism for automobiles. After the laser scanner scans and locates, the overall working state can be determined. The actions of opening the fuel tank cap and refueling are coaxial, eliminating the need for multiple attitude adjustments, avoiding the use of a large number of sensors, automating the overall process of automobile refueling, improving the efficiency of automobile refueling, reducing the labor intensity of gas station staff, and lowering the labor cost of automobile refueling.

[0005] The present invention also provides a working method for the above - mentioned automatic refueling mechanism for automobiles.

[0006] The technical solution of the present invention is as follows:

[0007] An automatic refueling mechanism for automobiles includes a six - axis robotic arm, a cylinder, an automatic refueler, and a control system. Among them, the end of the six - axis robotic arm is connected to the automatic refueler through the cylinder, and the six - axis robotic arm, the cylinder, and the automatic refueler are all connected to the control system.

[0008] Preferably according to the present invention, the automatic fuel dispenser includes a pneumatic guide rail, a laser scanner, a connecting cylinder, a cross bracket, an electric control fuel gun and a clamping mechanism. One side of the cross bracket is fixed to the output shaft of the cylinder, a laser scanner is arranged at the top of the other side, a connecting cylinder is fixedly arranged in the middle, a pneumatic guide rail is arranged at the bottom, an electric control fuel gun is arranged on the pneumatic guide rail through a guide rail slider, the upper part of the electric control fuel gun is arranged in the connecting cylinder, an opening for the sliding of the electric control fuel gun is arranged at the bottom of the connecting cylinder, and a clamping mechanism is arranged at one end of the connecting cylinder.

[0009] Further preferably according to the present invention, the clamping mechanism includes a rotating mechanism, an L-shaped guide rail, a pneumatic gripper, a clamping slider, a connecting block, a buffer spring, a fixture head, a moving motor and a first friction wheel. A rotating mechanism is arranged at the opening at one end of the connecting cylinder, an L-shaped guide rail is fixedly arranged on the outside of the rotating mechanism, both ends of the pneumatic gripper are slidably arranged in the L-shaped guide rail through pneumatic sliders, a limiting chute is arranged in the L-shaped guide rail, clamping sliders are respectively fixedly arranged on the two output shafts of the pneumatic gripper, a rectangular groove is arranged on one side of the connecting block, the clamping sliders are arranged in the rectangular groove, and the ends of the clamping sliders are connected to the rectangular groove through buffer springs. A fixture head is fixedly arranged on the other side of the connecting block, a moving motor is fixedly arranged on one side of the pneumatic gripper, and the output shaft of the moving motor contacts the inner side of the L-shaped guide rail through a first friction wheel, and the pneumatic gripper is driven to slide along the L-shaped guide rail by the rotation of the moving motor.

[0010] Preferably according to the present invention, the rotating mechanism includes a rotating platform, a servo motor, a reducer and a second friction wheel. The rotating platform is rotatably arranged at the opening at one end of the connecting cylinder through a bearing, a circular protrusion is arranged on the inner side of the rotating platform, a through hole is arranged at the center of the rotating platform, the servo motor is connected with the reducer, the reducer is fixed to the inner wall of the connecting cylinder through an arc-shaped motor bracket, a second friction wheel is arranged on the output shaft of the reducer, the second friction wheel contacts the outside of the circular protrusion, and the rotation of the second friction wheel drives the circular protrusion to rotate, thereby driving the rotation of the rotating platform.

[0011] The inner fuel tank cap used in diesel or gasoline vehicles on the existing market is connected to the vehicle body itself through a rope, which results in a short moving distance between the inner fuel tank cap and the vehicle. The present invention uses an L-shaped guide rail in cooperation with a pneumatic gripper to move the inner fuel tank cap to one side of the connecting cylinder, leaving the fuel filling through hole of the rotating platform, realizing the opening and closing of the inner fuel tank cap and fuel filling within a short displacement, and ensuring the safety of the vehicle fuel filling operation.

[0012] Preferably according to the present invention, a photoelectric switch is arranged on the outside of the rotating platform, and the photoelectric switch detects the distance between the automatic fuel dispenser and the vehicle body to avoid the automatic fuel dispenser touching the vehicle body and causing damage.

[0013] Further preferably according to the present invention, three microswitches are circumferentially and evenly arranged on the outside of the rotating platform, a microswitch is arranged on the microspring, and a rubber pad is arranged on the microswitch.

