Docking seal system for oil filling

Abstract

This invention discloses a docking and sealing system for oil refueling, comprising a soft robotic arm, a docking device, and an oil receiving device. The docking device includes an oil delivery docking rod, a docking cone, a locking mechanism, a slider, and a linear motor. The oil delivery docking rod consists of a docking ball head and sequentially connected axial guide sections, sealing sections, unlocking sections, transition sections, and locking sections. The locking mechanism includes a locking pin, a locking spring sleeve, a locking spring, an unlocking spring, and a limiting ball head. The oil receiving device includes an oil receiving guide cone and a self-sealing mechanism. The oil receiving guide cone consists of sequentially connected outer guide cones, inner guide cones, and a straight cylinder section. The self-sealing mechanism consists of an oil receiving straight cylinder, a spring, and a piston. This invention achieves self-docking, self-locking, and self-sealing between the refueling end and the equipment's oil tank, as well as automatic unlocking and separation after oil refueling. This improves the efficiency, reliability, and safety of oil refueling, and avoids pressure loss and oil leakage during the refueling process.

Description

Technical Field

[0001] This invention belongs to the field of intelligent automatic oil filling technology, specifically relating to a docking sealing system for oil filling. Background Technology

[0002] Fuel refueling typically employs two methods: gravity refueling and pressure refueling. For example, ordinary vehicles usually use gravity refueling, which is slow and less safe. For special equipment, such as armored vehicles and aircraft, or for fuels containing toxic substances, such as rocket propellants, pressure refueling is usually used. This method offers higher safety, higher efficiency, and no pollution. However, pressure refueling requires maintaining a certain pressure difference between the fuel pump and the fuel tank, thus necessitating a completely sealed process.

[0003] Currently, refueling of special equipment such as aircraft, armored vehicles, and rockets is mainly done manually, which is extremely labor-intensive and stressful. For example, when refueling an aircraft, the refueling operator must stand on a lift, holding a 2.5-inch diameter rubber hose overhead to connect to the aircraft's fuel tank. This process needs to be repeated multiple times per refueling, with each operator handling 20-30 flights per shift. Refueling large passenger aircraft takes 40 minutes to an hour each time, and during this time, the operator must hold the control switch, carefully observe the operation of various instruments, visually assess the fuel quality, and release the control switch every few minutes; otherwise, the refueling truck will automatically stop refueling. Therefore, manual refueling is extremely labor-intensive and inefficient, and outdoor refueling is easily affected by weather conditions such as wind, rain, and snow. Furthermore, when refueling rockets with propellant, the propellant is often highly toxic; a leak could cause irreversible damage to the operator, making manual operation extremely risky.

[0004] Current technology for refueling oils requiring pressure or sealing methods relies primarily on manual labor. This includes docking, locking, refueling, and unlocking. The entire process demands highly skilled operators, resulting in significant physical and psychological stress and increasing the risk of accidents. For the refueling of toxic fuels, leaks can cause substantial harm to operators, posing a significant operational risk.

[0005] Therefore, the existing manual pressure filling process is cumbersome and inefficient, making it difficult to achieve fast, efficient, and highly reliable docking and sealing. Thus, there is an urgent need for an intelligent automatic fuel filling system that can automatically dock, seal, and lock, completing automated refueling. After refueling, it can also automatically unlock and separate, achieving a highly reliable connection between the fuel dispenser and the receiving end, and avoiding pressure loss and fuel leakage during the pressure filling process. Summary of the Invention

[0006] This invention aims to solve the aforementioned problems in the prior art and proposes a docking and sealing system for oil filling, comprising a soft robotic arm, a docking device, and an oil receiving device. The soft robotic arm is connected to the docking device, and the oil receiving device is fixedly connected to the equipment's oil filling port, wherein:

[0007] The soft robotic arm is a multi-segment serial structure, including a top segment soft arm, a bottom segment soft arm, and one or more intermediate segment soft arms between the top segment soft arm and the bottom segment soft arm. The lower end of the bottom segment soft arm is fixed with a driver. Each segment soft arm includes an upper support flange and a lower support flange located on both sides, multiple pulley sets, a support spring, and multiple drive steel wire ropes. The support spring is installed between the upper support flange and the lower support flange. The multiple pulley sets are evenly distributed along the circumference of the upper support flange. Each pulley set corresponds to a drive steel wire rope. One end of each drive steel wire rope is fixedly connected to the lower support flange, and the other end of the drive steel wire rope passes around the pulley set and then through the lower support flange to extend and connect to the driver.

[0008] The docking device includes an oil delivery docking rod, a docking cone, limit switches, a locking mechanism, a slider, an oil delivery pipe, a linear motor, and a support cylinder. The docking cone consists of a truncated cone end, a flange end, and a straight cylindrical section between the truncated cone end and the flange end. An axial through hole is formed inside the truncated cone end. Three blind holes for installing limit switches are evenly distributed along the circumference of the cone surface on the truncated cone end. Additionally, three through holes for installing the locking mechanism are also evenly distributed along the circumference of the cone surface on the truncated cone end. These through holes are stepped holes, and their openings are located at the diameter of the truncated cone end. The diameter of the outer portion of the hole is smaller than the diameter of the portion of the stepped hole that opens radially inward at the end of the truncated cone. One limit switch is installed in each blind hole for the limit switch, and one locking mechanism is installed in each through hole for the locking mechanism. The flange end of the docking cone is connected to the support cylinder. The linear motor is mounted on the support cylinder, which is connected to the upper support flange of the top section of the flexible arm. The oil delivery docking rod is installed in the axial through hole and the straight section, and the oil delivery docking rod is a hollow rod-shaped structure. The structure includes an axially penetrating oil delivery hole inside. The oil delivery connecting rod consists of a connecting ball head at the front end and a guide section, sealing section, unlocking section, transition section, and locking section sequentially connected along the axial direction. The connecting ball head has an oil outlet hole radially along the oil delivery connecting rod. The sealing section has two sealing grooves, each containing a sealing ring. The outer diameters of the guide section, sealing section, unlocking section, and locking section are set as follows: outer diameter of locking section > outer diameter of sealing section > outer diameter of guide section > outer diameter of unlocking section. The transition section is... The truncated cone transition structure between the unlocking section and the locking section; the straight section is provided with a guide limiting groove, the slider is mounted on the guide limiting groove in a sliding fit, one end of the slider is connected to the locking section of the oil delivery docking rod, and the other end of the slider is connected to the output shaft of the linear motor; one end of the oil delivery pipe is connected to the upper end face of the slider, and the other end of the oil delivery pipe is connected to the oil pump; the slider has an internal channel that connects the oil delivery pipe, the oil delivery hole, and the oil outlet hole.The locking mechanism includes a locking pin, a locking spring sleeve, a locking spring, an unlocking spring, and a limiting ball head. The locking pin is a cylindrical structure with a spherical head at one end and a flange at the bottom. The locking spring sleeve is a cylindrical straight tube structure with one end closed and the other end open. A through hole is formed at the center of the closed end of the locking spring sleeve, and an outer flange is provided at the open end. The locking pin is installed... Inside the locking spring sleeve, the spherical pin is inserted through the through hole of the locking spring sleeve, the limiting ball head is fixed to the locking spring sleeve, the locking spring is installed between the end face of the flange and the planar end of the cylindrical part of the limiting ball head, the unlocking spring is fitted around the outer periphery of the locking spring sleeve, the lower end of the unlocking spring is limited by the outer flange of the flange, and the upper end of the unlocking spring is limited by a shoulder formed by stepped holes of different diameters in the mounting through hole of the locking mechanism;

