A fully automatic refueling robot and its working method

Abstract

The present invention relates to a full-automatic refueling robot and its working method, belonging to the technical field of automatic refueling. The robot includes a robotic arm, a support mechanism, a fuel tank lid opening mechanism, a fuel gun clamping mechanism, and a control system. Among them, the support mechanism is fixedly arranged at the end of the robotic arm, and the fuel tank lid opening mechanism and the fuel gun clamping mechanism are arranged on one side of the support mechanism. The robotic arm, the support mechanism, the fuel tank lid opening mechanism, and the fuel gun clamping mechanism are all connected to the control system. The present invention determines the position of the refueling vehicle and the position of the fuel filling port through a laser scanner, and there is no need to repeat scanning and positioning during the opening and closing of the fuel tank lid and the refueling operation. The attitude adjustment amount is small, the speed is fast, the refueling vehicle can be identified and refueled automatically, the degree of intelligence is high, the refueling efficiency is improved, the labor cost is saved, and the intelligent construction of the gas station is promoted.

Description

Technical Field

[0001] The present invention relates to a full-automatic refueling robot and its working method, belonging to the technical field of automatic refueling. Background Art

[0002] With the changes in the oil product market and the social consumption pattern, the consumption demands of gas station customers are more inclined to be convenient and automated. As the main sales entity, gas stations are also actively promoting intelligent construction in the Internet era. Currently, fixed fuel dispensers are mainly used in gas stations. When a refueling vehicle drives into the refueling position beside the fuel dispenser, manual operation by service personnel is still required to complete refueling.

[0003] However, the manual refueling method has problems such as low efficiency and high costs. Although self-service fuel dispensers have emerged, consumers still need to manually complete refueling, which is time-consuming and laborious. Obviously, it cannot meet the fast and convenient needs of consumers, and at the same time, it cannot achieve the construction expectations of intelligent gas stations, and it is difficult to create better benefits for gas stations.

[0004] Chinese patent document CN109205542B discloses a multi-functional refueling robot for automobiles. Its main body consists of a gasoline refueling part, an engine oil refueling part, an opening cover part, a lifting part, a walking part, etc. The gasoline refueling part includes: a disc connecting seat, a transmission belt, etc.; the engine oil refueling part includes: a translation block, a cross rod, a sleeve rod, an oil cap clip, etc.; the opening cover part includes: a fork plate, an oil cap, a gasoline lifting plate, etc.; the lifting part includes: an outer telescopic seat, etc.; the walking part includes: a left traveling track, a right traveling track, a walking shell, etc. Although this refueling robot can perform automatic refueling, its functions are not perfect. It cannot automatically open the fuel tank cap and requires the driver to open the fuel tank cap before refueling operations can be carried out. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a full-automatic refueling robot. By using a laser scanner to determine the position of the refueling vehicle and the position of the fuel filling port, there is no need to repeatedly scan and position during the opening and closing of the fuel tank cap and refueling operations. The attitude adjustment amount is small, the speed is fast, the refueling vehicle can be identified and automated refueling can be achieved, with a high degree of intelligence, improving refueling efficiency, saving labor costs, and promoting the intelligent construction of gas stations.

[0006] The present invention also provides a working method for the above full-automatic refueling robot.

[0007] The technical solution of the present invention is as follows:

[0008] A full-automatic refueling robot includes a robotic arm, a support mechanism, an opening cover mechanism, a fuel gun clamping mechanism, and a control system. Among them, a support mechanism is fixedly arranged at the end of the robotic arm. An opening cover mechanism and a fuel gun clamping mechanism are arranged on one side of the support mechanism. The robotic arm, the support mechanism, the opening cover mechanism, and the fuel gun clamping mechanism are all connected to the control system.