[0014] The working method of the above-mentioned automatic vehicle fueling mechanism is as follows:

[0015] (1) Connect the control system of the mechanism to the billing system of the gas station. After the refueling vehicle drives into the designated position of the gas station, the driver makes the payment;

[0016] (2) After the payment is completed, the laser scanner scans to determine the position and attitude of the fuel tank outer cover. The six-axis robotic arm works to control the fixture head to press the fuel tank outer cover, then push it from the side to fully open it, and then the fixture head resets;

[0017] (3) The laser scanner scans again to determine the position of the fuel tank inner cover. The six-axis robotic arm works to control the automatic fuel dispenser to reach the predetermined position. The cylinder extends to make the fixture head contact the fuel tank inner cover, and then the pneumatic gripper works to control the clamping slider to drive the fixture head to move towards the middle to clamp the fuel tank inner cover. Then the servo motor rotates clockwise, drives the second friction wheel to rotate through the reducer, and further drives the rotating platform and the fixture head to rotate to unscrew the fuel tank inner cover. During the process of unscrewing the fuel tank inner cover, the fuel tank inner cover will move outwards, and this moving distance is compensated by the expansion and contraction of the buffer spring;

[0018] (4) After unscrewing the fuel tank inner cover, the cylinder retracts, and the fixture head clamps the fuel tank inner cover and moves out a certain distance. Subsequently, the moving motor works to drive the first friction wheel to rotate, causing the pneumatic gripper to move along the guide of the L-shaped rail to the side of the rotating platform, exposing the through hole in the center of the rotating platform;

[0019] (5) The pneumatic rail works to drive the rail slider to move, driving the electric control fuel gun to move towards the vehicle fuel filling port, so that the nozzle of the electric control fuel gun extends out of the through hole in the center of the rotating platform. Then the cylinder extends to make the nozzle of the electric control fuel gun extend into the vehicle fuel filling port. The electric control fuel gun works to refuel. After the refueling is completed, the electric control fuel gun stops working;

[0020] (6) The cylinder retracts to move the nozzle of the electric control fuel gun out of the vehicle fuel filling port. The pneumatic rail works to drive the rail slider to move, and then drives the electric control fuel gun to move in the reverse direction and return to the initial position. Subsequently, the moving motor works to drive the first friction wheel to rotate, causing the pneumatic gripper to move along the guide of the L-shaped rail and move from the side of the rotating platform to the initial position;

[0021] (7) The air cylinder extends, causing the inner fuel tank cap clamped by the fixture head to contact the vehicle fuel filler opening and be pressed tightly by the buffer spring. The servo motor rotates, driving the second friction wheel to rotate through the speed reducer, and then driving the rotating platform and the fixture head to rotate to tighten the inner fuel tank cap. After the inner fuel tank cap is tightened, the pneumatic gripper operates to control the clamping slider to move to both sides, causing the fixture head to release the inner fuel tank cap. Then the air cylinder retracts, causing the fixture head to move away from the inner fuel tank cap. The six-axis robotic arm is controlled to drive the fixture head to push the outer fuel tank cap from the side and then press the outer fuel tank cap from the front to complete the closing of the outer fuel tank cap. Thus, one refueling is completed.

[0022] Preferably according to the present invention, during the refueling process, if due to various accidents the vehicle body gets too close and the photoelectric switch detects that the distance value is lower than the set threshold, the entire refueling mechanism will stop urgently. If the photoelectric switch fails and the distance between the automatic fuel dispenser and the vehicle body gets closer, the rubber pad of the microswitch will contact the vehicle body. After the microswitch detects the action, the entire refueling mechanism will stop urgently to provide double anti-collision protection. Due to the absorption of impact by the microspring 24 and the rubber pad 26, this contact will not damage the vehicle body and plays a role of physical limit. Through this limiting method, it is ensured that the machine will not damage the vehicle body.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1. After the laser scanner of the present invention scans and locates, the overall working state can be determined. The opening and refueling actions are coaxial, eliminating the need for multiple attitude adjustments, avoiding the use of a large number of sensors, automating the entire process of vehicle refueling, improving the efficiency of vehicle refueling, reducing the labor intensity of gas station staff, and lowering the labor cost of vehicle refueling.

