Air oil conveying pipeline dragging and docking device and using method thereof

Abstract

The invention discloses an aerial oil conveying pipeline dragging and docking device and a using method thereof.In the device, a controller is arranged in a front cavity of a transport vehicle, a lifting mechanism is arranged in a middle cavity of a transport vehicle body, and an upper platform supporting frame is installed on the lifting mechanism; the upper platform supporting frame is provided with two rows of longitudinal guide rails in the running direction of the transport vehicle, end face protruding plates are arranged on the front end face and the rear end face, and the executing mechanism is movably installed between the two rows of longitudinal guide rails on the two sides. One end of the transverse protective cover is installed on an end face protruding plate of the upper platform supporting frame, and the other end is installed on the end face of the executing mechanism. According to the device, operation of the transport vehicle, the executing mechanism and the lifting mechanism is controlled through the controller, the executing mechanism is lifted through the lifting mechanism, the executing mechanism tilts to clamp the airplane oil conveying pipeline, dragging of the oil conveying pipeline is achieved through operation of the transport vehicle, and butt joint of the oil conveying pipeline is achieved through movement of the executing mechanism on the longitudinal guide rail.

Description

Technical Field

[0001] The present invention relates to the field of but not limited to the technical field of aerial oil pipeline docking, and in particular to an aerial oil pipeline dragging docking device and a use method thereof. Background Art

[0002] At present, during the ground test of the refueling system of a certain large tanker, the refueling function inspections of the refueling pods on the left / right wings and the centerline platform (tanker) located at the rear of the cargo hold ramp are carried out in sequence. Before each test, the ground pipeline protection tooling needs to be arranged and the refueling device hose needs to be dragged in the reverse direction with a certain traction force to a certain distance to dock with the ground refueling device.

[0003] After the above-mentioned refueling ground test is completed, a certain pre-tightening force is applied to the refueling device hose in the reverse direction so that the refueling pipeline can be smoothly recovered to the on-board refueling pipeline collection device. When rewinding, the motor works at a constant speed to drive the reel to rotate to achieve the rewinding of the refueling pipeline. When the manually applied pre-tightening force is insufficient, the reel will be stuck. During the ground test, the pipeline jam requires the finished product manufacturer's personnel to disassemble the pod on board for processing. If the jam occurs at the end of the refueling pipe and the ground operator fails to discover it in time, it will cause the risk of the refueling pipeline being unable to be released during the flight. It is understood that the refueling pipeline has been unable to be released due to jamming during the flight of the field aircraft. Summary of the invention

[0004] Purpose of the present invention: In order to solve the above-mentioned technical problems, the embodiment of the present invention provides an aerial oil pipeline dragging and docking device and a method of using the same, so as to solve the problem that after refueling is completed in the existing ground refueling test, the reel may get stuck when the refueling pipeline is wound back, thereby causing the risk of the refueling pipeline being unable to be released during flight; and it can be used for the working conditions of dragging and docking of various high-altitude working pipes.

[0005] Technical solution of the present invention: In a first aspect, an embodiment of the present invention provides an aerial oil pipeline dragging and docking device, comprising: an actuator 1, an upper platform support frame 2, a transport vehicle 3, a lifting mechanism 4, two lateral protective covers 6, and a controller respectively connected to the transport vehicle 3, the actuator 1, and the lifting mechanism 4;

[0006] The transport vehicle 3 is configured as a hollow vehicle body structure, the controller is placed in the front cavity of the transport vehicle 3, the lifting mechanism 4 is placed in the middle cavity of the vehicle body of the transport vehicle 3, and the upper platform support frame 2 is fixedly mounted on the upper end surface of the lifting mechanism 4; the upper platform support frame 2 is configured as a plate-like structure as a whole, two rows of longitudinal guide rails are arranged along the running direction of the transport vehicle 3, and end face convex plates are arranged on the front and rear end faces, the actuator 1 spans and is movably mounted between the two rows of longitudinal guide rails on both sides, and moves along the direction of the longitudinal guide rails; one end of the two transverse protective covers 6 is correspondingly fixedly mounted on the end face convex plates at both ends of the upper platform support frame 2, and the other end is correspondingly fixedly mounted on the two end faces of the actuator 1;

[0007] The aerial oil pipeline dragging and docking device is used to control the operation of the transport vehicle 3, the actuator 1, and the lifting mechanism 4 through a controller, lift the actuator 1 through the lifting mechanism 4, and tilt and clamp the aircraft oil pipeline through the actuator 1, and drag the oil pipeline through the operation of the transport vehicle 3, and dock the oil pipeline through the movement of the actuator 1 on the longitudinal guide rail.

[0008] Optionally, in the bidirectional clamping quick plug-in device as described above, the actuator 1 includes: a lateral clamping mechanism, a rotating base 10, an umbrella cone assembly 11, a rotating shaft seat 12, a rotating shaft 13, a supporting base 14, eight spring leveling seats 16, a rotating electric cylinder 17, and a fixed base 18;

[0009] The fixed base 18 is elastically mounted on the support base 14 through connectors evenly arranged in the circumference, the rotating base 10 is fixedly mounted on the upper end surface of the fixed base 18 through a plurality of supporting block assemblies 19, and a rotating electric cylinder 17 is installed at the bottom of the support base 14;

[0010] A transverse clamping mechanism is installed on the rotating base 10 in the transverse direction, and an umbrella-cone assembly 11 is installed in the longitudinal direction. The umbrella-cone assembly 11 crosses the two clamping grippers 8 of the transverse clamping mechanism in the longitudinal direction and is fixedly installed at the front and rear ends of the rotating base 10. The protruding end of the front end of the umbrella-cone assembly 11 is hinged to the rotating shaft seat 12 at the front end of the fixed base 18, and the protruding end of the umbrella-cone assembly 11 is connected to the protruding head of the rotating electric cylinder 17, which is used to drive the umbrella-cone assembly 11 through the protruding head of the rotating electric cylinder 17 to drive the rotating base 10 and the transverse clamping structure as a whole to rotate around the hinge axis, so that the top surface of the umbrella-cone assembly 11 matches the umbrella-cone profile in the oil pipeline.