[0009] Preferably according to the present invention, the supporting mechanism includes a support plate, a jaw telescopic cylinder, a laser scanner, a jaw inclined platform slide rail, an oil gun telescopic cylinder and an oil gun inclined platform slide rail. One side of the support plate is fixed to the end of the robotic arm, and on the other side, a jaw telescopic cylinder and an oil gun telescopic cylinder are arranged side by side coaxially. The output end of the jaw telescopic cylinder is provided with a jaw inclined platform slide rail, on which a jaw slider is arranged. A lid opening mechanism is horizontally arranged on the jaw slider. The output end of the oil gun telescopic cylinder is provided with an oil gun inclined platform slide rail, on which an oil gun slider is arranged. An oil gun clamping mechanism is horizontally arranged on the oil gun slider. A laser scanner is arranged at the top of the support plate. The jaw inclined platform slide rail and the oil gun inclined platform slide rail are existing mechanisms. By fixing a linear slide rail on the inclined platform, inclined movement can be achieved. Through the arrangement of the jaw inclined platform slide rail and the oil gun inclined platform slide rail, it is ensured that when the lid opening mechanism and the oil gun clamping mechanism move to the working position, they can maintain the same central axis, and the refueling operation can be completed without adjusting the posture of the oil gun. At the same time, the fuel tank lid of the existing vehicle is connected to the vehicle body by a connecting rope, resulting in a very short displacement distance between the fuel tank lid and the vehicle body. In this application, through the design of the jaw inclined platform slide rail, the fuel tank lid can be moved away in a short distance, which will neither break the connecting rope between the fuel tank lid and the vehicle body nor block the refueling position, and the opening and closing of the fuel tank lid and the refueling operation can be realized within a short displacement, achieving safe and unobstructed refueling.

[0010] Further preferably according to the present invention, the structures and dimensions of the jaw inclined platform slide rail and the oil gun inclined platform slide rail are the same and are arranged symmetrically up and down.

[0011] Preferably according to the present invention, the lid opening mechanism includes a T-shaped plate, a motor, an extension shaft, a jaw cylinder, a pressure sensor, a buffer spring and a jaw. After the T-shaped plate is placed horizontally, one end is fixed to the jaw slider. A motor is arranged on the upper side of the T-shaped plate. The output shaft of the motor is connected to the extension shaft through a flange. The end of the extension shaft extends out of the upper side of the other end of the T-shaped plate. A rotary joint is arranged on the lower side of the other end of the T-shaped plate. The rotary joint is connected to the end of the extension shaft through a synchronous belt. An external jaw cylinder is connected to the rotary joint. The jaw cylinder adopts an existing finger cylinder. The flexible air pipe of the jaw cylinder is externally connected to the air source through the inside of the rotary joint to avoid the air pipe being wound when the jaw cylinder rotates. Pressure sensors are respectively arranged on the two output shafts of the jaw cylinder, and the sensing sides of the pressure sensors are connected to the jaws through buffer springs.

[0012] Further preferably according to the present invention, a limit plate is arranged at the top of the T-shaped plate. Proximity switches, limit protection switches and rubber limit blocks are respectively and fixedly arranged at the outer ends of the limit plate. The proximity switch is used to sense the distance from the vehicle body to ensure the safety of the refueling operation. If the distance reaches the sensing value of the proximity switch, the robot will make an emergency stop. If the proximity switch fails and the safe distance is not detected, the rubber limit block will contact the vehicle body to play a buffering role and protect the refueling vehicle. At the same time, the limit protection switch is triggered and the robot makes an emergency stop for double protection.

[0013] Preferably according to the present invention, the oil gun clamping mechanism includes a clamping arm, a linear cylinder, and an oil gun. One end of the clamping arm is fixed to the oil gun slider through a fixed block, and the other end of the clamping arm is fixedly provided with an oil gun. A linear cylinder is arranged on one side of the clamping arm, and an L-shaped stop bar is arranged at the output end of the linear cylinder. The L-shaped stop bar is connected to an oil gun switch. During use, the linear cylinder contracts to drive the L-shaped stop bar to move, thereby opening the oil gun switch. The oil gun is an existing mechanism and has not been improved.