[0025] 2. The present invention is provided with a photoelectric switch and a microswitch. During the refueling process, if due to various accidents the vehicle body gets too close and the photoelectric switch detects that the distance value is lower than the set threshold, the entire refueling mechanism will stop urgently. If the photoelectric switch fails and the distance between the automatic fuel dispenser and the vehicle body gets closer, the rubber pad of the microswitch will contact the vehicle body. After the microswitch detects the action, the entire refueling mechanism will stop urgently to provide double anti-collision protection. Due to the absorption of impact by the microspring and the rubber pad, this contact will not damage the vehicle body and plays a role of physical limit. Through this limiting method, it is ensured that the machine will not damage the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic structural diagram of the present invention;

[0027] Figure 2 is a schematic structural diagram of the automatic fuel dispenser of the present invention;

[0028] Figure 3Schematic diagram of the internal structure of the automatic oiler of the present invention;

[0029] Figure 4 Schematic diagram of the rear side of the rotating platform of the present invention after rotation;

[0030] Figure 5 Schematic diagram of the partial structure of the automatic oiler of the present invention;

[0031] Wherein: 1, six-axis robotic arm; 2, cylinder; 3, automatic oiler; 4, pneumatic guide rail; 5, guide rail slider; 6, laser scanner; 7, connecting cylinder; 8, electric control oil gun; 9, cross bracket; 10, second friction wheel; 11, motor bracket; 12, reducer; 13, servo motor; 14, L-shaped guide rail; 15, rotating platform; 16, moving motor; 17, first friction wheel; 18, fixture head; 19, connecting block; 20, buffer spring; 21, clamping slider; 22, pneumatic gripper; 23, pneumatic slider; 24, micro-motion spring; 25, micro-switch; 26, rubber pad; 27, photoelectric switch. Specific embodiments

[0032] The present invention will be further described below by way of examples in conjunction with the accompanying drawings, but is not limited thereto.

[0033] Example 1:

[0034] As Figures 1-5 shown, this embodiment provides an automatic refueling mechanism for an automobile, including a six-axis robotic arm 1, a cylinder 2, an automatic oiler 3 and a control system. Among them, the end of the six-axis robotic arm 1 is connected to an automatic oiler 3 through a cylinder 2, and the six-axis robotic arm 1, the cylinder 2 and the automatic oiler 3 are all connected to the control system.

[0035] The automatic oiler 3 includes a pneumatic guide rail 4, a laser scanner 6, a connecting cylinder 7, a cross bracket 9, an electric control oil gun 8 and a clamping mechanism. One side of the cross bracket 9 is fixed to the output shaft of the cylinder 2, a laser scanner 6 is arranged at the top of the other side, a connecting cylinder 7 is fixedly arranged in the middle, a pneumatic guide rail 4 is arranged at the bottom, an electric control oil gun 8 is arranged on the pneumatic guide rail 4 through a guide rail slider 5, the upper part of the electric control oil gun 8 is arranged in the connecting cylinder 7, an opening for the sliding of the electric control oil gun is arranged at the bottom of the connecting cylinder 7, and a clamping mechanism is arranged at one end of the connecting cylinder 7.

[0036] The clamping mechanism includes a rotating mechanism, an L-shaped guide rail 14, a pneumatic gripper 22, a clamping slider 21, a connecting block 19, a buffer spring 20, a fixture head 18, a moving motor 16 and a first friction wheel 17. A rotating mechanism is provided at the open end of one side of the connecting cylinder 7. The L-shaped guide rail 14 is fixedly arranged on the outside of the rotating mechanism. The two ends of the pneumatic gripper 22 are slidably arranged in the L-shaped guide rail 14 through pneumatic sliders 23. A limiting chute is arranged in the L-shaped guide rail 14. Clamping sliders 21 are respectively and fixedly arranged on the two output shafts of the pneumatic gripper 22. A rectangular groove is arranged on one side of the connecting block 19. The clamping slider 21 is arranged in the rectangular groove. The end of the clamping slider 21 is connected with the rectangular groove through the buffer spring 20. The fixture head 18 is fixedly arranged on the other side of the connecting block 19. The moving motor 16 is fixedly arranged on one side of the pneumatic gripper 22. The output shaft of the moving motor 16 contacts the inner side of the L-shaped guide rail 14 through the first friction wheel 17. The pneumatic gripper is driven to slide along the L-shaped guide rail by the rotation of the moving motor.

