Unmanned refueling system

Abstract

The invention provides an unmanned refueling system, and belongs to the technical field of intelligent machines, the unmanned refueling system comprises a manipulator, a connector, a refueling gun, a cap screwing module and an adapter, the manipulator comprises a plurality of rotating arms hinged in sequence and a visual module, and the visual module is used for identifying the position of a refueling port or a fuel tank cap; the oil gun is fixedly connected to the connector, an oil inlet, an oil outlet and a passage communicated between the oil inlet and the oil outlet are formed in the oil gun, a closing assembly located in the passage is arranged in the oil gun, and the closing assembly is used for blocking or opening the passage; the cap screwing module is fixedly connected to the connector, the cap screwing module comprises a driving part and a clamping part, the clamping part is used for clamping and releasing an oil tank cap, and the driving part is used for driving the clamping part to rotate; the adapter is connected with an oil outlet of the oil gun, and a liquid level detection tube is arranged on the adapter.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent machines, and in particular relates to an unmanned refueling system. Background Art

[0002] When unmanned gas stations or unmanned refueling vehicles realize unmanned refueling, they can refuel vehicles or aircraft. However, since the refueling ports of vehicles or aircraft are not unified, different unmanned refueling devices need to be designed for different refueling ports, resulting in high costs for realizing unmanned refueling of all means of transportation. In addition, the refueling operation and the opening and closing of the fuel tank cap in the unmanned gas stations of existing gas stations are performed by two separate devices, and interference may occur when the two devices perform actions. In addition, the operating steps of the two devices are numerous and cumbersome, which not only increases the difficulty of refueling, but also reduces the efficiency of refueling. Summary of the invention

[0003] The embodiment of the present invention provides an unmanned refueling system, aiming to solve the technical problems that the existing unmanned refueling cannot adapt to different refueling ports at the same time, resulting in high cost; and the existing unmanned refueling equipment has cumbersome operating steps and low refueling efficiency.

[0004] To achieve the above object, the technical solution adopted by the present invention is to provide an unmanned refueling system, comprising: A manipulator, comprising a plurality of rotating arms articulated in sequence, and a visual module, wherein the visual module is used to identify the position of the fuel filler port or the fuel tank cap, wherein the rotating arm at the head end is a fixed part, and the rotating arm at the tail end is an operating part; A connector, fixedly connected to the operating portion; A refueling gun, fixedly connected to the connecting head, provided with an oil inlet and an oil outlet, and a passage communicating between the oil inlet and the oil outlet, wherein a closing component located in the passage is provided in the refueling gun, and the closing component is used to block or open the passage; A cap screwing module is fixedly connected to the connector, the cap screwing module comprises a driving part and a clamping part, the clamping part is used to clamp and release the fuel tank cap, and the driving part is used to drive the clamping part to rotate; An adapter, connected to the oil outlet of the refueling gun, and provided with a liquid level detection tube; When the liquid level detection tube detects oil, the closing component blocks the passage.

[0005] In a possible implementation, the cap screwing module includes: A protective cover, fixedly connected to the connector; A rotating disk, rotatably matched with the protective cover; Two claws, slidingly matched with the rotating disk; A first driving mechanism is connected to the two claws in a transmission manner, and the first driving mechanism is used to drive the two claws to move toward or away from each other; Wherein, the driving part is located in the protective cover and is drivingly connected to the rotating disk, and the driving part is used to drive the rotating disk to rotate.

[0006] In a possible implementation, a transmission gear is provided at one end of the rotating disk facing the protective cover, the driving part is a twisting motor, and an output shaft of the twisting motor is provided with a twisting gear that cooperates with the transmission gear.

[0007] In a possible implementation, the first driving mechanism is a clamping motor, and a first bevel gear is provided on the output shaft of the clamping motor. The cap screwing module also includes a first lead screw hinged to the rotating disk, and the threads at both ends of the first lead screw have opposite rotation directions. The two claws are respectively matched with the two ends of the first lead screw, and a second bevel gear meshing with the first bevel gear is provided in the middle of the first lead screw.

[0008] In a possible implementation, a locking sleeve is provided on the outer circumference of the refueling gun located at the oil outlet, and the inner circumference of one end of the locking sleeve close to the oil outlet is concave to form a first groove and a second groove, the second groove is located at the end of the first groove away from the oil outlet, the depth of the second groove is less than the depth of the first groove, and a locking spring and a locking steel ball are further provided between the locking sleeve and the refueling gun, the locking spring has a pre-tightening force that pushes the locking sleeve to move close to the oil outlet, and the locking steel ball is located in the first groove or the second groove; The side wall of the refueling gun is provided with a first through hole for the locking steel ball to pass through, and the outer peripheral surface of the adapter is provided with a locking groove engaged with the locking steel ball.