[0014] The working method of the above-mentioned fully automatic refueling robot is as follows:

[0015] (1) Connect the control system of the robot 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.

[0016] (2) After the payment is completed, the laser scanner scans the refueling vehicle to determine the body attitude and the spatial position of the fuel filling port. Subsequently, the robotic arm adjusts the overall mechanism attitude, moves the support mechanism to the position of the outer cover of the fuel filling port, then the clamping jaw inclined platform slide rail is activated, and the opening mechanism is moved so that the clamping jaw faces the outer cover of the fuel filling port. The clamping jaw telescopic cylinder extends, driving the clamping jaw to press the outer cover of the fuel filling port, causing the outer cover of the fuel filling port to pop open. Then, the clamping jaw is used to hook the outer cover of the fuel filling port, and through the movement of the robotic arm, the outer cover of the fuel filling port is completely opened, and then the clamping jaw is reset.

[0017] (3) The laser scanner scans the inside of the fuel filling port to obtain the fuel filling position. The clamping jaw slider moves downward along the clamping jaw inclined platform slide rail so that the clamping jaw faces the fuel tank cap. Then, the clamping jaw telescopic cylinder extends forward, causing the clamping jaw to contact the fuel tank cap. The clamping jaw cylinder drives the two clamping jaws to clamp the fuel tank cap. Then, the motor rotates, driving the clamping jaw to rotate and unscrew the fuel tank cap. During the unscrewing process, the clamping jaw compresses the buffer spring, causing the clamping jaw to move axially backward to offset the lead pitch of the unscrewed fuel tank cap. After the fuel tank cap is unscrewed, the clamping jaw telescopic cylinder retracts backward, and the clamping jaw slider moves upward along the clamping jaw inclined platform slide rail, causing the clamping jaw to move away from the fuel filling port.

[0018] (4) The oil gun slider moves along the oil gun inclined platform slide rail, sending the oil gun to the fuel filling port. The oil gun telescopic cylinder extends forward, putting the oil gun into the inside of the fuel filling port. The linear cylinder retracts, opening the oil gun switch, and starting to refuel. After the refueling is completed, the linear cylinder resets, closing the oil gun switch. Then, the oil gun telescopic cylinder retracts backward, and the oil gun slider moves along the oil gun inclined platform slide rail, and the oil gun resets.

[0019] (5) The clamping jaw moves to the fuel filling port, screws the fuel tank cap back, and the outer cover of the fuel filling port resets, completing one refueling.

[0020] Preferably according to the present invention, in step (2), during the process of opening the outer fuel filler cap, the pressure sensor monitors the pressing force of the gripper throughout the process. When the pressing force exceeds the set threshold, the robotic arm stops working to protect the vehicle body and equipment safely.

[0021] The beneficial effects of the present invention are as follows:

[0022] 1. The present invention determines the position of the refueling vehicle and the fuel filler opening through a laser scanner. When performing the operations of opening and closing the fuel tank cap and refueling, there is no need to repeatedly scan and position, the attitude adjustment amount is small, the speed is fast, the refueling vehicle can be identified and automated refueling can be achieved, with a high degree of intelligence, improving refueling efficiency, saving labor costs, and promoting the intelligent construction of gas stations.

[0023] 2. The flexible air pipe of the gripper cylinder of the present invention is externally connected to the air source through the inside of the rotary joint, which can avoid the entanglement of the air pipe caused by the rotation of the gripper cylinder and ensure the operation stability of the device.