[0009] The oil receiving device includes an oil receiving guide cone and a self-sealing mechanism. The oil receiving guide cone is composed of an outer guide cone, an inner guide cone, and a straight cylindrical section connected in sequence. A locking groove is formed along the circumference of the inner circumference of the outer guide cone. The end of the straight cylindrical section has a mounting flange. The taper of the outer and inner guide cones is equal to the taper of the frustum end of the connecting cone. The inner diameter of the straight cylindrical section matches the outer diameter of the sealing section of the oil delivery connecting rod. The self-sealing mechanism consists of an oil receiving straight cylinder, a spring, and a piston. One end of the oil receiving straight cylinder is a closed end, and the other end is an open end. The open end of the oil receiving straight cylinder has a mounting flange, which is fixedly connected to the mounting flange of the straight cylindrical section. The oil receiving straight cylinder is sealed with a sealing ring end face between the mating surfaces of the mounting flange of the straight cylinder section and the oil receiving straight cylinder. The closed end of the oil receiving straight cylinder is fixed to the equipment oil filling port. The inner diameter of the oil receiving straight cylinder is larger than the inner diameter of the straight cylinder section of the oil receiving guide cone. A shoulder is formed between the mounting flange of the oil receiving straight cylinder and the mounting flange of the straight cylinder section. Multiple oil outlets are circumferentially opened on the cylinder wall near the open end of the oil receiving straight cylinder. The piston and the spring are installed inside the oil receiving straight cylinder. The spring is located between the closed end wall of the oil receiving straight cylinder and one end face of the piston. The other end face of the piston is limited by the shoulder formed between the mounting flange of the oil receiving straight cylinder and the mounting flange of the straight cylinder section. The piston and the oil receiving straight cylinder are radially sealed by a sealing ring.

[0010] Furthermore, in the aforementioned docking sealing system for oil filling, the docking sealing system for oil filling also includes a controller. The controller is communicatively connected to the driver of the soft robotic arm, the limit switch, and the linear motor. The controller controls the driver to start or stop to control the contraction and release of the drive wire rope, detects the contact signal emitted by the limit switch between the docking cone and the oil receiving guide cone, and drives the linear motor to control the extension and retraction of the oil delivery docking rod.

[0011] Furthermore, in the aforementioned docking sealing system for oil filling, among the top section soft arm, the middle section soft arm, and the bottom section soft arm, the mating sides of adjacent soft arm sections share the same flange, and the lower support flange of the preceding soft arm section is also the upper support flange of the following soft arm section.

[0012] Furthermore, in the aforementioned docking sealing system for oil filling, each of the top section soft arm, the middle section soft arm, and the bottom section soft arm includes four pulley sets and four drive steel wire ropes. The four pulley sets are evenly distributed at 90° intervals along the circumference of the upper support flange, and the four drive steel wire ropes are evenly distributed at 90° intervals between the upper support flange and the lower support flange.

[0013] Furthermore, in the aforementioned docking sealing system for oil filling, the soft robotic arm is a three-section serial structure, including the top soft arm, the bottom soft arm, and an intermediate soft arm between the top and bottom soft arms.

[0014] Furthermore, in the aforementioned docking sealing system for oil filling, the lower support flange of the top flexible arm is also the upper support flange of the middle flexible arm, and the lower support flange of the middle flexible arm is also the upper support flange of the bottom flexible arm.

[0015] Furthermore, in the aforementioned docking sealing system for oil filling, the actuator includes three motor groups, each consisting of four motors. The other ends of the four drive wire ropes in the top flexible arm, which pass over the pulley group, extend and connect to the four motors in the first motor group. The other ends of the four drive wire ropes in the middle flexible arm, which pass over the pulley group, extend and connect to the four motors in the second motor group. The other ends of the four drive wire ropes in the bottom flexible arm, which pass over the pulley group, extend and connect to the four motors in the third motor group.

[0016] Furthermore, in the aforementioned docking sealing system for oil refueling, the oil delivery pipe has an "Ω" shaped structure.

[0017] Furthermore, in the aforementioned docking sealing system for oil filling, the limit switch mounting blind hole is perpendicular to the conical surface of the truncated cone end, the locking mechanism mounting through hole is perpendicular to and connects to the axial through hole; the inner circumferential surface of the opening end of the locking spring sleeve is provided with internal threads, one end of the limiting ball head is a ball head, and the other end of the limiting ball head is a cylinder with external threads, the external threads on the cylinder match the internal threads on the inner circumference of the opening end of the locking spring sleeve; the diameter of the spherical pin head is slightly smaller than the diameter of the through hole at the closed end of the locking spring sleeve, the outer diameter of the flange flange is larger than the diameter of the through hole of the locking spring sleeve and slightly smaller than the inner diameter of the locking spring sleeve; the outer diameter of the flange outer flange is slightly smaller than the diameter of the portion of the locking mechanism mounting hole opening radially inward at the truncated cone end, and the diameter of the spherical pin head is slightly smaller than the diameter of the portion of the locking mechanism mounting hole opening radially outward at the truncated cone end.