[0037] The rotating mechanism includes a rotating platform 15, a servo motor 13, a speed reducer 12 and a second friction wheel 10. The rotating platform 15 is rotatably arranged at the open end of one side of the connecting cylinder 7 through a bearing. A circular protrusion is arranged on the inner side of the rotating platform 15. A through hole is arranged at the center of the rotating platform 15. The servo motor 13 is connected with the speed reducer 12. The speed reducer 12 is fixed on the inner wall of the connecting cylinder 7 through an arc-shaped motor bracket 11. The second friction wheel 10 is arranged on the output shaft of the speed reducer 12. The second friction wheel 10 contacts the outer side of the circular protrusion. The circular protrusion is driven to rotate by the rotation of the second friction wheel, and then the rotating platform is driven to rotate.

[0038] The inner fuel tank cover used in diesel or gasoline vehicles on the existing market is connected to the vehicle body through a rope. This results in a short moving distance between the inner fuel tank cover and the vehicle. In the present invention, the inner fuel tank cover is moved to one side of the connecting cylinder through the cooperation of the L-shaped guide rail and the pneumatic gripper, leaving the fuel filling through hole of the rotating platform, realizing the opening, closing and fuel filling of the inner fuel tank cover within a short displacement, and ensuring the safety of the vehicle fuel filling operation.

[0039] A photoelectric switch 27 is arranged on the outside of the rotating platform 15. The photoelectric switch detects the distance between the automatic fuel dispenser and the vehicle body to avoid the automatic fuel dispenser touching the vehicle body and causing damage.

[0040] Three micro-motion springs 24 are circumferentially and evenly arranged on the outside of the rotating platform 15. Micro-switch 25 is arranged on the micro-motion spring 24, and a rubber pad 26 is arranged on the micro-switch 25.

[0041] The working method of the above-mentioned automatic vehicle fuel filling mechanism is as follows:

[0042] (1) Connect the control system of the mechanism to the billing system of the gas station. After the refueling vehicle drives into the designated position of the gas station, the driver pays the fee;

[0043] (2) After the payment is completed, the laser scanner 6 scans to determine the position and attitude of the outer fuel tank cover. The six-axis robotic arm 1 operates to control the fixture head 18 to press the outer fuel tank cover and then push it from the side to fully open it, and then the fixture head resets.

[0044] (3) The laser scanner 6 scans again to determine the position of the inner fuel tank cover. The six-axis robotic arm 1 operates to control the automatic fuel dispenser 3 to reach the predetermined position. The cylinder 2 extends to make the fixture head 18 contact the inner fuel tank cover. Then the pneumatic gripper 22 operates to control the clamping slider 21 to drive the fixture head 18 to move towards the middle, so that the fixture head 18 clamps the inner fuel tank cover. Then the servo motor 13 rotates clockwise, drives the second friction wheel 10 to rotate through the reducer 12, and further drives the rotating platform 15 and the fixture head 18 to rotate to unscrew the inner fuel tank cover. During the process of unscrewing the inner fuel tank cover, the inner fuel tank cover will move outwards, and this moving distance is compensated by the expansion and contraction of the buffer spring 20.

[0045] (4) After unscrewing the inner fuel tank cover, the cylinder 2 retracts, and the fixture head 18 clamps the inner fuel tank cover and moves out a certain distance. Subsequently, the moving motor 16 operates to drive the first friction wheel 17 to rotate, so that the pneumatic gripper 22 moves along the guide of the L-shaped guide rail 14 to the side of the rotating platform 15, exposing the through hole in the center of the rotating platform 15.

[0046] (5) The pneumatic guide rail 4 operates to drive the guide rail slider 5 to move, driving the electric control fuel gun 8 to move towards the vehicle fuel filler opening, so that the nozzle of the electric control fuel gun 8 extends out of the through hole in the center of the rotating platform 15. Then the cylinder 2 extends, so that the nozzle of the electric control fuel gun 8 extends into the vehicle fuel filler opening. The electric control fuel gun operates to refuel. After the refueling is completed, the electric control fuel gun stops working.