[0024] 3. The present invention is provided with a proximity switch, a limit protection switch and a rubber limit block. The proximity switch is used to sense the distance from the vehicle body to ensure the safety of the refueling operation. When the distance reaches the sensing value of the proximity switch, the mechanism is stopped urgently. If the proximity switch fails and the safe distance is not detected, the rubber limit block contacts the vehicle body to play a buffering role and protect the refueling vehicle. At the same time, the hard limit protection switch is triggered to issue an emergency stop to ensure the safety of the operations of screwing out and screwing in the fuel tank cap. Description of the Drawings

[0025] Figure 1 is a structural schematic diagram of the present invention;

[0026] Figure 2 is a structural schematic diagram of the support mechanism of the present invention;

[0027] Figure 3 is a structural schematic diagram of the cap opening mechanism of the present invention;

[0028] Figure 4 is a structural schematic diagram of the fuel gun clamping mechanism of the present invention;

[0029] Wherein: 1. Robotic arm; 2. Support mechanism; 3. Cap opening mechanism; 4. Fuel gun clamping mechanism; 5. Support plate; 6. Gripper telescopic cylinder; 7. Laser scanner; 8. Gripper slider; 9. Gripper inclined platform slide rail; 10. T-shaped plate; 11. Motor; 12. Flange; 13. Extension shaft; 14. Synchronous belt; 15. Rotary joint; 16. Flexible air pipe; 17. Gripper cylinder; 18. Buffer spring; 19. Gripper; 20. Pressure sensor; 21. Limit plate; 22. Proximity switch; 23. Limit protection switch; 24. Limit block; 25. Fuel gun telescopic cylinder; 26. Fuel gun slider; 27. Fuel gun inclined platform slide rail; 28. Fixed block; 29. Clamping arm; 30. Linear cylinder; 31. Fuel gun. Specific embodiments

[0030] The present invention will be further described below by way of examples in conjunction with the accompanying drawings, but is not limited thereto.

[0031] Example 1:

[0032] As Figures 1-4 shown, this embodiment provides a fully automatic refueling robot, including a robotic arm 1, a support mechanism 2, a fuel tank lid opening mechanism 3, a fuel gun clamping mechanism 4, and a control system. Among them, a support mechanism 2 is fixedly arranged at the end of the robotic arm 1. A fuel tank lid opening mechanism 3 and a fuel gun clamping mechanism 4 are arranged on one side of the support mechanism 2. The robotic arm 1, the support mechanism 2, the fuel tank lid opening mechanism 3, and the fuel gun clamping mechanism 4 are all connected to the control system.

[0033] The support mechanism 2 includes a support plate 5, a jaw telescopic cylinder 6, a laser scanner 7, a jaw inclined platform slide rail 9, a fuel gun telescopic cylinder 25, and a fuel gun inclined platform slide rail 27. One side of the support plate 5 is fixed to the end of the robotic arm 1, and a jaw telescopic cylinder 6 and a fuel gun telescopic cylinder 25 are arranged side by side coaxially on the other side. The output end of the jaw telescopic cylinder 6 is provided with a jaw inclined platform slide rail 9. A jaw slider 8 is arranged on the jaw inclined platform slide rail 9. The fuel tank lid opening mechanism 3 is horizontally arranged on the jaw slider 8. The output end of the fuel gun telescopic cylinder 25 is provided with a fuel gun inclined platform slide rail 27. A fuel gun slider 26 is arranged on the fuel gun inclined platform slide rail 27. The fuel gun clamping mechanism 4 is horizontally arranged on the fuel gun slider 26. A laser scanner 7 is arranged at the top of the support plate 5. The jaw inclined platform slide rail and the fuel gun inclined platform slide rail are existing mechanisms. A linear slide rail can be fixed on the inclined platform to achieve inclined movement. Through the arrangement of the jaw inclined platform slide rail and the fuel gun inclined platform slide rail, it is ensured that the fuel tank lid opening mechanism and the fuel gun clamping mechanism can maintain the same central axis when moving to the working position, and the refueling operation can be completed without adjusting the posture of the fuel gun. At the same time, the fuel tank lid of the existing vehicle is connected to the vehicle body by a connecting rope, resulting in a short displacement distance between the fuel tank lid and the vehicle body. Through the design of the jaw inclined platform slide rail in this application, the fuel tank lid can be moved away in a short distance, which will neither break the connecting rope between the fuel tank lid and the vehicle body nor block the refueling position, and the opening and closing of the fuel tank lid and the refueling operation can be realized within a short displacement, achieving safe and unobstructed refueling.