[0011] Optionally, in the bidirectional clamping quick plug-in device as described above, the transverse clamping mechanism comprises: two clamping grippers 8, two transverse linear guide rails 9 and two longitudinal protective covers 7;

[0012] The rotating base 10 is configured as a T-shaped seat structure as a whole, and the transverse seat portion at the rear end is used for transversely mounting two transverse linear guide rails 9, and the rear end of the transverse seat portion has an extended rear end platform, and the front end of the longitudinal seat portion is provided with a square through groove, and the two clamping grippers 8 respectively span the two transverse linear guide rails 9 and are correspondingly mounted on the two sets of sliders of the two transverse linear guide rails 9, and the outer ends of the two longitudinal protective covers 7 are correspondingly mounted on the two side ends of the two transverse linear guide rails 9, and the inner ends are correspondingly mounted on the outer end surfaces of the two clamping grippers 8; the front end of the umbrella-cone assembly 11 configured as a bridge structure is fixedly mounted on the longitudinal seat portion of the rotating base 10, and the rear end is mounted on the rear end platform, and the bridge portion of the umbrella-cone assembly 11 spans the two transverse linear guide rails 9 and is located between the two clamping grippers 8;

[0013] The front end of the upper end surface of the fixed base 18 is provided with two rotating shaft seats 12, which extend out of the square through slot at the front end of the rotating base 10. The rotating shaft 13 passes through the shaft hole at the extended end of the front end of the umbrella cone assembly 11, and the two ends are correspondingly mounted on the two rotating shaft seats 12;

[0014] The extended head of the rotary electric cylinder 17 arranged at the lower part of the support base 14 is connected to the lower end surface of the extended end of the umbrella cone assembly 11. When the rotary electric cylinder 17 performs telescopic movement, the umbrella cone assembly 11 drives the rotary base 10 to rotate around the rotary axis 13.

[0015] Optionally, in the bidirectional clamping quick plug-in device as described above, each of the clamping grippers 8 includes: a clamping bracket 42, a rubber protective sticker 43, a resin screw 44, a bidirectional force sensor 45, a force transmission plate 46 and a silicone rubber pressure pad 47;

[0016] Among them, the clamping bracket 42 is installed across a group of sliders of two linear guide rails 9, and the rubber protective stickers 43 are fixedly installed on the surfaces of both sides of the clamping bracket 42 by resin screws 44, which plays a protective role for the product. The bidirectional force sensor 45 is fixedly installed on the inner end surface of the top of the clamping bracket 42, and the force transmission plate 46 is fixedly installed on the inner end surface of the bidirectional force sensor 46. The silicone rubber pressure pad 47 is covered on the inner end surface of the force transmission plate 46, which plays a role in protecting the clamping head from transmitting force.

[0017] Optionally, in the bidirectional clamping quick plug-in device as described above, the umbrella cone assembly 11 includes: an umbrella head support seat 48, an umbrella cone support tail seat 49, an oil receiving and conveying head 50, and an umbrella cone base 51;

[0018] The umbrella cone base 51 is configured as a bridge frame structure, and the front end pier portion is fixedly mounted on the upper end surface of the longitudinal seat portion of the rotating base 10, and the protruding end arranged at the front end of the pier portion is hinged between the two rotating shaft seats 12 through the rotating shaft 13. The bridge body structure as a whole crosses between the two clamping grippers 8, and the bridge frame at the rear end of the bridge body is fixedly mounted on the rear end platform at the rear end of the transverse seat portion; the umbrella head support seat 48 is fixedly mounted on the front part of the bridge body of the umbrella cone base 51, and the umbrella cone support tail seat 49 is fixedly mounted on the rear part of the bridge body of the umbrella cone base 51. The umbrella head support seat 48 is connected to the umbrella cone support tail seat 49 at the umbrella cone base 51, and the oil receiving and delivery head 50 is fixedly mounted on the front end side end surface of the umbrella head support seat 48.

[0019] Optionally, in the bidirectional clamping quick plug-in device as described above, the actuator 1 further comprises: a separation base plate 20 and an emergency escape mechanism 15;

[0020] A separation bottom plate 20 located in the same plane is provided at the front end of the support base 14, and the support base 14 and the separation bottom plate 20 are respectively installed across the longitudinal guide rails on both sides, and are connected by an emergency escape mechanism 15 arranged between the support base 14 and the separation bottom plate 20, which is used to separate the support base 14 and the separation bottom plate 20 through the emergency escape mechanism 15 by applying a driving force to the separation bottom plate 20 in an emergency.

[0021] Optionally, the bidirectional clamping quick plug-in device as described above further includes: a plurality of spring leveling seats 16;

[0022] The plurality of spring leveling seats 16 are evenly distributed and installed on the upper end surface of the support base 14 along the circumferential direction. The upper portion of the spring leveling seat 16 is embedded in the fixed base 18 to level the entire fixed base 18 and the upper components.

[0023] Optionally, in the bidirectional clamping quick plug-in device as described above, the lifting mechanism 4 includes: a lifting protective cover 29, two sets of secondary scissor forks 30, two sets of rigid chains 31, a driver 32, and a mounting base plate 33; the driver 32 is connected to the controller;

[0024] The two sets of scissor forks 30 are symmetrically fixedly installed on both sides of the upper end surface of the mounting base plate 33, the two sets of rigid chains 31 are correspondingly fixedly installed on the inner sides of the two sets of scissor forks 30 and are located on the upper end surface of the mounting base plate 33, and the driver 32 is fixedly installed in the middle position of the upper end surface of the mounting base plate 33 and is located between the two sets of rigid chains 31;

[0025] The driver 32 meshes with the gears in each set of rigid chains 31 through the bevel gears in its internal gear box. The lifting chains in each set of rigid chains 31 and the tops of each set of secondary scissors forks 30 are connected to the lower end surface of the upper platform support frame 2, so that the lifting chains in each set of rigid chains 31 are driven by the driver 32 gears to extend or retract along the lifting direction, drive the upper platform support frame 2 to rise or fall, and drive each set of secondary scissors forks 33 to expand upward or retract downward through the upper platform support frame 2.

[0026] Optionally, the bidirectional clamping quick plug-in device as described above further comprises: a paving mechanism 5 installed at the rear end of the transport vehicle, the paving mechanism being electrically connected to the controller;

[0027] The paving mechanism includes: a rolling motor 34, a harmonic reducer 35, a driving spindle 36, a paving protection net 37, a rotating bearing seat 38, two end top plates 39, and a guide seat 40;

[0028] Among them, the two end top plates 39 are fixedly installed on the body structure of the transport vehicle 3. After the output shaft of the rolling motor 34 passes through the end top plate 39 on one side, it is connected to one end of the driving main shaft 36 through the harmonic reducer 35. The other end of the driving main shaft 36 is installed on the end top plate 39 on the other side through the rotating bearing seat 38 to pull the two end top plates 39 together. The guide seat 40 is fixedly connected to the base of the two end top plates 39. The front end of the paving protection net 37 is fitted and fixed on the driving main shaft 36 and wrapped around the driving main shaft 36.