[0009] In a possible implementation, the refueling gun further includes: A self-sealing valve core, fixedly mounted on the refueling gun and located in the oil outlet, wherein a third inclined cone surface is provided on the self-sealing valve core; A self-sealing valve seat is slidably matched with the outer periphery of the self-sealing valve core, and the inner periphery of the self-sealing valve seat is provided with a fourth inclined conical surface corresponding to the third inclined conical surface; A self-sealing spring, used for pushing the self-sealing valve seat, so that the fourth inclined cone surface abuts against the third inclined cone surface to achieve sealing; When the third inclined conical surface abuts against the fourth inclined conical surface, the oil outlet is closed and the self-sealing valve seat blocks the first through hole; when the adapter is installed, the adapter abuts against the self-sealing valve seat and moves away from the oil outlet, the self-sealing spring is compressed, the third inclined conical surface is separated from the fourth inclined conical surface, and the oil outlet is opened.

[0010] In a possible implementation, an opening connecting the oil inlet and the oil outlet is provided in the passage, and the closing component includes: A closing motor is connected to the refueling gun; A second lead screw is fixedly connected to the output shaft of the closing motor; A shift fork, screwed to the second lead screw; A first valve stem is slidably fitted in the passage, and a limiting step is provided on the outer periphery of the first valve stem; A blocking block, fixedly mounted on the end of the first valve stem, for blocking the opening; A return spring, sleeved on the outer circumference of the first valve stem, the return spring having a pre-tightening force to make the blocking block abut against the opening; The refueling gun is also provided with a locking mechanism, and the locking mechanism is communicatively connected with the liquid level detection tube; The closing motor is used to drive the fork to push the limit step away from the opening, and the return spring is compressed until the first valve stem moves to a preset position, and the locking mechanism locks the first valve stem. When the liquid level detection tube detects oil, the locking mechanism releases the first valve stem, and the return spring pushes the first valve stem to allow the blocking block to block the opening.

[0011] In a possible implementation, the refueling gun is further provided with a middle hole and an expanded hole located on a side of the middle hole away from the opening, the diameter of the expanded hole is larger than the middle hole, the first valve stem is slidably connected to the middle hole, and a first oblique cone surface is provided between the expanded hole and the inner wall of the middle hole; The locking mechanism comprises a locking rod, a second driving mechanism, a ball and a first spring, wherein the second driving mechanism is used to drive the locking rod to move in a direction away from the opening, the locking rod extends into the first valve stem and slidably cooperates with the first valve stem, the portion of the locking rod extending into the first valve stem is provided with a second inclined cone surface, the ball corresponds to the position of the second inclined cone surface, and the first spring is used to push the locking rod so that the large end of the second inclined cone surface abuts against the ball; When the second driving mechanism pulls the locking rod, the small end of the second inclined cone surface abuts against the ball, the ball does not protrude from the outer circumferential surface of the first valve stem, and the first valve stem is in an unlocked state; when the first spring pushes the locking rod, the large end of the second inclined cone surface abuts against the ball, the ball protrudes from the outer circumferential surface of the first valve stem and abuts against the first inclined cone surface, and the first valve stem is locked.

[0012] In a possible implementation, a diaphragm cavity is provided in the refueling gun at an end of the first valve stem away from the opening, the second drive mechanism includes a first diaphragm provided in the diaphragm cavity, and a diaphragm assembly penetrating through the first diaphragm and fixedly connected to the first diaphragm, the first diaphragm separates the diaphragm cavity into a first cavity and a second cavity that are independent of each other, the second cavity is located on a side of the first cavity facing the opening, and the first spring abuts between the diaphragm assembly and the inner wall of the first cavity; Among them, the first cavity is used to generate vacuum negative pressure. At this time, the diaphragm assembly pulls the locking rod so that the small end of the second inclined cone surface abuts against the ball, and the first spring is compressed; after the negative pressure in the first cavity is released, the first spring rebounds and pushes the locking rod so that the large end of the second inclined cone surface abuts against the ball.

[0013] In a possible implementation, the periphery of the cavity is connected to a vent pipe, and an airway is connected between the liquid level detection tube and the vent pipe; A vacuum generator is also provided in the refueling gun, and the vacuum generator is used to generate a vacuum degree in the ventilation pipe and the airway.

[0014] Compared with the prior art, the solution shown in the embodiment of the present application is an unmanned refueling system of the present invention. By providing an adapter on the refueling gun, the adapter can be removed or installed to facilitate adaptation to different types of refueling ports, thereby reducing the cost of unmanned refueling; by integrating the refueling gun and the capping module into one manipulator, orderly distributed operations can be achieved, and the occupancy of site space is reduced. The saved space can be used to arrange a larger number of unmanned refueling systems, which is beneficial to improving the efficiency of unmanned refueling; by providing a visual module on the manipulator, the position of the refueling port can be accurately and quickly identified, and the type of the refueling port can be determined, thereby switching whether to use the capping module. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the three-dimensional structure of an unmanned refueling system provided by an embodiment of the present invention; Figure 2 A schematic cross-sectional structure diagram of a cap screwing module used in an embodiment of the present invention; Figure 3 The cross-sectional structure of the fuel gun used in the embodiment of the present invention is shown in FIG. Figure 1 ; Figure 4 The cross-sectional structure of the fuel gun used in the embodiment of the present invention is shown in FIG. Figure 2 ; Figure 5 It is an assembly cross-sectional view of a refueling gun and an adapter used in an embodiment of the present invention; Figure 6This is a schematic diagram of the cross-sectional structure of the adapter used in an embodiment of the present invention.