[0034] The structures and dimensions of the jaw inclined platform slide rail 9 and the fuel gun inclined platform slide rail 27 are the same and are symmetrically arranged up and down.

[0035] The opening mechanism 3 includes a T-shaped plate 10, a motor 11, an extension shaft 13, a jaw cylinder 17, a pressure sensor 20, a buffer spring 18, and jaws 19. One end of the horizontally placed T-shaped plate 10 is fixed to the jaw slider 8. A motor 11 is arranged on the upper side of the T-shaped plate 10. The motor 11 is an explosion-proof motor. The output shaft of the motor 11 is connected to an extension shaft 13 through a flange 12. The end of the extension shaft 13 extends out of the upper side of the other end of the T-shaped plate 10. A rotary joint 15 is arranged on the lower side of the other end of the T-shaped plate 10. The rotary joint 15 is connected to the end of the extension shaft 13 through a synchronous belt 14. The rotary joint 15 is externally connected to a jaw cylinder 17. The jaw cylinder 17 is an existing finger cylinder. The flexible air pipe 16 of the jaw cylinder 17 is externally connected to a gas source through the inside of the rotary joint 15 to avoid the air pipe being wound when the jaw cylinder rotates. Pressure sensors 20 are respectively arranged on the two output shafts of the jaw cylinder 17. The sensing side of the pressure sensor 20 is connected to a jaw 19 through a buffer spring 18.

[0036] The oil gun clamping mechanism 4 includes a clamping arm 29, a linear cylinder 30, and an oil gun 31. One end of the clamping arm 29 is fixed to the oil gun slider 26 through a fixed block 28. The other end of the clamping arm 29 is fixedly provided with an oil gun 31. A linear cylinder 30 is arranged on one side of the clamping arm 29. An L-shaped stop strip is arranged at the output end of the linear cylinder 30. The L-shaped stop strip is connected to an oil gun switch. During use, the linear cylinder contracts to drive the L-shaped stop strip to move, thereby opening the oil gun switch. The oil gun is an existing mechanism and is not improved.

[0037] The working method of the above-mentioned fully automatic refueling robot is as follows:

[0038] (1) Connect the control system of the robot 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.

[0039] (2) After the payment is completed, the laser scanner 7 scans the refueling vehicle to determine the body attitude and the spatial position of the fuel filler opening. Subsequently, the robotic arm 1 adjusts the attitude of the overall mechanism, moves the support mechanism 2 to the position of the fuel filler opening outer cover, then the jaw inclined platform slide rail 9 is activated, and the opening mechanism 3 is moved so that the jaws 19 are facing the fuel filler opening outer cover. The jaw telescopic cylinder 6 extends, driving the jaws 19 to press the fuel filler opening outer cover, causing the fuel filler opening outer cover to pop open. Then, the jaws 19 are used to hook the fuel filler opening outer cover, and the fuel filler opening outer cover is completely opened by the movement of the robotic arm 1. Then, the jaws 19 are reset.

[0040] (3) The laser scanner 7 scans the inside of the fuel filler opening to obtain the fueling position. The gripper slider 8 moves obliquely downward along the gripper inclined platform slide rail 9, so that the gripper 19 faces the fuel tank cap. Then the gripper telescopic cylinder 6 extends forward, making the gripper 19 contact the fuel tank cap. The gripper cylinder 17 drives the two grippers 19 to clamp the fuel tank cap. Then the motor 11 rotates, driving the gripper 19 to rotate and unscrew the fuel tank cap. During the unscrewing process, the gripper 19 compresses the buffer spring 18, causing the gripper 19 to axially retreat backward to offset the lead pitch of the fuel tank cap being unscrewed. After the fuel tank cap is unscrewed, the gripper telescopic cylinder 6 retracts backward, and the gripper slider 8 moves obliquely upward along the gripper inclined platform slide rail 9, moving the gripper away from the fuel filler opening;