[0029] Optionally, in the bidirectional clamping quick plug-in device as described above, the transport vehicle 3 includes a vehicle frame 21, four lifting rings 22, four emergency stop mounting plates 23, four emergency stop switches 24, a control panel 25, eight searchlights 26, four driving wheel sets 27, and four wheel set mounting plates 28;

[0030] Among them, the vehicle body frame 21 is configured to have a structure with an installation cavity, the electrical equipment in the aerial oil pipeline towing and docking device is installed in the installation cavity of the vehicle body frame 21, and the vehicle body frame 21 has symmetrically arranged vehicle body platforms on both sides. Four wheel group mounting plates 28 are correspondingly installed at the four corners of the installation cavity of the vehicle body frame 21, and four driving wheel groups 27 are correspondingly installed at the lower ends of the four wheel group mounting plates 28. Four emergency stop mounting plates 23 are correspondingly fixedly installed on the four wheel group mounting plates 28 and are located on the inner wall surfaces of the four corners of the vehicle body frame 21. Four emergency stop switches 24 are embedded in the circular holes of the four emergency stop mounting plates 23 and are located on the outer wall surfaces of the four corners of the vehicle body frame 21. Four lifting rings 22 are fixedly installed on the inner side of the vehicle body frame 21; the control panel 25 is fixedly installed on the outer wall surface of the vehicle body frame 21 and is connected to the controller, and is used to set the control parameters of the controller through the control panel 25 to control the entire device.

[0031] In a second aspect, a method for using a bidirectional clamping quick plug-in device, wherein the method for using an aerial oil pipeline drag docking device as described in any one of the above items to clamp or release an object to be clamped comprises the following steps:

[0032] Step 1: Press the aircraft pipe ejection button, and the aircraft fuel pipeline will be ejected at a preset distance from the ground;

[0033] Step 2, control the lifting mechanism 4 to lift the actuator 1 installed on the upper platform support frame 2 to the umbrella cone position of the refueling pipeline, and control the two clamping grippers 8 to open along the direction of the transverse linear guide rail 9;

[0034] Step 3: Based on the angular deflection of the oil pipeline, the rotating base 10 of the actuator 1 is controlled to deflect at a certain angle under the drive of the rotary electric cylinder 17, and the umbrella cone in the oil pipeline falls on the upper end surface of the umbrella cone assembly 11, and the two clamping grippers 8 are controlled to tighten along the direction of the transverse linear guide rail 9 to clamp the oil pipeline;

[0035] Step 4: After the clamping is completed, the rotating base 10 of the actuator 1 is controlled to return to the center under the drive of the rotary electric cylinder 17 to eliminate the angle deflection;

[0036] Step 5, control the transport vehicle 3 to drive the overall aerial oil pipeline dragging docking device to operate, move the required oil pipeline dragging length, and the aircraft enters the full dragging state;

[0037] Step 6, driving the entire aerial oil pipeline to drag the docking device backwards by the transport vehicle 3, and reserving the pipeline length required for docking;

[0038] Step 7, controlling the actuator 1 to run on the longitudinal guide rail to perform docking. After the docking is completed, the aircraft enters a self-rewinding state, and the oil pipeline drags the docking device to run to the lower end of the aircraft lip at a speed that matches the aircraft's self-rewinding speed;

[0039] Step 8, based on the angular deflection of the oil pipeline, the rotating base 10 of the actuator 1 is controlled to deflect at a certain angle under the drive of the rotary electric cylinder 17, so that the umbrella cone of the oil pipeline is separated from the umbrella cone assembly 11;

[0040] Step 9, control the two clamping grippers 8 to open along the direction of the transverse linear guide rail 9 to complete the winding of the oil pipeline.

[0041] Beneficial effects of the present invention: The embodiment of the present invention provides an aerial oil pipeline dragging docking device and a method for using the same. The fast clamping of the refueling pipe fittings is accomplished by combining the clamping gripper 8 with the linear guide rail 9. At the same time, the independence of the clamping process is ensured by combining the clamping gripper 8 with the quick separation seat 13, so as to achieve the purpose of releasing the product for protection at any time. The angle adjustment in the clamping process is adjustable and controllable through the interaction between the rotating base 18, the clamping gripper base 10 and the rotating electric cylinder 17, and is suitable for various products at different angles. Through the combination of the lifting mechanism 4 and the platform support frame 2, the mechanism has strong adaptability and is adapted to different heights of different products. Through the coordinated control movement of the transport vehicle 3 and the laying mechanism 5, the problem of complex and inefficient laying of the refueling pipe fittings on the ground is solved. The device uses the correlation, coordination and controllability between the mechanisms to fully cover the full process test of the refueling pipe fittings, and has strong operability, convenience, beauty and functionality, which can greatly improve work efficiency and ensure product safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0043] Figure 1 An overall structural schematic diagram of an aerial oil pipeline dragging and docking device is provided for an embodiment of the present invention;

[0044] Figure 2 for Figure 1 A schematic diagram of the structure of the actuator in the aerial oil pipeline drag docking device provided by the illustrated embodiment;

[0045] Figure 3 for Figure 1 A schematic diagram of the structure of a transport vehicle in an aerial oil pipeline towing and docking device provided in the illustrated embodiment;

[0046] Figure 4 for Figure 1 A schematic diagram of the structure of the lifting mechanism in the aerial oil pipeline dragging and docking device provided by the illustrated embodiment;

[0047] Figure 5 for Figure 1 The illustrated embodiment is a schematic structural diagram of a paving mechanism in an aerial oil pipeline dragging and docking device.