[0016] Description of reference numerals: 10-manipulator; 11-rotating arm; 20-connector; 30-fueling gun; 31-oil inlet; 32-oil outlet; 33-closing assembly; 331-closing motor; 332-second lead screw; 333-shift fork; 334-first valve stem; 335-blocking block; 336-reset spring; 34-first oblique cone surface; 35-ventilation pipe; 36-airway; 37-vacuum generator; 40-cover screwing module; 41-protection cover; 42-rotating disk; 421-transmission gear; 43-claw; 44-screwing motor; 45-screwing gear; 46-clamping motor; 461-first bevel gear; 47-first lead screw; 471-second bevel gear; 50-adapter; 51-liquid level detection tube; 52-locking groove; 60-locking sleeve; 601-first groove; 602-second groove; 61-locking spring; 62-locking steel ball; 63-unlocking sleeve; 70-self-sealing valve core; 701-third inclined cone surface; 71-self-sealing valve seat; 711-fourth inclined cone surface; 72-self-sealing spring; 80 - locking mechanism; 81 - locking rod; 811 - second inclined cone surface; 82 - ball; 83 - first spring; 84 - first cavity; 85 - second cavity; 86 - first diaphragm; 87 - diaphragm assembly. DETAILED DESCRIPTION

[0017] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In the claims, description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. are for distinguishing different objects rather than for describing a specific order.

[0019] Unless otherwise expressly defined, the directional words in the claims, specification and the above-mentioned drawings of the present invention, such as the use of terms such as "upper", "lower", "top", "bottom", "front", "back", "inside", "outside", "center", "lateral", "longitudinal", "horizontal", "vertical", "left", "right", "clockwise", "counterclockwise", "high", "low", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific protection scope of the present invention.

[0020] In the claims, specification and the above drawings of the present invention, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0021] In the claims, description and drawings of the present invention, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0022] Please also read Figures 1 to 6 The unmanned refueling system provided by the present invention is now described. The unmanned refueling system comprises a manipulator 10, a connector 20, a refueling gun 30, a cap screwing module 40 and an adapter 50. The manipulator 10 comprises a plurality of rotating arms 11 hinged in sequence, and a visual module, the visual module is used to identify the position of the refueling port or the fuel tank cap, the rotating arm 11 at the head end is a fixed part, and the rotating arm 11 at the end end is an operating part; the connector 20 is fixedly connected to the operating part; the refueling gun 30 is fixedly connected to the connector 20, and the refueling gun 30 is provided with a fuel inlet 31 and an oil outlet 32, and a passage connecting the oil inlet 31 and the oil outlet 32. A closing assembly 33 located in the passage is provided in the refueling gun 30, and the closing assembly 33 is used to block or open the passage; a cap screwing module 40 is fixedly connected to the connector 20, and the cap screwing module 40 includes a driving part and a clamping part, the clamping part is used to clamp and release the oil tank cover, and the driving part is used to drive the clamping part to rotate; an adapter 50 is connected to the oil outlet 32 ​​of the refueling gun 30, and a liquid level detection tube 51 is provided on the adapter 50; When the liquid level detection tube 51 detects oil, the closing component 33 blocks the passage.

[0023] It should be noted that the visual module can identify the position of the fuel port through photos or chips, for example, by identifying the shape of the fuel tank cap through a camera, thereby determining the position of the fuel tank cap and transmitting the position information of the fuel tank cap to the manipulator 10, which drives the cap screwing module 40 or the fuel gun 30 to move to that position.

[0024] The unmanned refueling system of the present application integrates the refueling gun 30 and the capping module 40 on a manipulator 10. When it is necessary to refuel the closed refueling port, there is no need to use the capping module 40. The visual module is directly used to find the positioning mark of the closed refueling port, and then the refueling gun 30 is operated to extend into the closed refueling port. At this time, the adapter 50 is in a disassembled state. When the refueling gun 30 extends into the closed refueling port, the closed refueling port is pushed open to refuel the inside; when it is necessary to refuel the gravity refueling port, it is necessary to identify the position of the fuel tank cap through the visual module, and then clamp the fuel tank cap through the clamping part on the capping module 40, open the fuel tank cap by twisting it, install the adapter 50 on the oil outlet 32 ​​of the refueling gun 30, and directly extend it into the gravity refueling port to refuel. When refueling, when the liquid level detection tube 51 detects oil, it means that the fuel tank is full of oil, and the closing component 33 is automatically closed to prevent oil from overflowing.