[0018] The butt sealing system for oil filling of the present invention has the following advantages and beneficial effects:

[0019] 1. The docking and sealing system for oil filling of the present invention can realize self-docking, self-locking and self-sealing between the filling end and the equipment oil tank. After the oil filling is completed, the docking device can automatically unlock and separate from the receiving device and reset to the initial state. At the same time, the receiving device can automatically close and seal the equipment oil tank without human intervention. It is the premise and foundation of intelligent autonomous filling, which can greatly improve the efficiency of oil filling and improve the reliability and safety of the oil filling process.

[0020] 2. In the operation of the docking sealing system for oil filling of the present invention, the docking device and the oil receiving device are reliably docked and locked by the locking mechanism. The oil delivery docking rod and the straight section of the oil receiving device are sealed by a double-ring radial seal. The equipment oil tank adopts a piston structure to achieve self-sealing, which effectively meets the strict sealing requirements for pressure filling or toxic fuel filling, and effectively avoids pressure loss and oil leakage during the oil filling process.

[0021] 3. The docking and sealing system for oil filling of the present invention consists of three parts: a soft robotic arm, a docking device, and an oil receiving device. It has a simple structure and the oil filling process is convenient and efficient.

[0022] 4. Each drive wire rope of each segment of the multi-segment soft robotic arm can be driven independently. Each segment of the multi-segment soft robotic arm can be precisely controlled in terms of length and angle in a single and synchronous manner, which is beneficial for adapting to various oil filling occasions and also facilitates alignment with the oil receiving device. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0024] Figure 1 This is a schematic diagram of the overall structure of the docking sealing system for oil filling according to the present invention;

[0025] Figure 2 This is a schematic diagram of the soft robotic arm in the docking sealing system for oil filling according to the present invention;

[0026] Figure 3 This is a schematic diagram of the docking device in the docking sealing system for oil filling of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the docking cone of the docking device in the docking sealing system for oil filling of the present invention;

[0028] Figure 5 This is a cross-sectional view of the oil delivery docking rod of the docking device in the docking sealing system for oil filling according to the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of the oil delivery docking rod of the docking device in the docking sealing system for oil filling according to the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the oil delivery docking rod of the docking device in the docking sealing system for oil filling according to the present invention;

[0031] Figure 8 This is a cross-sectional view of the docking device in the docking sealing system for oil filling according to the present invention;

[0032] Figure 9 This is a schematic diagram of the locking mechanism in the docking sealing system for oil filling of the present invention, wherein (a) is a schematic diagram of the overall structure of the locking mechanism, and (b) is a schematic diagram of the locking spring sleeve in the locking mechanism;

[0033] Figure 10 This is a schematic diagram of the oil receiving device in the docking sealing system for oil filling according to the present invention;

[0034] Figure 11 , Figure 12 , Figure 13 and Figure 14 This is a schematic diagram of the working process of the docking sealing system for oil filling according to the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0036] like Figures 1 to 10 As shown, the docking sealing system for oil filling of the present invention includes a soft robotic arm 1, a docking device 2, an oil receiving device 3, and a controller (not shown). The soft robotic arm 1 is connected to the docking device 2, and the oil receiving device 3 is fixedly connected to the oil tank filling port of the equipment to be filled with oil, i.e., the equipment filling port.

[0037] The soft robotic arm 1 is a multi-segment serial structure, including a top segment soft arm 1A, a bottom segment soft arm 1C, and one or more intermediate segment soft arms 1B between the top segment soft arm 1A and the bottom segment soft arm 1C. A driver 1D is fixed to the lower end of the bottom segment soft arm 1C. Each segment of the soft arm—the top segment soft arm 1A, the intermediate segment soft arm 1B, and the bottom segment soft arm 1C—includes an upper support flange 11 and a lower support flange 15 located on both sides, multiple pulley sets 12, a support spring 14, and multiple drive steel wire ropes 13. The support spring 14 is installed between the upper support flange 11 and the lower support flange 15. The multiple pulley sets 12 are evenly distributed along the circumference of the upper support flange 11, with each pulley set 12 corresponding to a drive steel wire rope 13. One end of each drive steel wire rope 13 is fixedly connected to the lower support flange 15, and the other end of the drive steel wire rope 13 passes around the pulley set 12 and then through the lower support flange 15 to connect to the driver 1D.

[0038] The controller is connected to the driver 1D of the soft robotic arm 1 to control the start or stop of the driver 1D. When the driver 1D starts, the drive wire rope 13 retracts, thereby pulling the upper support flange 11 and the lower support flange 15 closer together to compress the support spring 14, thus reducing the length of the soft robotic arm 1. When the driver 1D stops, the support spring 14 extends under the action of elastic restoring force, and the drive wire rope 13 is released naturally, thereby moving the upper support flange 11 and the lower support flange 15 away from each other, thus increasing the length of the soft robotic arm 1.

[0039] In one specific implementation, each flexible arm includes four pulley sets 12 and four drive steel wire ropes 13. The four pulley sets 12 are evenly distributed at 90° intervals along the circumference of the upper support flange 11, and the four drive steel wire ropes 13 are correspondingly evenly distributed at 90° intervals between the upper support flange 11 and the lower support flange 15.

[0040] In one specific implementation, the soft robotic arm 1 has a three-segment serial structure, including a top segment soft arm 1A, a bottom segment soft arm 1C, and an intermediate segment soft arm 1B between the top segment soft arm 1A and the bottom segment soft arm 1C.

[0041] In one specific implementation, in the top section soft arm 1A, the middle section soft arm 1B, and the bottom section soft arm 1C, the sides of adjacent soft arm sections that meet each other share the same flange, that is, the lower support flange of the previous soft arm section is also the upper support flange of the next soft arm section.

[0042] In the case where the soft robotic arm 1 is a three-section serial structure, the lower support flange 15 of the top section soft arm 1A is also the upper support flange 11 of the middle section soft arm 1B, and the lower support flange 15 of the middle section soft arm 1B is also the upper support flange 11 of the bottom section soft arm 1C.