[0048] Description of reference numerals:

[0049] 1. Actuator; 2. Platform support frame; 3. Transport vehicle; 4. Lifting mechanism; 5. Laying mechanism; 6. Horizontal protective cover; 7. Longitudinal protective cover; 8. Clamping gripper; 9. Linear guide; 10. Clamping gripper base; 11. Umbrella cone assembly; 12. Rotating shaft seat; 13. Quick separation seat; 14. Support base; 15. Emergency escape mechanism; 16. Spring leveling seat; 17. Rotating electric cylinder; 18. Rotating base; 19. Support block assembly; 20. Separation bottom plate; 21. Vehicle frame; 22. Lifting ring; 23. Emergency stop mounting plate; 24. Emergency stop switch; 25. Control panel; 26. Searchlight; 27. Driving wheel assembly; 28. Wheel assembly mounting plate; 29. ​​Lifting protective cover; 30. Secondary scissor fork; 31. Rigid chain; 32. Driving system; 33. Mounting base plate; 34. Rolling motor; 35. Harmonic reducer; 36. Driving spindle; 37. Paving protective chain; 38. Rotating bearing seat; 39. End top plate; 40. Guide seat; 42. Clamping bracket; 43. Rubber protective sticker; 44. Resin screw; 45. Bidirectional force sensor; 46. Force transmission plate; 47. Silicone rubber pressure pad; 48. Umbrella head support seat; 49. Umbrella cone support tail seat; 50. Oil receiving and delivery head; 51. Umbrella cone base. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0051] As described in the above background technology, in a ground test of a refueling system of a large tanker, after refueling is completed, the reel may get stuck when the refueling line is rewound, which may cause the risk of the refueling line being unable to be released during flight.

[0052] In view of the difficulty in controlling the force applied by personnel in the current traditional manual force dragging process, and the difficulty in accurately controlling the force, there is an urgent need to develop a pipeline dragging docking device with simple structure, stability, reliability and strong applicability, which can be used to achieve the high difficulty in controlling the applied force during ground dragging, and the precise control and real-time monitoring of the towing speed and the rewinding pre-tightening force, so as to completely change the risk that the operator applying the pre-tightening force may be pulled down or even injured by the hose or umbrella cone.

[0053] Based on this demand, an embodiment of the present invention provides an aerial oil pipeline dragging and docking device and a method of using the same. The docking device is easy to operate, convenient and beautiful, easy to operate, and easy to control to improve work efficiency and ensure product safety.

[0054] The present invention provides the following specific embodiments which can be combined with each other. The same or similar concepts or processes may not be described in detail in some embodiments.

[0055] Figure 1 The present invention provides an overall structural diagram of an aerial oil pipeline dragging and docking device. Figure 1 As shown, the aerial oil pipeline dragging and docking device provided by the embodiment of the present invention comprises: an actuator 1, an upper platform support frame 2, a transport vehicle 3, a lifting mechanism 4, a paving mechanism 5, two transverse protective covers 6, and two longitudinal protective covers 7.

[0056] like Figure 1 As shown, the transport vehicle 3 is configured as a hollow body structure, the lifting mechanism 4 is placed in the middle cavity of the transport vehicle 3, and the upper platform support frame 2 is fixedly installed on the upper end surface of the lifting mechanism 4; the upper platform support frame 2 is configured as a plate-like structure as a whole, and a lower limit mounting portion that runs through the entire plate is opened in the middle, and mounting bosses are configured on both sides, and end face convex plates are configured on both end faces. The actuator 1 spans and is movably installed between the mounting bosses on both sides, and moves along the direction of the lower limit mounting portion; one end of the two transverse protective covers 6 is correspondingly fixedly installed on the end face convex plates at both ends of the upper platform support frame 2, and the other end is correspondingly fixedly installed on the two end faces of the actuator 1, and the paving structure 5 is fixedly installed in the mounting groove at one end of the vehicle body.

[0057] The aerial oil pipeline dragging and docking device provided in an embodiment of the present invention is used to control the operation of the transport vehicle 3, the actuator 1, and the lifting mechanism 4 through a controller, lift the actuator 1 through the lifting mechanism 4, and tilt and clamp the aircraft oil pipeline through the actuator 1, and drag the oil pipeline through the operation of the transport vehicle 3, and dock the oil pipeline through the movement of the actuator 1 on the longitudinal guide rail.

[0058] In a specific implementation, when the actuator 1 moves along the longitudinal guide rail, it pushes the transverse protective cover 6 at one end to be compressed and pulls the transverse protective cover 6 at the other end to be extended, so that the driving element of the actuator 1 placed in the lower limit mounting portion is protected by the two transverse protective covers 6.

[0059] In one implementation of the embodiment of the present invention, an implementation scheme of the actuator 1 is provided, such as Figure 2 As shown, Figure 1 The schematic diagram of the structure of the actuator in the aerial oil pipeline drag docking device provided by the embodiment shown. The actuator 1 in this implementation includes: a lateral clamping mechanism, a rotating base 10, an umbrella cone assembly 11, a rotating shaft seat 12, a quick separation seat 13, a supporting base 14, eight spring leveling seats 16, a rotating electric cylinder 17, and a fixed base 18.

[0060] In this implementation, the fixed base 18 is elastically mounted on the support base 14 through circumferentially uniformly arranged connecting pieces, the rotating base 10 is fixedly mounted on the upper end surface of the fixed base 18 through a plurality of support block assemblies 19, and a rotating electric cylinder 17 is mounted at the bottom of the supporting base 14. Among them, a transverse clamping mechanism is installed in the transverse direction on the rotating base 10, and an umbrella cone assembly 11 is installed in the longitudinal direction, and the umbrella cone assembly 11 crosses the two clamping grippers 8 of the transverse clamping mechanism in the longitudinal direction, and is fixedly mounted at the front and rear ends of the rotating base 10, the protruding end of the front end of the umbrella cone assembly 11 is hinged to the rotating shaft seat 12 at the front end of the fixed base 18, and the protruding end of the umbrella cone assembly 11 is connected to the protruding head of the rotating electric cylinder 17, which is used to drive the umbrella cone assembly 11 through the protruding head of the rotating electric cylinder 17 to drive the rotating base 10 and the transverse clamping structure as a whole to rotate around the hinge axis.

[0061] In one implementation of the embodiment of the present invention, Figure 2 As shown, the transverse clamping mechanism includes: two clamping grippers 8, two transverse linear guide rails 9 and two longitudinal protective covers 7.

[0062] In this implementation, the rotating base 10 is configured as a T-shaped seat structure as a whole, the transverse seat portion at the rear end is used to transversely install two transverse linear guide rails 9, and the rear end of the transverse seat portion has an extended rear end platform, and the front end of the longitudinal seat portion is provided with a square through groove, and the two clamping grippers 8 respectively span the two transverse linear guide rails 9 and are correspondingly installed on the two sets of slide blocks of the two transverse linear guide rails 9, the outer ends of the two longitudinal protective covers 7 are correspondingly installed on the two side ends of the two transverse linear guide rails 9, and the inner ends are correspondingly installed on the outer end surfaces of the two clamping grippers 8.