[0025] Compared with the prior art, the unmanned refueling system of the present invention provides an adapter 50 on the refueling gun 30, which can be easily adapted to different types of refueling ports by removing or installing the adapter 50, thereby reducing the cost of unmanned refueling; by integrating the refueling gun 30 and the capping module 40 on a manipulator 10, orderly distributed operations can be achieved, and the occupation of site space is reduced. The saved space can be used to arrange a larger number of unmanned refueling systems, which is beneficial to improving the efficiency of unmanned refueling; by providing a visual module on the manipulator 10, the position of the refueling port can be easily and accurately identified quickly, and the type of the refueling port can be determined, thereby switching whether to use the capping module 40.

[0026] In some embodiments, a specific implementation of the above-mentioned cap screwing module 40 can be as follows: Figure 2 See the structure shown. Figure 2 The cap screwing module 40 includes a protective cover 41, a rotating disk 42, two claws 43 and a first driving mechanism. The protective cover 41 is fixed to the connector 20; the rotating disk 42 is rotatably matched with the protective cover 41; the two claws 43 are slidably matched with the rotating disk 42; the first driving mechanism is transmission-connected with the two claws 43, and the first driving mechanism is used to drive the two claws 43 to move toward or away from each other; The driving part is located in the protective cover 41 and is in driving connection with the rotating disk 42 . The driving part is used to drive the rotating disk 42 to rotate.

[0027] It should be noted that the two claws 43 and the first driving mechanism form the above-mentioned clamping portion.

[0028] After the vision module transmits the position information of the oil receiving port to the manipulator 10, the manipulator 10 drives the connecting head 20 to move and makes the cap screwing module 40 correspond to the position of the tank cap. After the vision module recognizes that the manipulator 10 is in place, the first driving mechanism is started, and the two claws 43 approach each other to clamp the tank cap, and then the driving unit drives the rotating disk 42 to rotate, unscrew the tank cap and take it away, and the manipulator 10 switches the refueling gun 30 to refuel. After refueling, the tank cap is aligned with the oil receiving port, and the driving unit drives the rotating disk 42 to rotate in the opposite direction to screw on the tank cap. The first driving mechanism drives the two claws 43 to move away from each other to loosen the tank cap, completing the entire refueling process.

[0029] The rotating disk 42 drives the two claws 43 and the first driving mechanism to rotate synchronously, so that the movement process of the two claws 43 and the rotation process of the rotating disk 42 do not interfere with each other, thereby achieving the removal of the oil tank and the screwing and assembly and disassembly of the oil tank cover.

[0030] In some embodiments, a specific implementation of the above-mentioned driving unit can be as follows Figure 2 See the structure shown. Figure 2 The end of the rotating disk 42 facing the protective cover 41 is provided with a transmission gear 421, and the driving part is a twisting motor 44. The output shaft of the twisting motor 44 is provided with a twisting gear 45 that cooperates with the transmission gear 421. After the twisting motor 44 is started, it drives the twisting gear 45 to rotate, and the twisting gear 45 drives the transmission gear to rotate, thereby realizing the rotation of the rotating disk 42. The twisting motor 44 can be controlled by the same control system as the manipulator 10. By operating the forward and reverse rotation of the twisting motor 44, the rotating disk 42 can drive the oil tank cap to be twisted and removed, and the operation is more efficient.

[0031] In some embodiments, a specific implementation of the first driving mechanism can be as follows: Figure 2 See the structure shown. Figure 2 The first driving mechanism is a clamping motor 46, and a first bevel gear 461 is provided on the output shaft of the clamping motor 46. The capping module 40 also includes a first lead screw 47 hinged to the rotating disk 42. The threads at both ends of the first lead screw 47 are in opposite directions. Two claws 43 are respectively matched with the two ends of the first lead screw 47. The middle part of the first lead screw 47 is provided with a second bevel gear 471 meshing with the first bevel gear 461. The axial direction of the output shaft of the clamping motor 46 is perpendicular to the axial direction of the first lead screw 47. When the clamping motor 46 is started, the first bevel gear 461 drives the second bevel gear 471 to rotate, and then the first lead screw 47 rotates. The two claws 43 screwed on the first lead screw 47 will move closer to or farther away from each other during the rotation of the first lead screw 47 due to the sliding cooperation with the rotating disk 42, so as to realize the grasping or releasing of the fuel tank cap.

[0032] It should be noted that the rotating disk 42 is provided with a strip-shaped slide groove, and each claw 43 is slidably fitted in the strip-shaped slide groove, thereby ensuring that when the first screw 47 rotates, the rotational movement of the first screw 47 is switched to the linear movement of the claw 43.

[0033] As a variation, the first driving mechanism may also be a double-headed cylinder, and two opposite piston rods of the double-headed cylinder are respectively fixed to the two claws 43, so as to achieve the claws 43 approaching or moving away from each other.