[0041] (4) The fuel gun slider 26 moves along the fuel gun inclined platform slide rail 27, sending the fuel gun 31 to the fuel filler opening. The fuel gun telescopic cylinder 25 extends forward, putting the fuel gun 31 into the inside of the fuel filler opening. The linear cylinder 30 retracts, turning on the fuel gun switch to start fueling. After fueling is completed, the linear cylinder 30 resets, turning off the fuel gun switch. Then the fuel gun telescopic cylinder 25 retracts backward, and the fuel gun slider 26 moves along the fuel gun inclined platform slide rail 27, and the fuel gun 31 resets;

[0042] (5) The gripper moves to the fuel filler opening, screws the fuel tank cap back, and the outer cover of the fuel filler opening resets, completing one fueling.

[0043] In step (2), during the process of opening the outer cover of the fuel filler opening, the pressure sensor 20 monitors the pressing force of the gripper throughout the process. When the pressing force exceeds the set threshold value, the robotic arm 1 stops working to provide safety protection for the vehicle body and equipment.

[0044] Embodiment 2:

[0045] A fully automatic fueling robot has a structure as described in Embodiment 1. The difference is that a limit plate 21 is provided at the top of the T-shaped plate 10. Proximity switches 22, limit protection switches 23, and rubber limit blocks 24 are respectively fixedly provided at the outer ends of the limit plate 21. The proximity switches are used to sense the distance from the vehicle body to ensure the safety of the fueling operation. If the distance reaches the proximity switch sensing value, the robot makes an emergency stop. If the proximity switch fails and does not detect a safe distance, the rubber limit block contacts the vehicle body, playing a buffering role to protect the fueling vehicle. At the same time, the limit protection switch is triggered, and the robot makes an emergency stop for double protection.

Claims

1. A full-automatic refueling robot, characterized in that, it includes a robotic arm, a support mechanism, a tank lid opening mechanism, a fuel gun clamping mechanism and a control system. Among them, the support mechanism is fixedly arranged at the end of the robotic arm. The tank lid opening mechanism and the fuel gun clamping mechanism are arranged on one side of the support mechanism. The robotic arm, the support mechanism, the tank lid opening mechanism and the fuel gun clamping mechanism are all connected to the control system; The support mechanism includes a support plate, a jaw telescopic cylinder, a laser scanner, a jaw inclined platform slide rail, a fuel gun telescopic cylinder and a fuel gun inclined platform slide rail. One side of the support plate is fixed to the end of the robotic arm, and the jaw telescopic cylinder and the fuel gun telescopic cylinder are arranged side by side coaxially on the other side. The output end of the jaw telescopic cylinder is provided with a jaw inclined platform slide rail, and a jaw slider is arranged on the jaw inclined platform slide rail. The tank lid opening mechanism is horizontally arranged on the jaw slider. The output end of the fuel gun telescopic cylinder is provided with a fuel gun inclined platform slide rail, and a fuel gun slider is arranged on the fuel gun inclined platform slide rail. The fuel gun clamping mechanism is horizontally arranged on the fuel gun slider. A laser scanner is arranged at the top of the support plate; The tank lid opening mechanism includes a T-shaped plate, a motor, an extension shaft, a jaw cylinder, a pressure sensor, a buffer spring and a jaw. One end of the T-shaped plate is fixed to the jaw slider after being placed horizontally. A motor is arranged on the upper side of the T-shaped plate. The output shaft of the motor is connected to the extension shaft through a flange. The end of the extension shaft extends out of the upper side of the other end of the T-shaped plate. A rotary joint is arranged on the lower side of the other end of the T-shaped plate. The rotary joint is connected to the end of the extension shaft through a synchronous belt. The rotary joint is externally connected to a jaw cylinder. The flexible air pipe of the jaw cylinder is externally connected to the air source through the inside of the rotary joint. Pressure sensors are respectively arranged on the two output shafts of the jaw cylinder, and the sensing sides of the pressure sensors are connected to the jaws through buffer springs.