[0043] In one specific implementation, the actuator 1D includes three motor groups, each consisting of four motors. The other ends of the four drive wire ropes 13 in the top flexible arm 1A, which pass over the pulley group 12, extend and connect to the four motors in the first motor group. The other ends of the four drive wire ropes 13 in the middle flexible arm 1B, which pass over the pulley group 12, extend and connect to the four motors in the second motor group. The other ends of the four drive wire ropes 13 in the bottom flexible arm 1C, which pass over the pulley group 12, extend and connect to the four motors in the third motor group. With this structure, each drive wire rope 13 can be driven independently by the controller, and through the synchronous operation of the four motors in each motor group, the synchronous contraction or extension of the four drive wire ropes 13 of each segment of the flexible arm in the flexible robotic arm 1 can be achieved, thereby realizing single and precise control of each segment of the flexible robotic arm 1.

[0044] The docking device 2 includes an oil delivery docking rod 21, a sealing ring 22, a docking cone 23, a limit switch 24, a locking mechanism 25, a slider 26, an oil delivery pipe 27, a linear motor 28, and a support cylinder 29. The connecting cone 23 consists of a truncated cone end 231, a flange end 232, and a straight cylindrical section 233 between the truncated cone end 231 and the flange end 232. The truncated cone end 231 has an axial through hole 2311 inside. Three limit switch mounting blind holes 2312 are evenly distributed along the circumference of the cone surface of the truncated cone end 231. Three locking mechanism mounting through holes 2313 are also evenly distributed along the circumference of the cone surface of the truncated cone end 231. The limit switch mounting blind holes 2312 are perpendicular to the cone surface of the truncated cone end 231. The locking mechanism mounting through holes 2313 are perpendicular to and connected to the axial through hole 2311 of the truncated cone end 231. The locking mechanism mounting through holes 2313 are stepped holes. In the stepped holes, the diameter of the part opening radially outward of the truncated cone end 231 is smaller than the diameter of the part opening radially inward of the truncated cone end 231. The straight cylindrical section 233 has a guide limiting groove 2331. Each limit switch mounting blind hole 2312 houses a limit switch 24, and each locking mechanism mounting through hole 2313 houses a locking mechanism 25. The flange end 232 of the docking cone 23 is connected to the support cylinder 29, and the linear motor 28 is mounted on the support cylinder 29. The support cylinder 29 is connected to the upper support flange 11 of the top section of the soft robotic arm 1A, thereby fixing the docking device 2 to the soft robotic arm 1.

[0045] The oil delivery connecting rod 21 is installed in the axial through hole 2311 and the straight section 233 of the connecting cone 23. The oil delivery connecting rod 21 is a hollow rod-shaped structure with an axially through oil delivery hole 211 for transmitting oil. The oil delivery connecting rod 21 consists of a connecting ball head 212 at the front end and a guide section 213, a sealing section 214, an unlocking section 215, a transition section 216, and a locking section 217 that are sequentially connected along the axial direction. The connecting ball head 212 has an oil outlet hole 218 in the radial direction of the oil delivery connecting rod 21. The sealing section 214 has two sealing grooves 219, and a sealing ring 22 is installed in each sealing groove 219. The outer diameters of the guide section 213, sealing section 214, unlocking section 215, and locking section 217 are set as follows: outer diameter of locking section 217 > outer diameter of sealing section 214 > outer diameter of guide section 213 > outer diameter of unlocking section 215. The transition section 216 is a frustum-shaped transition structure between unlocking section 215 and locking section 217.

[0046] The slider 26 is mounted on the guide limiting groove 2331 of the docking cone 23 in a sliding fit manner, and can reciprocate along the straight section 233 of the docking cone 23. One end of the slider 26 is connected to the locking section 217 of the oil delivery docking rod 21, and the other end of the slider 26 is connected to the output shaft of the linear motor 28.

[0047] One end of the oil supply pipe 27 is connected to the upper end face of the slider 26 via a pipe fitting 271, and the other end of the oil supply pipe 27 is connected to an oil pump (not shown) for adding oil to the equipment to transfer oil. The slider 26 has an internal channel 261 inside, which connects the oil supply pipe 27 and the oil supply hole 211 and oil outlet hole 218 of the oil supply docking rod 21.

[0048] The locking mechanism 25 includes a locking pin 251, a locking spring sleeve 252, a locking spring 253, an unlocking spring 254, and a limiting ball head 255. The locking pin 251 is a cylindrical structure with a spherical pin head 2511 at one end and a flange 2512 at the other end. The locking spring sleeve 252 is a cylindrical straight tube structure with a closed end and an open end. A through hole 2521 is formed at the center of the closed end wall, and an internal thread 2522 is provided on the inner circumference of the open end. An external flange 2523 is also provided at the open end. The limiting ball head 255 has a ball head 2551 at one end and a cylindrical body 2552 with external threads at the other end. The external threads on the cylindrical body 2552 match the internal threads 2522 on the inner circumference of the open end of the locking spring sleeve 252. The diameter of the spherical pin 2511 is slightly smaller than the diameter of the through hole 2521 at the closed end of the locking spring sleeve 252. The outer diameter of the flange flange 2512 is larger than the diameter of the through hole 2521 of the locking spring sleeve 252 and slightly smaller than the inner diameter of the locking spring sleeve 252. The outer diameter of the flange outer flange 2523 is slightly smaller than the diameter of the portion of the locking mechanism mounting hole 2313 that opens radially inward at the truncated cone end 231. The diameter of the spherical pin 2511 is slightly smaller than the diameter of the portion of the locking mechanism mounting hole 2313 that opens radially outward at the truncated cone end 231.