[0047] (6) The cylinder 2 retracts to move the nozzle of the electric control fuel gun 8 out of the vehicle fuel filler opening. The pneumatic guide rail 4 operates to drive the guide rail slider 5 to move, and then drives the electric control fuel gun 8 to move in the reverse direction and return to the initial position. Subsequently, the moving motor 16 operates to drive the first friction wheel 17 to rotate, so that the pneumatic gripper 22 moves along the guide of the L-shaped guide rail 14 and moves from the side of the rotating platform 15 to the initial position.

[0048] (7) The cylinder 2 extends out, so that the inner cover of the fuel tank clamped by the clamp head 18 contacts the fuel filling port of the car and is compressed by the buffer spring 20. The servo motor 13 rotates, driving the second friction wheel 10 to rotate through the reducer 12, and then driving the rotating platform 15 and the clamp head 18 to rotate and tighten the inner cover of the fuel tank. After the inner cover of the fuel tank is tightened, the pneumatic clamp 22 works and controls the clamping slider 21 to move to both sides, so that the clamp head 18 loosens the inner cover of the fuel tank. Then the cylinder 2 retracts, so that the clamp head 18 moves out from the inner cover of the fuel tank, and controls the six-axis robot 1 to drive the clamp head 18 to push the outer cover of the fuel tank from the side, and then press the outer cover of the fuel tank from the front to complete the closure of the outer cover of the fuel tank. At this point, one refueling is completed.

[0049] During the refueling process, if the vehicle body is too close due to various accidents, the photoelectric switch 27 detects that the distance value is lower than the set threshold, and the entire refueling mechanism is shut down urgently. If the photoelectric switch fails, the distance between the automatic refueler and the vehicle body is further approached, and the micro switch rubber pad 26 contacts the vehicle body, the micro switch 25 detects the action, and the entire refueling mechanism is shut down urgently, and double anti-collision protection is performed. Because the micro spring 24 and the rubber pad 26 absorb the impact, this contact will not damage the vehicle body and play a role of physical limit. Through this limit method, it is ensured that the machine will not cause damage to the vehicle body.

Claims

1. An automatic refueling mechanism for a vehicle, characterized in that, it includes a six-axis robotic arm, a cylinder, an automatic fuel dispenser, and a control system. Among them, the end of the six-axis robotic arm is connected to the automatic fuel dispenser through the cylinder, and the six-axis robotic arm, the cylinder, and the automatic fuel dispenser are all connected to the control system; The automatic fuel dispenser includes a pneumatic guide rail, a laser scanner, a connecting cylinder, a cross bracket, an electronically controlled fuel gun, and a clamping mechanism. One side of the cross bracket is fixed to the output shaft of the cylinder, the laser scanner is arranged at the top of the other side, the connecting cylinder is fixedly arranged in the middle, the pneumatic guide rail is arranged at the bottom, the electronically controlled fuel gun is arranged on the pneumatic guide rail through a guide rail slider, the upper part of the electronically controlled fuel gun is arranged in the connecting cylinder, an opening for the sliding of the electronically controlled fuel gun is arranged at the bottom of the connecting cylinder, and a clamping mechanism is arranged at one end of the connecting cylinder; The clamping mechanism includes a rotating mechanism, an L-shaped guide rail, a pneumatic gripper, a clamping slider, a connecting block, a buffer spring, a fixture head, a moving motor, and a first friction wheel. A rotating mechanism is arranged at the opening at one end of the connecting cylinder, an L-shaped guide rail is fixedly arranged outside the rotating mechanism, the two ends of the pneumatic gripper are slidably arranged in the L-shaped guide rail through pneumatic sliders, a limiting chute is arranged in the L-shaped guide rail, clamping sliders are respectively fixedly arranged on the two output shafts of the pneumatic gripper, a rectangular groove is arranged on one side of the connecting block, the clamping slider is arranged in the rectangular groove, and the end of the clamping slider is connected to the rectangular groove through a buffer spring. A fixture head is fixedly arranged on the other side of the connecting block, a moving motor is fixedly arranged on one side of the pneumatic gripper, and the output shaft of the moving motor contacts the inner side of the L-shaped guide rail through a first friction wheel.

2. The automatic refueling mechanism for a vehicle according to claim 1, characterized in that, the rotating mechanism includes a rotating platform, a servo motor, a reducer, and a second friction wheel. The rotating platform is rotatably arranged at the opening at one end of the connecting cylinder through a bearing, a circular protrusion is arranged inside the rotating platform, a through hole is arranged at the center of the rotating platform, the servo motor is connected to the reducer, the reducer is fixed to the inner wall of the connecting cylinder through an arc-shaped motor bracket, a second friction wheel is arranged on the output shaft of the reducer, and the second friction wheel contacts the outside of the circular protrusion.