2. The full-automatic refueling robot according to claim 1, characterized in that, the structures and dimensions of the jaw inclined platform slide rail and the fuel gun inclined platform slide rail are the same and are arranged symmetrically up and down.

3. The full-automatic refueling robot according to claim 1, characterized in that, a limit plate is arranged at the top of the T-shaped plate, and proximity switches, limit protection switches and rubber limit blocks are respectively fixedly arranged at the outer ends of the limit plate.

4. The full-automatic refueling robot according to claim 3, characterized in that, the fuel gun clamping mechanism includes a clamping arm, a linear cylinder and a fuel gun. One end of the clamping arm is fixed to the fuel gun slider through a fixing block, and the fuel gun is fixedly arranged at the other end of the clamping arm. A linear cylinder is arranged on one side of the clamping arm, and an L-shaped stop bar is arranged at the output end of the linear cylinder. The L-shaped stop bar is connected to a fuel gun switch.

5. A working method of the full-automatic refueling robot according to claim 4, characterized in that, the steps are as follows: (1) Connect the control system of the robot 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; After the payment is completed, the fueling vehicle is scanned by a laser scanner to determine the body attitude and the spatial position of the fuel filler opening. Subsequently, the robotic arm adjusts the attitude of the overall mechanism, moves the support mechanism to the position of the outer cover of the fuel filler opening, then the gripper inclined platform slide rail is activated to move the opening mechanism, making the gripper face the outer cover of the fuel filler opening. The gripper telescopic cylinder extends, driving the gripper to press the outer cover of the fuel filler opening, causing the outer cover of the fuel filler opening to pop open. Then, the gripper is used to hook the outer cover of the fuel filler opening, and through the movement of the robotic arm, the outer cover of the fuel filler opening is fully opened, and then the gripper resets; The laser scanner scans the inside of the fuel filler opening to obtain the fueling position. The gripper slider moves downward along the gripper inclined platform slide rail, making the gripper face the fuel tank cap. Then the gripper telescopic cylinder extends forward, making the gripper contact the fuel tank cap. The gripper cylinder drives the two grippers to clamp the fuel tank cap. Then the motor rotates, driving the gripper to rotate and unscrew the fuel tank cap. During the unscrewing process, the gripper compresses the buffer spring, causing the gripper to move axially backward to offset the lead pitch of the fuel tank cap being unscrewed. After the fuel tank cap is unscrewed, the gripper telescopic cylinder retracts backward, and the gripper slider moves upward along the gripper inclined platform slide rail, making the gripper away from the fuel filler opening; The fuel gun slider moves along the fuel gun inclined platform slide rail, sending the fuel gun to the fuel filler opening. The fuel gun telescopic cylinder extends forward, putting the fuel gun into the inside of the fuel filler opening. The linear cylinder retracts, turning on the fuel gun switch, and starts fueling. After the fueling is completed, the linear cylinder resets, turns off the fuel gun switch, then the fuel gun telescopic cylinder retracts backward, and the fuel gun slider moves along the fuel gun inclined platform slide rail, and the fuel gun resets; The gripper moves to the fuel filler opening, screws the fuel tank cap back, and the outer cover of the fuel filler opening resets, completing one fueling.

6. The working method of the fully automatic fueling robot as claimed in claim 5, characterized in that, in step (2), during the process of opening the outer cover of the fuel filler opening, the pressure sensor monitors the pressing force of the gripper throughout the process. When the pressing force exceeds the set threshold, the robotic arm stops working to provide safety protection for the vehicle body and equipment.

7. The working method of the fully automatic fueling robot as claimed in claim 5, characterized in that, during the process of unscrewing and screwing in the fuel tank cap, the proximity switch is used to sense the distance between the vehicle body. If the distance reaches the proximity switch sensing value, the robot makes an emergency stop. If the proximity switch fails and does not detect the safe distance, the rubber limit block contacts the vehicle body, and at the same time the limit protection switch is triggered, and the robot makes an emergency stop.

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