[0049] The locking pin 251 is installed inside the locking spring sleeve 252. The spherical head 2511 of the locking pin 251 is inserted into the through hole 2521 of the locking spring sleeve 252. The limiting ball head 255 is fixed to the locking spring sleeve 252 by the thread engagement between the external thread on the cylindrical body 2552 of the limiting ball head 255 and the internal thread 2522 on the inner circumference of the open end of the locking spring sleeve 252. The locking spring 253 is installed between the end face of the flange flange 2512 of the locking pin 251 and the flat end of the cylindrical body 2552 of the limiting ball head 255. The unlocking spring 254 is fitted on the outer circumference of the locking spring sleeve 252. The locking mechanism 25, assembled in the above manner, is installed into the locking mechanism mounting hole 2313. The lower end of the unlocking spring 254 is limited by the outer flange 2523 of the flange, and the upper end of the unlocking spring 254 is limited by the shoulder naturally formed by the stepped holes of different diameters in the locking mechanism mounting through hole 2313.

[0050] The controller is connected to the limit switch 24 and the linear motor 28 to detect the contact signal between the docking cone 23 and the oil receiving guide cone (described in detail below) of the oil receiving device 3, and to drive the linear motor 28 to control the extension and retraction of the oil delivery docking rod 21.

[0051] The oil receiving device 3 includes an oil receiving guide cone 31 and a self-sealing mechanism 32. The oil receiving guide cone 31 is composed of an outer guide cone 311, an inner guide cone 313, and a straight section 314 connected in sequence. The outer guide cone 311 has a locking groove 312 along its circumference, and the straight section 314 has a mounting flange 315 at its end. The outer guide cone 311 and the inner guide cone 313 are used to constrain the docking cone 23 of the docking device 2 during the docking process, realizing self-alignment between the docking device 2 and the oil receiving device 3. The taper of the outer guide cone 311 and the inner guide cone 313 is equal to the taper of the frustum end 231 of the docking cone 23. The locking groove 312 is used to limit the spherical pin head 2511 of the locking mechanism 25, realizing effective locking between the docking device 2 and the oil receiving device 3. The inner diameter of the straight section 314 matches the outer diameter of the sealing section 214 of the oil delivery docking rod 21. The sealing between the docking device 2 and the receiving device 3 is achieved through the matching straight section 314 and sealing section 214 and the sealing ring 22 installed in the sealing groove 219 of the sealing section 214.

[0052] The self-sealing mechanism 32 consists of an oil receiving cylinder 321, a spring 322, and a piston 323. One end of the oil receiving cylinder 321 is a closed end, and the other end is an open end. The open end of the oil receiving cylinder 321 has a mounting flange 325, which is bolted to the mounting flange 315 of the oil receiving guide cone 31. The mating surfaces of the mounting flange 325 and the mounting flange 315 are sealed by a sealing ring 324. The closed end of the oil receiving cylinder 321 is fixed to the equipment's oil filling port, and a through hole 327 is provided on the end wall of the closed end. The inner diameter of the oil receiving cylinder 321 is larger than the inner diameter of the straight section 314 of the oil receiving guide cone 31, thus forming a shoulder between the mounting flange 325 on the oil receiving cylinder 321 and the mounting flange 315 on the straight section 314. In addition, multiple oil outlets 326 are provided circumferentially on the cylinder wall of the oil receiving cylinder 321 near the open end. Piston 323 and spring 322 are installed inside the oil receiving cylinder 321. Piston 323 is located on one side of the open end of the oil receiving cylinder 321, and spring 322 is located between the closed end wall of the oil receiving cylinder 321 and one end face of piston 323. The other end face of piston 323 is limited by a shoulder formed by mounting flange 325 and mounting flange 315. In addition, piston 323 and oil receiving cylinder 321 are radially sealed by sealing ring 324. In the standby state of the docking sealing system (i.e., the non-working state without oil filling), the end face of piston 323 is limited by the shoulder at mounting flange 325 of oil receiving cylinder 321, and the piston 323 and oil receiving cylinder 321 are radially sealed by sealing ring 324, ensuring that the equipment filling port and equipment oil tank are in a sealed state.

[0053] By using the through hole 327 opened on the end wall of the closed end of the oil receiving cylinder 321, when the piston 323 moves back and forth in the oil receiving cylinder 321, high-pressure air is prevented from forming in the oil receiving cylinder 321, thus avoiding obstruction of the smooth movement of the piston 323.

[0054] In the docking sealing system for oil filling of the present invention, the soft robotic arm 1 is a three-section series structure. The extension and retraction of each flexible arm is designed to be no less than half of the original arm length, the bending angle of each flexible arm is designed to be no less than 30°, and the bending angle of the entire soft robotic arm 1 is designed to be no less than 90°, so as to facilitate the flexible length and angle adjustment of the soft robotic arm 1, so as to facilitate alignment with the oil receiving device 3.

[0055] In the docking sealing system for oil filling of the present invention, the entire docking cone 23 has a circular hole design in the axial direction through the axial through hole 2311 and the straight section 233, which provides support for the axial movement of the oil delivery docking rod 21; by opening the guide limiting groove 2331 on the straight section 233, the slider 26, which is fixedly connected to the locking section 217 at the tail of the oil delivery docking rod 21, is restricted by the guide limiting groove 2331 to limit the rotational freedom around the axial direction, thereby restricting the rotation of the oil delivery docking rod 21 during the axial translation process.

[0056] In the docking sealing system for oil filling of the present invention, the outer diameter of the guide section 213 is slightly smaller than the outer diameter of the sealing section 214, thereby avoiding excessive tightness in the straight section 314 of the receiving device 3 during the docking guidance process, which would result in excessive friction and be detrimental to docking and locking; the transition section 216 between the unlocking section 215 and the locking section 217 is a conical surface design, which facilitates the transition stroke of the locking mechanism in the reciprocating switching between the locking state and the unlocking state, and avoids switching impact.

[0057] In the oil filling sealing system of the present invention, preferably, the oil delivery pipe 27 has an "Ω" shaped structure, which can adapt to the deformation of the oil delivery pipe caused by the change in distance between the oil delivery docking rod 21 and the oil pump during the movement of the oil delivery docking rod 21.

[0058] The following combination Figures 11 to 14 The working process of the butt sealing system for oil filling of the present invention is described. The working process can be basically divided into five states: reset, pre-butt, butt locking, sealing, and oil filling.