[0034] Specifically, the clamping motor 46 extends into the protective cover 41, and the protective cover 41 protects both the twisting motor 44 and the clamping motor 46, thereby extending their service life.

[0035] In some embodiments, a specific matching method between the refueling gun 30 and the adapter 50 can be as follows: Figures 3 to 6 See the structure shown. Figures 3 to 6 , a locking sleeve 60 is provided on the outer circumference of the fueling gun 30 located at the fuel outlet 32, and the inner circumference of the locking sleeve 60 close to the fuel outlet 32 ​​is concave to form a first groove 601 and a second groove 602, the second groove 602 is located at the end of the first groove 601 away from the fuel outlet 32, and the depth of the second groove 602 is less than the depth of the first groove 601, and a locking spring 61 and a locking steel ball 62 are further provided between the locking sleeve 60 and the fueling gun 30, the locking spring 61 has a pre-tightening force to push the locking sleeve 60 to move close to the fuel outlet 32, and the locking steel ball 62 is located in the first groove 601 or the second groove 602; A first through hole is formed on the side wall of the fuel gun 30 for the locking steel ball 62 to pass through, and a locking groove 52 is formed on the outer peripheral surface of the adapter 50 to engage with the locking steel ball 62 .

[0036] When the adapter 50 is inserted into the oil outlet 32, the locking spring 61 pushes the locking sleeve 60, so that the side wall of the second groove 602 abuts against the locking steel ball 62, so that the locking steel ball 62 can pass through the first through hole and be stuck in the locking groove 52, thereby fixing the adapter 50; when the adapter 50 needs to be disassembled, the locking sleeve 60 is pushed so that the side wall of the first groove 601 corresponds to the position of the locking steel ball 62, and the adapter 50 is pulled out at this time, and the locking steel ball 62 can be easily rolled out of the locking groove 52, thereby realizing the disassembly of the adapter 50. This structure facilitates the quick insertion and removal of the adapter 50, saves time, and is easy to operate.

[0037] In addition, an unlocking sleeve 63 can be provided on the manipulator 10. The unlocking sleeve 63 is sleeved on the outer periphery of the locking sleeve 60 and can drive the locking sleeve 60 to move in a direction away from the oil outlet 32. When the adapter 50 needs to be disassembled, the locking sleeve 60 is automatically swung by the unlocking sleeve 63, so that the locking steel ball 62 is disengaged from the locking groove 52.

[0038] In some embodiments, an improved embodiment of the above-mentioned fueling gun 30 can be adopted as follows Figures 3 to 5 See the structure shown. Figures 3 to 5 The fueling gun 30 further includes a self-sealing valve core 70, a self-sealing valve seat 71 and a self-sealing spring 72. The self-sealing valve core 70 is fixedly mounted on the fueling gun 30 and located in the fuel outlet 32. A third inclined conical surface 701 is provided on the self-sealing valve core 70. The self-sealing valve seat 71 is slidably matched with the outer periphery of the self-sealing valve core 70. A fourth inclined conical surface 711 corresponding to the third inclined conical surface 701 is provided on the inner periphery of the self-sealing valve seat 71. The self-sealing spring 72 is used to push the self-sealing valve seat 71 so that the fourth inclined conical surface 711 abuts against the third inclined conical surface 701 to achieve sealing. Among them, when the third inclined conical surface 701 and the fourth inclined conical surface 711 abut against each other, the oil outlet 32 ​​is closed and the self-sealing valve seat 71 blocks the first through hole; when the adapter 50 is installed, the adapter 50 abuts against the self-sealing valve seat 71 and moves away from the oil outlet 32, the self-sealing spring 72 is compressed, the third inclined conical surface 701 and the fourth inclined conical surface 711 are separated, and the oil outlet 32 ​​is opened.

[0039] When the adapter 50 is not installed, the closed oil receiving port can be refueled. The closed port on the closed oil receiving port can directly push the self-sealing valve seat 71 when docking with the oil outlet 32, so that when the closing component 33 is opened, the oil flows into the closed oil receiving port through the oil outlet 32. After the refueling gun 30 is pulled out of the closed oil receiving port, the self-sealing valve seat 71 is automatically reset under the action of the self-sealing spring 72, thereby realizing the self-sealing of the refueling gun 30; when the adapter 50 is installed, the adapter 50 abuts against the self-sealing valve seat 71, and the fourth conical inclined surface on the self-sealing valve seat 71 is separated from the third conical inclined surface. At this time, whether the oil flows out is controlled only by the closing component 33.

[0040] By providing the self-sealing valve seat 71, it can work in conjunction with the closing component 33 and achieve self-sealing when the adapter 50 is not installed or is pulled out from the closed oil receiving port, thereby preventing dust and impurities from entering the fuel gun 30 and ensuring the cleanliness of the oil.