[0063] In this implementation, the front end of the umbrella cone assembly 11, which is set as a bridge structure, is fixedly mounted on the longitudinal seat body of the rotating base 10, and the rear end is mounted on the rear platform, and the bridge body of the umbrella cone assembly 11 spans across two transverse linear guide rails 9 and is located between two clamping grippers 8. Two rotating shaft seats 12 are arranged at the front end of the upper end surface of the fixed base 18, and extend out of the square through slot at the front end of the rotating base 10. The rotating shaft 13 passes through the shaft hole at the front end of the umbrella cone assembly 11, and the two ends are correspondingly mounted on the two rotating shaft seats 12. The protruding head of the rotating electric cylinder 17 arranged at the lower part of the supporting base 14 is connected to the lower end surface of the protruding end of the umbrella cone assembly 11. When the rotating electric cylinder 17 performs telescopic movement, the umbrella cone assembly 11 drives the rotating base 10 to rotate around the rotating shaft 13.

[0064] In a specific embodiment, Figure 2 As shown, the actuator 1 also includes: a plurality of spring leveling seats 16; the plurality of spring leveling seats 16 are evenly distributed along the circumferential direction and installed on the upper end surface of the support base 14, and the upper part of the spring leveling seat 16 is embedded in the fixed base 18, which plays a leveling role for the entire fixed base 18 and the upper components.

[0065] Further, such as Figure 2 As shown, the actuator 1 also includes: a separation base plate 20 and an emergency escape mechanism 15; the front end of the support base 14 is provided with a separation base plate 20 located in the same plane, and the support base 14 and the separation base plate 20 are respectively installed across the longitudinal guide rails on both sides, and are connected by the emergency escape mechanism 15 arranged between the support base 14 and the separation base plate 20, which is used to separate the support base 14 and the separation base plate 20 through the emergency escape mechanism 15 by applying a driving force to the separation base plate 20 in an emergency.

[0066] In a specific implementation, the rear end fixing part of the emergency escape mechanism 15 is fixedly installed on both sides of the front end of the support base 14, and the front end separation part is embedded in the separation groove at the rear end of the separation bottom plate 20. Under special circumstances, the separation bottom plate 20 can be separated by itself through the emergency escape mechanism 15 when subjected to high pressure.

[0067] In one implementation of the embodiment of the present invention, Figure 2 As shown, each clamping gripper 8 includes: a clamping bracket 42, a rubber protective sticker 43, a resin screw 44, a bidirectional force sensor 45, a force transmission plate 46, and a silicone rubber pressure pad 47; the clamping bracket 42 is installed across a group of sliders of two linear guide rails 9, and the rubber protective sticker 43 is fixedly installed on the two side surfaces of the clamping bracket 42 by resin screws 44 to protect the product, the bidirectional force sensor 45 is fixedly installed on the inner end surface of the top of the clamping bracket 42, the force transmission plate 46 is fixedly installed on the inner end surface of the bidirectional force sensor 46, and the silicone rubber pressure pad 47 is covered on the inner end surface of the force transmission plate 46 to protect the clamping head from transmitting force.

[0068] In one implementation of the embodiment of the present invention, Figure 2 As shown, the umbrella cone assembly 11 includes: an umbrella head support seat 48, an umbrella cone support tail seat 49, an oil receiving and delivery head 50, and an umbrella cone base 51; the umbrella cone base 51 is arranged as a bridge frame structure, and the front end pier portion is fixedly mounted on the upper end surface of the longitudinal seat body portion of the rotating base 10, and the protruding end arranged at the front end of the pier portion is hinged between the two rotating shaft seats 12 through the rotating shaft 13, and the bridge body structure as a whole crosses between the two clamping grippers 8, and the bridge frame at the rear end of the bridge body is fixedly mounted on the rear end platform at the rear end of the transverse seat body portion; the umbrella head support seat 48 is fixedly mounted on the front part of the bridge body of the umbrella cone base 51, and the umbrella cone support tail seat 49 is fixedly mounted on the rear part of the bridge body of the umbrella cone base 51, the umbrella head support seat 48 and the umbrella cone support tail seat 49 are connected at the umbrella cone base 51, and the oil receiving and delivery head 50 is fixedly mounted on the front end side end surface of the umbrella head support seat 48.

[0069] In one implementation of the embodiment of the present invention, an implementation scheme of the lifting mechanism 4 is provided, such as Figure 4 As shown, Figure 1The illustrated embodiment provides a schematic diagram of the structure of the lifting mechanism in the aerial oil pipeline dragging and docking device. The lifting mechanism 4 in this implementation includes: a lifting protective cover 29, two sets of secondary scissor forks 30, two sets of rigid chains 31, a driver 32, and a mounting base plate 33. Among them, the two sets of scissor forks 30 are symmetrically fixedly installed on both sides of the upper end surface of the mounting base plate 33, the two sets of rigid chains 31 are correspondingly fixedly installed on the inner side of the two sets of scissor forks 30, and are located on the upper end surface of the mounting base plate 33, and the driver 32 is fixedly installed in the middle position of the upper end surface of the mounting base plate 33, and is located between the two sets of rigid chains 31; one end of the lifting protective cover 29 is fixedly installed on the bottom end surface of the mounting base plate 33, and the other end is fixedly installed on the upper end surface of the two sets of secondary scissor forks 30, which is used to cover and protect the entire lifting mechanism 4.

[0070] like Figure 4 As shown, the driver 32 in this implementation method meshes with the gears in each set of rigid chains 31 through the bevel gears in its internal gear box, and the lifting chains in each set of rigid chains 31 and the tops of each set of secondary scissors forks 30 are connected to the lower end surface of the upper platform support frame 2, so that the lifting chains in each set of rigid chains 31 are driven by the driver 32 gears to extend or retract along the lifting direction, driving the upper platform support frame 2 to rise or fall, and driving each set of secondary scissors forks 33 to expand upward or retract downward through the upper platform support frame 2.

[0071] In one implementation of the embodiment of the present invention, an implementation scheme of the paving mechanism 5 is provided, such as Figure 5 As shown, Figure 1 The illustrated embodiment provides a schematic diagram of the structure of the paving mechanism in the aerial oil pipeline dragging and docking device. The paving mechanism 5 in this implementation includes: a rolling motor 34, a harmonic reducer 35, a driving spindle 36, a paving protection net 37, a rotating bearing seat 38, two end top plates 39, and a guide seat 40; the two end top plates 39 are fixedly mounted on the body structure of the transport vehicle 3, the output shaft of the rolling motor 34 passes through one end top plate 39, and is connected to one end of the driving spindle 36 through the harmonic reducer 35, the other end of the driving spindle 36 is mounted on the other end top plate 39 through the rotating bearing seat 38, so as to pull the two end top plates 39 together, the guide seat 40 is fixedly connected to the base of the two end top plates 39, and the front end of the paving protection net 37 is fitted and fixed on the driving spindle 36 and wound on the driving spindle 36.