[0059] Reset status:

[0060] The reset state is the standby state where no oil needs to be added to the equipment. In the reset state, the drive wire rope 13 of the soft robotic arm 1 is released, the support spring 14 extends naturally, and the soft robotic arm 1 is in a freely extended, suspended state. In the reset state, the oil delivery docking rod 21 of the docking device 2 retracts into the docking cone 23. At this time, the limiting ball head 255 in the locking mechanism 25 is in contact with the unlocking section 215 of the oil delivery docking rod 21. Therefore, the locking mechanism 25 is not subjected to any force, and both the locking spring 253 and the unlocking spring 254 are in a naturally extended state. The locking pin 251 retracts into the locking mechanism mounting hole 2313 of the docking cone 23. For information on the reset state of the docking device 2, please refer to [link to relevant documentation]. Figure 8 .

[0061] Pre-docking status:

[0062] When oil needs to be added to the equipment, the docking sealing system first enters the pre-docking state. In the pre-docking state, the drive wire rope 13 of the soft robotic arm 1 retracts under the drive of the actuator 1D, pulling the upper support flange 11 and the lower support flange 15 closer together. The support spring 14 is compressed, and the length of the soft robotic arm 1 decreases, i.e., it is in a compressed state. In the pre-docking state, such as Figure 11As shown, the oil delivery docking rod 21 of the docking device 2 gradually extends outward from the docking cone 23 under the drive of the linear motor 28. The contact position between the limiting ball head 255 and the oil delivery docking rod 21 in the locking mechanism 25 slides from the unlocking section 215 to the transition section 216 and then to the locking section 217. During this process, the limiting ball head 255 is subjected to the squeezing force of the locking section 217 of the oil delivery docking rod 21. The locking pin 251 gradually moves outward along the radial direction of the oil delivery docking rod 21, and the unlocking spring 254 is correspondingly compressed until the locking pin 251 extends outward from the docking cone 23. When the limiting ball head 255 slides to the locking section 217, the locking pin 251 stops extending outward, and the unlocking spring 254 also stops being compressed accordingly. At this time, the pre-docking state is reached.

[0063] docking and locking status:

[0064] After the docking begins, such as Figure 12 As shown, when the head of the oil delivery docking rod 21 enters the range of the oil receiving guide cone 31 of the oil receiving device 3, the driver 1D of the soft robotic arm 1 stops, and the wire rope 13 is released, causing the soft robotic arm 1 to extend and move the docking device 2 as a whole toward the oil receiving device 3. The docking cone 23 slides along the conical surfaces of the outer guide cone 311 and the inner guide cone 313 of the oil receiving device 3, thereby causing the oil delivery docking rod 21 to extend into the inner guide cone 313. As the oil delivery docking rod 21 continues to extend, the oil delivery... The guide section 213 of the oil delivery rod 21 is inserted into the straight section 314 of the oil receiving guide cone 31 until the locking pin 251 of the locking mechanism 25 is inserted into the locking groove 312 of the oil receiving guide cone 31, thus completing the docking and locking action between the docking device 2 and the oil receiving device 3. At this time, only the guide section 213 of the oil delivery rod 21 extends into the straight section 314 of the oil receiving guide cone 31, and the sealing section 214 of the oil delivery rod 21 does not come into contact with the straight section 314 of the oil receiving guide cone 31.

[0065] During the aforementioned docking and locking process, as the docking cone 23 slides along the conical surfaces of the outer guide cone 311 and the inner guide cone 313, the spherical pin head 2511 of the locking pin 251 extending from the docking cone 23 in the pre-dock state is continuously subjected to pressure applied by the conical surface of the oil receiving guide cone 31. The locking pin 251 will retract within the locking spring sleeve 252, and the locking spring 253 will be compressed. At the same time, the spherical pin head 2511 can reduce the frictional force between itself and the conical surface of the oil receiving guide cone 31 due to its spherical structure. Furthermore, the docking ball head 212 at the front end of the oil delivery docking rod 21 can avoid jamming during the insertion of the straight section 314 due to its spherical structure. This ensures that the docking cone 23 slides along the conical surfaces of the outer guide cone 311 and the inner guide cone 313 without obstruction. When the locking pin 251 is inserted into the locking slot 312 to complete the locking action, the pressure on the ball pin 2511 is released, the locking spring 253 returns to its original position, and the locking pin 251 extends fully under the elastic restoring force of the locking spring 253, ensuring that it is reliably engaged in the locking slot 312.

[0066] Sealed condition:

[0067] After the docking device 2 and the oil receiving device 3 complete the docking and locking action, the limit switch 24 installed in the docking cone 23 detects that the conical surface of the docking cone 23 and the conical surface of the oil receiving guide cone 31 are in contact and pressed together, and sends a contact signal to the controller. When the controller detects the contact signal, as follows: Figure 13 As shown, the oil delivery docking rod 21 of the docking device 2 continues to extend under the drive of the linear motor 28. The sealing section 214 of the oil delivery docking rod 21 gradually enters the straight section 314 of the oil receiving guide cone 31 until the first sealing ring 22 on the sealing section 214 enters the straight section 314 and the docking ball head 212 at the front end of the oil delivery docking rod 21 contacts the piston 323 of the self-sealing mechanism 32. At this time, the space from the first sealing ring 22 of the oil delivery docking rod 21 to the piston 323 of the self-sealing mechanism 32 remains sealed, and the sealing state is achieved.

[0068] During the sealing process described above, as the oil delivery docking rod 21 continues to extend, although the docking device 2 will be subjected to the frictional reaction force of the receiving device 3, the locking pin 251 is engaged in the locking groove 312, ensuring the locking and limiting function of the locking mechanism 25, and the docking device 2 and the receiving device 3 will not separate.