[0041] In some embodiments, a specific implementation of the above-mentioned closing component 33 can be as follows Figures 3 to 5 See the structure shown. Figures 3 to 5, an opening connecting the oil inlet 31 and the oil outlet 32 ​​is provided in the passage, and the closing assembly 33 includes a closing motor 331, a second lead screw 332, a shift fork 333, a first valve stem 334, a blocking block 335 and a return spring 336. The closing motor 331 is connected to the fuel gun 30; the second lead screw 332 is fixedly connected to the output shaft of the closing motor 331; the shift fork 333 is screwed to the second lead screw 332; the first valve stem 334 is slidably matched in the passage, and a limiting step is provided on the outer periphery of the first valve stem 334; the blocking block 335 is fixedly provided at the end of the first valve stem 334 for blocking the opening; the return spring 336 is sleeved on the outer periphery of the first valve stem 334, and the return spring 336 has a pre-tightening force that makes the blocking block 335 abut against the opening; A locking mechanism 80 is also provided in the refueling gun 30, and the locking mechanism 80 is communicatively connected with the liquid level detection tube 51; The closing motor 331 is used to drive the fork 333 to push the limit step away from the opening, and the return spring 336 is compressed until the first valve stem 334 moves to a preset position, and the locking mechanism 80 locks the first valve stem 334. When the liquid level detection tube 51 detects oil, the locking mechanism 80 releases the first valve stem 334, and the return spring 336 pushes the first valve stem 334 to allow the blocking block 335 to block the opening.

[0042] After the closing motor 331 is started, it drives the second lead screw 332 to rotate, and the rotational action of the second lead screw 332 is converted into a linear motion of the shift fork 333. The shift fork 333 pushes the limiting step on the outer periphery of the first valve stem 334, so that the first valve stem 334 drives the blocking block 335 to move away from the opening. At this time, the opening is open, and the oil in the oil inlet 31 can smoothly flow out from the oil outlet 32 ​​through the opening. At this time, the locking mechanism 80 locks the first valve stem 334, and the closing motor 331 and the return spring 336 can no longer control the movement of the first valve stem 334, and the oil can continue to flow out; when the liquid level detection tube 51 detects the oil, it means that the oil is full at this time, the locking mechanism 80 is released, and the return spring 336 pushes the first valve stem 334 to drive the blocking block 335 to move close to the opening until the opening is blocked, which can effectively avoid energy waste caused by excessive oil overflow.

[0043] In some embodiments, a specific implementation of the locking mechanism 80 may be as follows: Figures 3 to 5 See the structure shown. Figures 3 to 5 The refueling gun 30 is also provided with a middle hole and an expansion hole located on the side of the middle hole away from the outlet, the diameter of the expansion hole is larger than the middle hole, the first valve stem 334 is slidably connected to the middle hole, and a first oblique cone surface 34 is provided between the expansion hole and the inner wall of the middle hole; The locking mechanism 80 includes a locking rod 81, a second driving mechanism, a ball 82 and a first spring 83. The second driving mechanism is used to drive the locking rod 81 to move in a direction away from the outlet. The locking rod 81 extends into the first valve stem 334 and slides with the first valve stem 334. The portion of the locking rod 81 extending into the first valve stem 334 is provided with a second inclined cone surface 811. The ball 82 corresponds to the position of the second inclined cone surface 811. The first spring 83 is used to push the locking rod 81 so that the large end of the second inclined cone surface 811 abuts against the ball 82. When the second driving mechanism pulls the locking rod 81, the small end of the second inclined cone surface 811 abuts against the ball 82, the ball 82 does not protrude from the outer peripheral surface of the first valve stem 334, and the first valve stem 334 is in an unlocked state; when the first spring 83 pushes the locking rod 81, the large end of the second inclined cone surface 811 abuts against the ball 82, the ball 82 protrudes from the outer peripheral surface of the first valve stem 334 and abuts against the first inclined cone surface 34, and the first valve stem 334 is locked.

[0044] The locking rod 81 is pulled to slide by the second driving mechanism to determine whether the ball 82 abuts against the first inclined cone surface 34 , thereby locking the first valve stem 334 . This structure has a more stable locking effect on the first valve stem 334 .

[0045] In some embodiments, a specific implementation of the second driving mechanism can be as follows: Figures 3 to 5 See the structure shown. Figures 3 to 5 A diaphragm cavity is provided in the refueling gun 30 at one end of the first valve stem 334 facing away from the outlet. The second driving mechanism includes a first diaphragm 86 provided in the diaphragm cavity, and a diaphragm assembly 87 penetrating through the first diaphragm 86 and fixedly connected to the first diaphragm 86. The first diaphragm 86 separates the diaphragm cavity into a first cavity 84 and a second cavity 85 that are independent of each other. The second cavity 85 is located on the side of the first cavity 84 facing the opening. The first spring 83 abuts between the diaphragm assembly 87 and the inner wall of the first cavity 84. Among them, the first cavity 84 is used to generate vacuum negative pressure. At this time, the diaphragm assembly 87 pulls the locking rod 81 so that the small end of the second inclined cone surface 811 abuts against the ball 82, and the first spring 83 is compressed; after the negative pressure in the first cavity 84 is released, the first spring 83 rebounds and pushes the locking rod 81 so that the large end of the second inclined cone surface 811 abuts against the ball 82.