[0072] like Figure 5 As shown, the operation mode of the paving mechanism 5 in this implementation is: during the forward operation of the transport vehicle 3, the driving spindle 36 is driven to rotate by the rolling motor 34, and the paving protection net 37 wound on the driving spindle 36 is paved on the rear end of the running road, or, during the reverse operation of the transport vehicle 3, the paved paving protection net 37 is rolled and wound on the driving spindle 36.

[0073] In one implementation of the embodiment of the present invention, an implementation of the transport vehicle 3 is provided, such as Figure 3 As shown, Figure 1 The schematic diagram of the structure of the transport vehicle in the aerial oil pipeline towing docking device provided in the embodiment shown. The transport vehicle 3 in this implementation includes: a vehicle frame 21, four lifting rings 22, four emergency stop mounting plates 23, four emergency stop switches 24, a control panel 25, eight searchlights 26, four driving wheel sets 27, and four wheel set mounting plates 28. Among them, the vehicle body frame 21 is configured to have a structure with an installation cavity, the middle cavity is used to install the lifting mechanism, the front cavity is used to install the controller, the rear cavity is used to install the paving mechanism 5, and there are symmetrically arranged vehicle body platforms on both sides. Four wheel group mounting plates 28 are correspondingly installed at the four corners of the installation cavity of the vehicle body frame 21, and four driving wheel groups 27 are correspondingly installed at the lower ends of the four wheel group mounting plates 28. Four emergency stop mounting plates 23 are correspondingly fixedly installed on the four wheel group mounting plates 28 and are located on the inner wall surfaces of the four corners of the vehicle body frame 21. Four emergency stop switches 24 are embedded in the circular holes of the four emergency stop mounting plates 23 and are located on the outer wall surfaces of the four corners of the vehicle body frame 21. Four lifting rings 22 are fixedly installed on the inner side of the vehicle body frame 21; the control panel 25 is fixedly installed on the outer wall surface of the vehicle body frame 21 and is connected to the controller, and is used to set the control parameters of the controller through the control panel 25 to control the entire device.

[0074] Based on the aerial oil pipeline dragging docking device provided by the above embodiment of the present invention, the embodiment of the present invention further provides a method for using the aerial oil pipeline dragging docking device, and the method for using the aerial oil pipeline dragging docking device when performing high-altitude pipe dragging docking includes the following steps:

[0075] Step 1: Press the aircraft pipe ejection button, and the aircraft oil pipeline will pop out at a position about 3 meters above the ground;

[0076] Step 2, control the lifting mechanism 4 to lift the actuator 1 installed on the upper platform support frame 2 to a preset position, that is, to the umbrella cone position of the refueling pipeline, and control the two clamping grippers 8 to open along the direction of the transverse linear guide rail 9;

[0077] Step 3: Based on the angular deflection of the oil pipeline, the rotating base 10 of the actuator 1 is controlled to deflect at a certain angle under the drive of the rotary electric cylinder 17, and the umbrella cone in the oil pipeline falls on the upper end surface of the umbrella cone assembly 11, and the two clamping grippers 8 are controlled to tighten along the direction of the transverse linear guide rail 9 to clamp the oil pipeline;

[0078] Step 4: After the clamping is completed, the rotating base 10 of the actuator 1 is controlled to return to the center under the drive of the rotary electric cylinder 17 to eliminate the angle deflection;

[0079] Step 5: Drive the overall in-air fuel pipeline dragging and docking device by the transport vehicle 3, move the required dragging length of the fuel pipeline, and the aircraft enters the full-dragging state;

[0080] Step 6: Control the transport vehicle 3 to drive the overall in-air fuel pipeline dragging and docking device to retreat, and reserve the pipeline length required for docking;

[0081] Step 7: Control the operation of the actuator 1 on the longitudinal guide rail to perform docking. After docking is completed, the aircraft enters the self-winding state, and the fuel pipeline dragging and docking device runs to the lower end of the aircraft lip at a speed matching the self-winding speed of the aircraft;

[0082] Step 8: Based on the angular yaw of the fuel pipeline, control the rotating base 10 of the actuator 1 to perform a certain angular yaw under the drive of the rotating electric cylinder 17, and disengage the umbrella cone of the fuel pipeline from above the umbrella cone assembly 11;

[0083] Step 9: Control the two clamping grippers 8 to open along the direction of the transverse linear guide rail 9 to complete the winding of the fuel pipeline.

[0084] The embodiment of the present invention provides an in-air fuel pipeline dragging and docking device and its usage method. By combining the clamping gripper 8 with the linear guide rail 9, the rapid clamping of the refueling pipe fitting is completed. At the same time, by combining the clamping gripper 8 with the quick separation seat 13, the independence during the clamping process is ensured, achieving the purpose of being able to release and protect the product at any time. Through the interaction between the rotating base 18, the clamping gripper base 10, and the rotating electric cylinder 17, the angle adjustment during the clamping process is adjustable and controllable, and it is applicable to various products with different angles. By combining the lifting mechanism 4 with the platform support frame 2, the mechanism has strong self-adaptability and can adapt to different heights of different products. Through the coordinated control movement of the transport vehicle 3 and the paving mechanism 5, the problems of complex ground laying process and low efficiency of the refueling pipe fitting are solved. This device uses the relevance, coordination, and controllability between the mechanisms to fully cover the full process test of the refueling pipe fitting, and it has strong operability, convenience, aesthetics, and functionality, which can greatly improve work efficiency and ensure product safety.

[0085] Although the disclosed embodiments of the present invention are as above, the content is only the embodiments adopted for the convenience of understanding the present invention and is not used to limit the present invention. Any person skilled in the art within the scope of the present invention can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed by the present invention. However, the scope of patent protection of the present invention shall still be subject to the scope defined by the appended claims.