[0069] Fuel filling status:

[0070] like Figure 14As shown, after the sealing action is completed, as the oil delivery rod 21 of the docking device 2 continues to advance under the drive of the linear motor 28, the piston 323 of the self-sealing mechanism 32 moves backward in the oil receiving cylinder 321. The spring 322 located between the closed end wall of the oil receiving cylinder 321 and the end face of the piston 323 is compressed, and the second sealing ring 22 on the oil delivery rod 21 also enters the cylinder section 314. The second sealing ring 22 and the first sealing ring 22 together form a double-ring radial seal with the cylinder section 314. The piston 323 moves backward until the oil outlet 326 on the oil receiving cylinder 321 communicates with the oil outlet hole 218 on the oil delivery rod 21. At this time, the oil from the oil pump is added to the oil tank of the equipment through the oil delivery pipe 27, the internal channel 261 of the slider 26, the oil delivery hole 211 and the oil outlet hole 218 of the oil delivery rod 21, and the oil outlet 326 of the oil receiving cylinder 321. After the oil filling is completed, the oil delivery docking rod 21 retracts under the drive of the linear motor 28, and the piston 323 moves forward under the elastic restoring force of the spring 322 until it returns to its initial position, thus achieving self-sealing of the equipment's oil filling port and oil tank. As the oil delivery docking rod 21 continues to retract, the contact position between the limiting ball head 255 in the locking mechanism 25 and the oil delivery docking rod 21 gradually slides from the locking section 217 to the transition section 216 and then to the unlocking section 215. At this time, the locking mechanism 25 is not subjected to any force, and the locking pin 251 retracts and returns to the locking mechanism mounting hole 2313 of the docking cone 23 under the elastic restoring force of the unlocking spring 254, thus unlocking the docking device 2 and the receiving device 3. Then, the driving wire rope 13 of the soft robotic arm 1 retracts under the drive of the driver 1D, causing the soft robotic arm 1 to retract, thus separating the docking device 2 and the receiving device 3, thereby completing the oil filling process.

[0071] In summary, compared with the prior art, the docking sealing system for oil filling of the present invention has the following advantages and beneficial effects:

[0072] 1. The docking and sealing system for oil filling of the present invention can realize self-docking, self-locking and self-sealing between the filling end and the equipment oil tank. After the oil filling is completed, the docking device can automatically unlock and separate from the receiving device and reset to the initial state. At the same time, the receiving device can automatically close and seal the equipment oil tank without human intervention. It is the premise and foundation of intelligent autonomous filling, which can greatly improve the efficiency of oil filling and improve the reliability and safety of the oil filling process.

[0073] 2. In the operation of the docking sealing system for oil filling of the present invention, the docking device and the oil receiving device are reliably docked and locked by the locking mechanism. The oil delivery docking rod and the straight section of the oil receiving device are sealed by a double-ring radial seal. The equipment oil tank adopts a piston structure to achieve self-sealing, which effectively meets the strict sealing requirements for pressure filling or toxic fuel filling, and effectively avoids pressure loss and oil leakage during the oil filling process.

[0074] 3. The docking and sealing system for oil filling of the present invention consists of three parts: a soft robotic arm, a docking device, and an oil receiving device. It has a simple structure and the oil filling process is convenient and efficient.

[0075] 4. Each drive wire rope of each segment of the multi-segment soft robotic arm can be driven independently. Each segment of the multi-segment soft robotic arm can be precisely controlled in terms of length and angle in a single and synchronous manner, which is beneficial for adapting to various oil filling occasions and also facilitates alignment with the oil receiving device.

[0076] It should be noted that, unless otherwise expressly specified and limited, the term "connection" or its synonyms should be interpreted broadly in this document. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, expressions such as "first" and "second" are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Meanwhile, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In addition, the terms "front," "rear," "left," "right," "upper," and "lower" in this document refer to the placement states shown in the accompanying drawings.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A butt-sealing system for oil filling, characterized in that, The docking sealing system includes a soft robotic arm, a docking device, and an oil receiving device. The soft robotic arm is connected to the docking device, and the oil receiving device is fixedly connected to the equipment's oil filling port, wherein: The soft robotic arm is a multi-segment serial structure, including a top segment soft arm, a bottom segment soft arm, and one or more intermediate segment soft arms between the top segment soft arm and the bottom segment soft arm. The lower end of the bottom segment soft arm is fixed with a driver. Each segment soft arm includes an upper support flange and a lower support flange located on both sides, multiple pulley sets, a support spring, and multiple drive steel wire ropes. The support spring is installed between the upper support flange and the lower support flange. The multiple pulley sets are evenly distributed along the circumference of the upper support flange. Each pulley set corresponds to a drive steel wire rope. One end of each drive steel wire rope is fixedly connected to the lower support flange, and the other end of the drive steel wire rope passes around the pulley set and then through the lower support flange to extend and connect to the driver. The docking device includes an oil delivery docking rod, a docking cone, limit switches, a locking mechanism, a slider, an oil delivery pipe, a linear motor, and a support cylinder. The docking cone consists of a truncated cone end, a flange end, and a straight cylindrical section between the truncated cone end and the flange end. An axial through hole is formed inside the truncated cone end. Three blind holes for installing limit switches are evenly distributed along the circumference of the cone surface on the truncated cone end. Additionally, three through holes for installing the locking mechanism are also evenly distributed along the circumference of the cone surface on the truncated cone end. These through holes are stepped holes, and their openings are located at the diameter of the truncated cone end. The diameter of the outer portion of the hole is smaller than the diameter of the portion of the stepped hole that opens radially inward at the end of the truncated cone. One limit switch is installed in each blind hole for the limit switch, and one locking mechanism is installed in each through hole for the locking mechanism. The flange end of the docking cone is connected to the support cylinder. The linear motor is mounted on the support cylinder, which is connected to the upper support flange of the top section of the flexible arm. The oil delivery docking rod is installed in the axial through hole and the straight section, and the oil delivery docking rod is a hollow rod-shaped structure. The structure includes an axially penetrating oil delivery hole inside. The oil delivery connecting rod consists of a connecting ball head at the front end and a guide section, sealing section, unlocking section, transition section, and locking section sequentially connected along the axial direction. The connecting ball head has an oil outlet hole radially along the oil delivery connecting rod. The sealing section has two sealing grooves, each containing a sealing ring. The outer diameters of the guide section, sealing section, unlocking section, and locking section are set as follows: outer diameter of locking section > outer diameter of sealing section > outer diameter of guide section > outer diameter of unlocking section. The transition section is... The truncated cone transition structure between the unlocking section and the locking section; the straight section is provided with a guide limiting groove, the slider is mounted on the guide limiting groove in a sliding fit, one end of the slider is connected to the locking section of the oil delivery docking rod, and the other end of the slider is connected to the output shaft of the linear motor; one end of the oil delivery pipe is connected to the upper end face of the slider, and the other end of the oil delivery pipe is connected to the oil pump; the slider has an internal channel that connects the oil delivery pipe, the oil delivery hole, and the oil outlet hole.The locking mechanism includes a locking pin, a locking spring sleeve, a locking spring, an unlocking spring, and a limiting ball head. The locking pin is a cylindrical structure with a spherical head at one end and a flange at the bottom. The locking spring sleeve is a cylindrical straight tube structure with one end closed and the other end open. A through hole is formed at the center of the closed end of the locking spring sleeve, and an outer flange is provided at the open end. The locking pin is installed... Inside the locking spring sleeve, the spherical pin is inserted through the through hole of the locking spring sleeve, the limiting ball head is fixed to the locking spring sleeve, the locking spring is installed between the end face of the flange and the planar end of the cylindrical part of the limiting ball head, the unlocking spring is fitted around the outer periphery of the locking spring sleeve, the lower end of the unlocking spring is limited by the outer flange of the flange, and the upper end of the unlocking spring is limited by a shoulder formed by stepped holes of different diameters in the mounting through hole of the locking mechanism; The oil receiving device includes an oil receiving guide cone and a self-sealing mechanism. The oil receiving guide cone is composed of an outer guide cone, an inner guide cone, and a straight cylindrical section connected in sequence. A locking groove is formed along the circumference of the inner circumference of the outer guide cone. The end of the straight cylindrical section has a mounting flange. The taper of the outer and inner guide cones is equal to the taper of the frustum end of the connecting cone. The inner diameter of the straight cylindrical section matches the outer diameter of the sealing section of the oil delivery connecting rod. The self-sealing mechanism consists of an oil receiving straight cylinder, a spring, and a piston. One end of the oil receiving straight cylinder is a closed end, and the other end is an open end. The open end of the oil receiving straight cylinder has a mounting flange, which is fixedly connected to the mounting flange of the straight cylindrical section. The oil receiving straight cylinder is sealed with a sealing ring end face between the mating surfaces of the mounting flange of the straight cylinder section and the oil receiving straight cylinder. The closed end of the oil receiving straight cylinder is fixed to the equipment oil filling port. The inner diameter of the oil receiving straight cylinder is larger than the inner diameter of the straight cylinder section of the oil receiving guide cone. A shoulder is formed between the mounting flange of the oil receiving straight cylinder and the mounting flange of the straight cylinder section. Multiple oil outlets are circumferentially opened on the cylinder wall near the open end of the oil receiving straight cylinder. The piston and the spring are installed inside the oil receiving straight cylinder. The spring is located between the closed end wall of the oil receiving straight cylinder and one end face of the piston. The other end face of the piston is limited by the shoulder formed between the mounting flange of the oil receiving straight cylinder and the mounting flange of the straight cylinder section. The piston and the oil receiving straight cylinder are radially sealed by a sealing ring.