3. The automatic refueling mechanism for a vehicle according to claim 2, characterized in that, a photoelectric switch is arranged outside the rotating platform.

4. The automatic refueling mechanism for a vehicle according to claim 3, characterized in that, micro-motion springs are circumferentially and evenly arranged outside the rotating platform, micro-motion switches are arranged on the micro-motion springs, and rubber pads are arranged on the micro-motion switches.

5. A working method of the automatic refueling mechanism for a vehicle according to claim 4, characterized in that, the steps are as follows: (1) Connect the control system of the mechanism to the billing system of the gas station. After the refueling vehicle drives into the designated position of the gas station, the driver makes a payment; (2) After the payment is completed, the laser scanner scans to determine the position and posture of the fuel tank outer cover. The six-axis robotic arm works, controls the fixture head to press the fuel tank outer cover, and then pushes the fuel tank outer cover from the side to completely open it, and then the fixture head resets; (3) The laser scanner scans again to determine the position of the inner fuel tank cap. The six-axis robotic arm operates to control the automatic fuel dispenser to reach the predetermined position. The cylinder extends, causing the fixture head to contact the inner fuel tank cap. Then the pneumatic gripper operates to control the clamping slider to drive the fixture head to move towards the middle, clamping the inner fuel tank cap. Then the servo motor rotates clockwise, driving the second friction wheel to rotate through the reducer, and further driving the rotating platform and the fixture head to rotate, unscrewing the inner fuel tank cap. During the process of unscrewing the inner fuel tank cap, the inner fuel tank cap will move outwards, and this moving distance is compensated by the expansion and contraction of the buffer spring. (4) After unscrewing the inner fuel tank cap, the cylinder retracts, and the fixture head clamps the inner fuel tank cap and moves out a certain distance. Subsequently, the moving motor operates to drive the first friction wheel to rotate, causing the pneumatic gripper to move along the guidance of the L-shaped rail to the side of the rotating platform, exposing the through hole in the center of the rotating platform. (5) The pneumatic rail operates to drive the rail slider to move, driving the electric control fuel gun to move towards the vehicle fuel filling port, causing the nozzle of the electric control fuel gun to extend out of the through hole in the center of the rotating platform. Then the cylinder extends, causing the nozzle of the electric control fuel gun to extend into the vehicle fuel filling port. The electric control fuel gun operates to fill the fuel. After the fuel filling is completed, the electric control fuel gun stops working. (6) The cylinder retracts, causing the nozzle of the electric control fuel gun to move out of the vehicle fuel filling port. The pneumatic rail operates to drive the rail slider to move, and then drives the electric control fuel gun to move in the reverse direction and return to the initial position. Subsequently, the moving motor operates to drive the first friction wheel to rotate, causing the pneumatic gripper to move along the guidance of the L-shaped rail and move from the side of the rotating platform to the initial position. (7) The cylinder extends, causing the inner fuel tank cap clamped by the fixture head to contact the vehicle fuel filling port and be pressed tightly by the buffer spring. The servo motor rotates, driving the second friction wheel to rotate through the reducer, and further driving the rotating platform and the fixture head to rotate, tightening the inner fuel tank cap. After the inner fuel tank cap is tightened, the pneumatic gripper operates to control the clamping slider to move to both sides, loosening the fixture head from the inner fuel tank cap. Then the cylinder retracts, causing the fixture head to move out from the inner fuel tank cap. Control the six-axis robotic arm to drive the fixture head to push the outer fuel tank cap from the side and then press the outer fuel tank cap from the front to complete the closing of the outer fuel tank cap. Thus, one fuel filling is completed.

6. The working method of the automatic vehicle fuel filling mechanism according to claim 5, characterized in that, during the fuel filling process, if the vehicle body gets too close due to various accidents and the photoelectric switch detects that the distance value is lower than the set threshold, the entire fuel filling mechanism will stop urgently. If the photoelectric switch fails and the distance between the automatic fuel dispenser and the vehicle body gets closer, the rubber pad of the microswitch will contact the vehicle body. After the microswitch detects the action, the entire fuel filling mechanism will stop urgently.

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