[0046] When refueling is being carried out at the gravity oil receiving port, the shift fork 333 moves to the left and causes the first valve stem 334 to move a certain distance, and then the locking mechanism 80 is activated. When the shift fork 333 moves to the right, the first valve stem 334 is in a locked state and cannot move to the right. When refueling is being carried out at the closed oil receiving port, there is always a vacuum negative pressure in the first cavity 84. At this time, the first valve stem 334 will not be locked, and the opening and closing of the opening and the size of the opening can be completely controlled by the closing motor 331.

[0047] In some implementations, an improved embodiment of the above-mentioned fueling gun 30 can be adopted as follows Figure 3 and Figure 5 See the structure shown. Figure 3 and Figure 5 The periphery of the cavity is connected with a vent pipe 35 , and an air passage 36 is connected between the liquid level detection tube 51 and the vent pipe 35 ; a vacuum generator 37 is also provided in the refueling gun 30 , and the vacuum generator 37 is used to generate a vacuum in the vent pipe 35 and the air passage 36 .

[0048] When refueling is carried out at the gravity oil receiving port, air enters from the liquid level detection tube 51, and the air passes through the internal air duct 36, so that the vacuum negative pressure generated at the vacuum generator 37 is balanced; when the liquid level in the oil tank rises to a certain level, the air at the liquid level detection tube 51 turns into oil, causing the resistance at the liquid level detection tube 51 port to change, and the vacuum negative pressure generated at the vacuum generator 37 cannot be completely balanced, so that a certain vacuum negative pressure is generated in the first cavity 84, and the locking mechanism 80 is unlocked. The first valve stem 334 moves to the right under the action of the reset spring 336, and the opening gradually becomes smaller until it is completely closed.

[0049] By providing the vacuum generator 37, the Venturi effect is utilized to generate a certain vacuum degree in the vent pipe 35 and the air passage 36. When the opening is closed, the vacuum generator 37 is closed under the action of its own spring.

[0050] It should be noted that the vacuum generator 37 is of a conventional structure, and its principle will not be described in detail here.

[0051] It is easy to imagine that since the adapter 50 is detachable, the liquid level detection tube 51 and the air duct 36 are plug-in compatible. When the adapter 50 is detached, the oil is detected through the air duct 36; when the adapter 50 is installed, the oil is detected through the liquid level detection tube 51.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned refueling system, characterized in that: include: A manipulator, comprising a plurality of rotating arms articulated in sequence, and a visual module, wherein the visual module is used to identify the position of the fuel filler port or the fuel tank cap, wherein the rotating arm at the head end is a fixed part, and the rotating arm at the tail end is an operating part; A connector, fixedly connected to the operating portion; A refueling gun, fixedly connected to the connecting head, provided with an oil inlet and an oil outlet, and a passage communicating between the oil inlet and the oil outlet, wherein a closing component located in the passage is provided in the refueling gun, and the closing component is used to block or open the passage; A cap screwing module is fixedly connected to the connector, the cap screwing module comprises a driving part and a clamping part, the clamping part is used to clamp and release the fuel tank cap, and the driving part is used to drive the clamping part to rotate; An adapter, connected to the oil outlet of the refueling gun, and provided with a liquid level detection tube; When the liquid level detection tube detects oil, the closing component blocks the passage.

2. The unmanned refueling system according to claim 1, characterized in that: The capping module comprises: A protective cover, fixedly connected to the connector; A rotating disk, rotatably matched with the protective cover; Two claws, slidingly matched with the rotating disk; A first driving mechanism is connected to the two claws in a transmission manner, and the first driving mechanism is used to drive the two claws to move toward or away from each other; Wherein, the driving part is located in the protective cover and is drivingly connected to the rotating disk, and the driving part is used to drive the rotating disk to rotate.

3. The unmanned refueling system according to claim 2, characterized in that: A transmission gear is provided at one end of the rotating disk facing the protective cover, and the driving part is a twisting motor. The output shaft of the twisting motor is provided with a twisting gear matched with the transmission gear.

4. The unmanned refueling system according to claim 2, characterized in that: The first driving mechanism is a clamping motor, and a first bevel gear is provided on the output shaft of the clamping motor. The cap screwing module also includes a first lead screw hinged to the rotating disk, and the threads at both ends of the first lead screw have opposite rotation directions. The two claws are respectively matched with the two ends of the first lead screw, and a second bevel gear meshing with the first bevel gear is provided in the middle of the first lead screw.