2. The butt sealing system for oil filling according to claim 1, characterized in that, The docking sealing system for oil filling also includes a controller, which is communicatively connected to the driver of the soft robotic arm, the limit switch, and the linear motor. The controller controls the driver to start or stop to control the contraction and release of the drive wire rope, detects the contact signal sent by the limit switch between the docking cone and the oil receiving guide cone, and drives the linear motor to control the extension and retraction of the oil delivery docking rod.

3. The butt sealing system for oil filling according to claim 1, characterized in that, In the top section soft arm, the middle section soft arm, and the bottom section soft arm, the mating sides of two adjacent soft arm sections share the same flange, and the lower support flange of the previous soft arm section is also the upper support flange of the subsequent soft arm section.

4. The butt sealing system for oil filling according to claim 1, characterized in that, Each of the top section soft arm, the middle section soft arm, and the bottom section soft arm includes four pulley sets and four drive steel wire ropes. The four pulley sets are evenly distributed at 90° intervals along the circumference of the upper support flange, and the four drive steel wire ropes are evenly distributed at 90° intervals between the upper support flange and the lower support flange.

5. The butt sealing system for oil filling according to claim 4, characterized in that, The soft robotic arm has a three-segment serial structure, including the top segment soft arm, the bottom segment soft arm, and an intermediate segment soft arm between the top segment soft arm and the bottom segment soft arm.

6. The butt sealing system for oil filling according to claim 5, characterized in that, The lower support flange of the top section soft arm is also the upper support flange of the middle section soft arm, and the lower support flange of the middle section soft arm is also the upper support flange of the bottom section soft arm.

7. The butt sealing system for oil filling according to claim 6, characterized in that, The actuator includes three motor groups, each consisting of four motors. The other ends of the four drive steel cables in the top flexible arm that pass over the pulley group extend and connect to the four motors in the first motor group. The other ends of the four drive steel cables in the middle flexible arm that pass over the pulley group extend and connect to the four motors in the second motor group. The other ends of the four drive steel cables in the bottom flexible arm that pass over the pulley group extend and connect to the four motors in the third motor group.

8. The butt sealing system for oil filling according to claim 1, characterized in that, The oil pipeline has an "Ω" shaped structure.

9. The butt sealing system for oil filling according to any one of claims 1 to 8, characterized in that, The limit switch mounting blind hole is perpendicular to the conical surface of the truncated cone end; the locking mechanism mounting through hole is perpendicular to and connects to the axial through hole; the inner circumferential surface of the opening end of the locking spring sleeve is provided with internal thread; one end of the limiting ball head is a ball head, and the other end of the limiting ball head is a cylinder with external thread; the external thread on the cylinder matches the internal thread on the inner circumference of the opening end of the locking spring sleeve; the diameter of the spherical pin is slightly smaller than the diameter of the through hole at the closed end of the locking spring sleeve; the outer diameter of the flange is larger than the diameter of the through hole of the locking spring sleeve and slightly smaller than the inner diameter of the locking spring sleeve; the outer diameter of the flange outer flange is slightly smaller than the diameter of the portion of the locking mechanism mounting through hole opening radially inward at the truncated cone end; the diameter of the spherical pin is slightly smaller than the diameter of the portion of the locking mechanism mounting through hole opening radially outward at the truncated cone end.

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