Claims

1. An aerial oil pipeline dragging and docking device, characterized in that: include: An actuator (1), an upper platform support frame (2), a transport vehicle (3), a lifting mechanism (4), two transverse protective covers (6), and a controller respectively connected to the transport vehicle (3), the actuator (1), and the lifting mechanism (4); The transport vehicle (3) is configured as a hollow vehicle body structure, the controller is configured in the front cavity of the transport vehicle (3), the lifting mechanism (4) is configured in the middle cavity of the vehicle body of the transport vehicle (3), and the upper platform support frame (2) is fixedly mounted on the upper end surface of the lifting mechanism (4); the upper platform support frame (2) is configured as a plate-like structure as a whole, two rows of longitudinal guide rails are arranged along the running direction of the transport vehicle (3), and end face convex plates are arranged on the front and rear end faces, and the actuator (1) spans and is movably mounted between the two rows of longitudinal guide rails on both sides, and moves along the direction of the longitudinal guide rails; one end of the two transverse protective covers (6) is correspondingly fixedly mounted on the end face convex plates at both ends of the upper platform support frame (2), and the other end is correspondingly fixedly mounted on the two end faces of the actuator (1); The aerial oil pipeline dragging and docking device is used to control the operation of a transport vehicle (3), an actuator (1), and a lifting mechanism (4) through a controller, to lift the actuator (1) through the lifting mechanism (4), and to tilt and clamp the aircraft oil pipeline through the actuator (1), to drag the oil pipeline through the operation of the transport vehicle (3), and to dock the oil pipeline through the movement of the actuator (1) on a longitudinal guide rail.

2. The aerial oil pipeline dragging and docking device according to claim 1 is characterized in that: The actuator (1) comprises: a transverse clamping mechanism, a rotating base (10), an umbrella cone assembly (11), a rotating shaft seat (12), a rotating shaft 13, a supporting base (14), a rotating electric cylinder (17), and a fixed base (18); The fixed base (18) is elastically mounted on the support base (14) through connectors evenly arranged in the circumferential direction, the rotating base (10) is fixedly mounted on the upper end surface of the fixed base (18) through a plurality of supporting block assemblies (19), and a rotating electric cylinder (17) is installed at the bottom of the support base (14); A transverse clamping mechanism is installed on the rotating base (10) in the transverse direction, and an umbrella cone assembly (11) is installed in the longitudinal direction. The umbrella cone assembly (11) crosses two clamping grippers (8) of the transverse clamping mechanism in the longitudinal direction and is fixedly installed at the front and rear ends of the rotating base (10). The protruding end of the front end of the umbrella cone assembly (11) is hinged to the rotating shaft seat (12) at the front end of the fixed base (18), and the protruding end of the umbrella cone assembly (11) is connected to the protruding head of the rotating electric cylinder (17), so as to drive the umbrella cone assembly (11) to drive the rotating base (10) and the transverse clamping structure to rotate around the hinge axis as a whole through the protruding head of the rotating electric cylinder (17), so as to match the umbrella cone profile in the oil pipeline through the top profile of the umbrella cone assembly (11).

3. The aerial oil pipeline dragging and docking device according to claim 2 is characterized in that: The transverse clamping mechanism comprises: two clamping grippers (8), two transverse linear guide rails (9) and two longitudinal protective covers (7); The rotating base (10) is configured as a T-shaped base structure as a whole. The rear end of the transverse base is used for transversely mounting two transverse linear guide rails (9), and the rear end of the transverse base has an extended rear end platform. The front end of the longitudinal base is provided with a square through groove. The two clamping grippers 8 respectively span the two transverse linear guide rails (9) and are correspondingly mounted on two sets of sliders of the two transverse linear guide rails (9). The outer ends of the two longitudinal protective covers (7) are correspondingly mounted on the two side ends of the two transverse linear guide rails (9), and the inner ends are correspondingly mounted on the outer end surfaces of the two clamping grippers 8. The front end of the umbrella-cone assembly (11) configured as a bridge structure is fixedly mounted on the longitudinal base of the rotating base (10), and the rear end is mounted on the rear end platform. The bridge of the umbrella-cone assembly (11) spans the two transverse linear guide rails (9) and is located between the two clamping grippers 8. The front end of the upper end surface of the fixed base (18) is provided with two rotating shaft seats (12) extending out of the square through slot at the front end of the rotating base (10); the rotating shaft 13 passes through the shaft hole at the protruding end of the front end of the umbrella cone assembly (11), and the two ends are correspondingly mounted on the two rotating shaft seats (12); The protruding head of the rotary electric cylinder (17) arranged at the lower part of the support base (14) is connected to the lower end surface of the protruding end of the umbrella cone assembly (11). When the rotary electric cylinder (17) performs telescopic movement, the umbrella cone assembly (11) drives the rotary base (10) to rotate around the rotary shaft 13.

4. The aerial oil pipeline dragging and docking device according to claim 3 is characterized in that: Each of the clamping grippers 8 comprises: a clamping bracket (42), a rubber protective sticker (43), a resin screw (44), a bidirectional force sensor (45), a force transmission plate (46) and a silicone rubber pressure pad (47); The clamping bracket (42) is installed across a group of sliders of two linear guide rails (9), and the rubber protective sticker (43) is fixedly installed on the two side surfaces of the clamping bracket (42) by resin screws (44), which plays a protective role for the product. The bidirectional force sensor (45) is fixedly installed on the inner end surface of the top of the clamping bracket (42), and the force transmission plate (46) is fixedly installed on the inner end surface of the bidirectional force sensor 46. The silicone rubber pressure pad (47) is covered on the inner end surface of the force transmission plate (46), which plays a role in protecting the clamping head from transmitting force.

5. The aerial oil pipeline dragging and docking device according to claim 3 is characterized in that: The umbrella cone assembly (11) comprises: an umbrella head support seat (48), an umbrella cone support tail seat (49), an oil receiving and conveying head (50), and an umbrella cone base (51); The umbrella cone base (51) is configured as a bridge frame structure, wherein the front end bridge pier portion is fixedly mounted on the upper end surface of the longitudinal seat portion of the rotating base (10), the protruding end arranged at the front end of the bridge pier portion is hinged between the two rotating shaft seats (12) through a rotating shaft 13, the bridge body structure as a whole crosses between the two clamping grippers 8, and the bridge frame at the rear end of the bridge body is fixedly mounted on the rear end platform at the rear end of the transverse seat portion; the umbrella head support seat (48) is fixedly mounted on the front part of the bridge body of the umbrella cone base (51), the umbrella cone support tail seat (49) is fixedly mounted on the rear part of the bridge body of the umbrella cone base (51), the umbrella head support seat (48) and the umbrella cone support tail seat (49) are connected at the umbrella cone base (51), and the oil receiving and conveying head (50) is fixedly mounted on the front end side surface of the umbrella head support seat (48).