5. The unmanned refueling system according to claim 1, characterized in that: The outer circumference sleeve of the refueling gun located at the oil outlet is provided with a locking sleeve, and the inner circumference of one end of the locking sleeve close to the oil outlet is concave to form a first groove and a second groove, the second groove is located at the end of the first groove away from the oil outlet, the depth of the second groove is less than the depth of the first groove, and a locking spring and a locking steel ball are further provided between the locking sleeve and the refueling gun, the locking spring has a pre-tightening force to push the locking sleeve to move close to the oil outlet, and the locking steel ball is located in the first groove or the second groove; The side wall of the refueling gun is provided with a first through hole for the locking steel ball to pass through, and the outer peripheral surface of the adapter is provided with a locking groove engaged with the locking steel ball.

6. The unmanned refueling system according to claim 5, characterized in that: The refueling gun also includes: A self-sealing valve core, fixedly mounted on the refueling gun and located in the oil outlet, wherein a third inclined cone surface is provided on the self-sealing valve core; A self-sealing valve seat is slidably matched with the outer periphery of the self-sealing valve core, and the inner periphery of the self-sealing valve seat is provided with a fourth inclined conical surface corresponding to the third inclined conical surface; A self-sealing spring, used for pushing the self-sealing valve seat, so that the fourth inclined cone surface abuts against the third inclined cone surface to achieve sealing; When the third inclined conical surface abuts against the fourth inclined conical surface, the oil outlet is closed and the self-sealing valve seat blocks the first through hole; when the adapter is installed, the adapter abuts against the self-sealing valve seat and moves away from the oil outlet, the self-sealing spring is compressed, the third inclined conical surface is separated from the fourth inclined conical surface, and the oil outlet is opened.

7. The unmanned refueling system according to claim 1, characterized in that: The passage is provided with an opening communicating with the oil inlet and the oil outlet, and the closing assembly comprises: A closing motor is connected to the refueling gun; A second lead screw is fixedly connected to the output shaft of the closing motor; A shift fork, screwed to the second lead screw; A first valve stem is slidably fitted in the passage, and a limiting step is provided on the outer periphery of the first valve stem; A blocking block, fixedly mounted on the end of the first valve stem, for blocking the opening; A return spring, sleeved on the outer circumference of the first valve stem, the return spring having a pre-tightening force to make the blocking block abut against the opening; The refueling gun is also provided with a locking mechanism, and the locking mechanism is communicatively connected with the liquid level detection tube; The closing motor is used to drive the fork to push the limit step away from the opening, and the return spring is compressed until the first valve stem moves to a preset position, and the locking mechanism locks the first valve stem. When the liquid level detection tube detects oil, the locking mechanism releases the first valve stem, and the return spring pushes the first valve stem to allow the blocking block to block the opening.

8. The unmanned refueling system according to claim 7, characterized in that: The refueling gun is further provided with a central hole and an expanded hole located on a side of the central hole away from the opening, the diameter of the expanded hole is larger than the central hole, the first valve stem is slidably connected to the central hole, and a first oblique cone surface is provided between the expanded hole and the inner wall of the central hole; The locking mechanism comprises a locking rod, a second driving mechanism, a ball and a first spring, wherein the second driving mechanism is used to drive the locking rod to move in a direction away from the opening, the locking rod extends into the first valve stem and slidably cooperates with the first valve stem, the portion of the locking rod extending into the first valve stem is provided with a second inclined cone surface, the ball corresponds to the position of the second inclined cone surface, and the first spring is used to push the locking rod so that the large end of the second inclined cone surface abuts against the ball; When the second driving mechanism pulls the locking rod, the small end of the second inclined cone surface abuts against the ball, the ball does not protrude from the outer circumferential surface of the first valve stem, and the first valve stem is in an unlocked state; when the first spring pushes the locking rod, the large end of the second inclined cone surface abuts against the ball, the ball protrudes from the outer circumferential surface of the first valve stem and abuts against the first inclined cone surface, and the first valve stem is locked.

9. The unmanned refueling system according to claim 8, characterized in that: A diaphragm cavity is provided in the refueling gun at one end of the first valve stem away from the opening, the second driving mechanism comprises a first diaphragm provided in the diaphragm cavity, and a diaphragm assembly penetrating through the first diaphragm and fixedly connected to the first diaphragm, the first diaphragm separates the diaphragm cavity into a first cavity and a second cavity which are independent of each other, the second cavity is located on a side of the first cavity facing the opening, and the first spring abuts between the diaphragm assembly and the inner wall of the first cavity; Among them, the first cavity is used to generate vacuum negative pressure. At this time, the diaphragm assembly pulls the locking rod so that the small end of the second inclined cone surface abuts against the ball, and the first spring is compressed; after the negative pressure in the first cavity is released, the first spring rebounds and pushes the locking rod so that the large end of the second inclined cone surface abuts against the ball.

10. The unmanned refueling system according to claim 9, characterized in that: The periphery of the cavity is connected with a vent pipe, and an airway is connected between the liquid level detection tube and the vent pipe; A vacuum generator is also provided in the refueling gun, and the vacuum generator is used to generate a vacuum degree in the ventilation pipe and the airway.

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