6. The aerial oil pipeline dragging and docking device according to claim 2, characterized in that: The actuator (1) further comprises: a separation bottom plate (20) and an emergency escape mechanism (15); A separation bottom plate (20) located in the same plane is arranged at the front end of the support base (14), and the support base (14) and the separation bottom plate (20) are respectively installed across the longitudinal guide rails on both sides and are connected by an emergency escape mechanism (15) arranged between the support base (14) and the separation bottom plate (20); and the emergency escape mechanism (15) is used to separate the support base (14) and the separation bottom plate (20) by applying a driving force to the separation bottom plate (20) in an emergency.

7. The aerial oil pipeline dragging and docking device according to claim 2, characterized in that: Also includes: A plurality of spring leveling seats (16); The plurality of spring leveling seats (16) are evenly distributed and installed on the upper end surface of the support base (14) along the circumferential direction, and the upper part of the spring leveling seat (16) is embedded in the fixed base (18), so as to play a leveling role for the entire fixed base (18) and the upper component.

8. The aerial oil pipeline dragging and docking device according to claim 1, characterized in that: The lifting mechanism (4) comprises: a lifting protection cover (29), two sets of secondary scissor forks (30), two sets of rigid chains (31), a driver (32), and a mounting base plate (33); the driver (32) is connected to a controller; The two groups of scissor forks (30) are symmetrically fixedly mounted on both sides of the upper end surface of the mounting base plate (33); the two groups of rigid chains (31) are correspondingly fixedly mounted on the inner sides of the two groups of scissor forks (30) and are located on the upper end surface of the mounting base plate (33); the driver (32) is fixedly mounted in the middle position of the upper end surface of the mounting base plate (33) and is located between the two groups of rigid chains (31); The driver (32) meshes with the gears in each set of rigid chains (31) through the bevel gears in its internal gear box. The lifting chains in each set of rigid chains (31) and the tops of each set of secondary scissor forks (30) are connected to the lower end surface of the upper platform support frame (2), so that the lifting chains in each set of rigid chains (31) are driven by the gears of the driver (32) to extend or retract along the lifting direction, thereby driving the upper platform support frame (2) to rise or fall, and driving each set of secondary scissor forks 33 to expand upward or retract downward through the upper platform support frame (2).

9. The aerial oil pipeline dragging and docking device according to claim 1, characterized in that: Also includes: A paving mechanism (5) installed at the rear end of the transport vehicle, wherein the paving mechanism is electrically connected to the controller; The paving mechanism comprises: a rolling motor (34), a harmonic reducer (35), a driving spindle (36), a paving protection net (37), a rotating bearing seat (38), two end face top plates (39), and a guide seat (40); The two end top plates (39) are fixedly mounted on the body structure of the transport vehicle (3). The output shaft of the rolling motor (34) passes through one end top plate (39) and is connected to one end of the driving spindle (36) through a harmonic reducer (35). The other end of the driving spindle (36) is mounted on the other end top plate (39) through a rotating bearing seat (38) to pull the two end top plates (39) together. The guide seat (40) is fixedly connected to the base of the two end top plates (39). The front end of the paving protection net (37) is fitted and fixed on the driving spindle (36) and is wound around the driving spindle (36).

10. The aerial oil pipeline dragging and docking device according to any one of claims 1 to 9, characterized in that: The transport vehicle (3) comprises a vehicle body frame (21), four lifting rings (22), four emergency stop mounting plates (23), four emergency stop switches (24), a control panel (25), eight searchlights (26), four driving wheel sets (27), and four wheel set mounting plates (28); The vehicle frame (21) is configured to have a structure with a mounting cavity, the electrical equipment in the aerial oil pipeline dragging docking device is mounted in the mounting cavity of the vehicle frame (21), the vehicle frame (21) has symmetrically arranged vehicle platforms on both sides, four wheel assembly mounting plates (28) are correspondingly mounted at the four corners of the mounting cavity of the vehicle frame (21), four driving wheel assemblies (27) are correspondingly mounted at the lower ends of the four wheel assembly mounting plates (28), four emergency stop mounting plates (23) are correspondingly fixedly mounted on the four wheel assembly mounting plates (28) and are located on the inner wall surfaces of the four corners of the vehicle frame (21), four emergency stop switches (24) are embedded in the circular holes of the four emergency stop mounting plates (23) and are located on the outer wall surfaces of the four corners of the vehicle frame (21), and four lifting rings (22) are fixedly mounted on the inner side of the vehicle frame (21); a control panel (25) is fixedly mounted on the outer wall surface of the vehicle frame (21), connected to the controller, and used to set the control parameters of the controller through the control panel (25) to control the entire device.

11. A method for using an aerial oil pipeline dragging docking device, characterized in that: A method for towing a high-altitude oil pipeline using the aerial oil pipeline towing docking device as claimed in any one of claims 1 to 10 comprises the following steps: Step 1: Press the aircraft pipe ejection button, and the aircraft fuel pipeline will be ejected at a preset distance from the ground; Step 2, controlling the lifting mechanism (4) to lift the actuator (1) installed on the upper platform support frame (2) to the umbrella cone position of the refueling pipeline, and controlling the two clamping grippers (8) to open along the direction of the transverse linear guide rail (9); Step 3, based on the angular swing of the oil pipeline, the rotating base (10) of the actuator (1) is controlled to swing at a certain angle under the drive of the rotary electric cylinder (17), so that the umbrella cone in the oil pipeline falls on the upper end surface of the umbrella cone assembly (11), and the two clamping grippers (8) are controlled to tighten along the direction of the transverse linear guide rail (9) to clamp the oil pipeline; Step 4, after the clamping is completed, the rotating base (10) of the control actuator (1) is driven by the rotary electric cylinder (17) to return to the center position to eliminate the angular deflection; Step 5, controlling the transport vehicle (3) to drive the entire aerial oil pipeline dragging docking device to operate, moving the required oil pipeline dragging length, and the aircraft enters a full dragging state; Step 6, the transport vehicle (3) drives the entire aerial oil pipeline to drag the docking device backward, leaving a pipeline length required for docking; Step 7, controlling the actuator (1) to run on the longitudinal guide rail to perform docking. After the docking is completed, the aircraft enters a self-rewinding state, and the oil pipeline drags the docking device to run to the lower end of the aircraft lip at a speed that matches the self-rewinding speed of the aircraft; Step 8, based on the angular swing of the oil pipeline, the rotating base (10) of the actuator (1) is controlled to swing at a certain angle under the drive of the rotary electric cylinder (17), so that the umbrella cone of the oil pipeline is separated from the umbrella cone assembly (11); Step 9, controlling the two clamping grippers (8) to open along the direction of the transverse linear guide rail (9) to complete the winding of the oil pipeline.

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