Integrated automatic oiling equipment and using method thereof

Abstract

The invention relates to integrated automatic refueling equipment and a using method thereof.The integrated automatic refueling equipment comprises a track, a mechanical arm, a mounting base, a tail end executing mechanism and an automatic refueling control system, the mounting base is movably mounted on the track, visual sensors are integrated on the mechanical arm and the tail end executing mechanism, and the fixed end of the mechanical arm is connected with the mounting base; the movable end of the mechanical arm is connected with the tail end executing mechanism and drives the tail end executing mechanism to move in the working area, and the automatic oiling control system is electrically connected with the mechanical arm, the mounting base and the tail end executing mechanism and controls the mechanical arm, the mounting base and the tail end executing mechanism to act. Repeated positioning time of a mechanical arm is reduced by more than 60%, all operations are completed through one-time positioning, tool switching errors are eliminated, action collaboration is extremely high, consumed time of the whole refueling process is reduced by 40%, single-time operation time is shortened to be within 120 seconds, control precision of an oil gun is optimized, and refueling stability is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic refueling equipment, and in particular to an integrated automatic refueling equipment and a method for using the same. Background Art

[0002] With rising living standards, the number of cars on the road has continued to grow, and with it, the number of gas stations has also increased year by year. To reduce costs, however, gas stations are now actively promoting self-service refueling. However, for first-time refuelers, elderly drivers, or frail female drivers, the cumbersome operation of refueling with a refueling gun is daunting, and the tangled weight of the refueling gun and hose makes it difficult to operate. Meanwhile, contactless refueling is gaining popularity among drivers, necessitating improvements to the design of convenient automatic refueling systems. Summary of the Invention

[0003] Based on this, it is necessary to provide an integrated automatic refueling device and a method of using the same to address the above problems.

[0004] An integrated automatic refueling device includes a track, a robotic arm, a mounting seat, an end-effector and an automatic refueling control system. The mounting seat is movably mounted on the track. The robotic arm and the end-effector are both integrated with visual sensors. The fixed end of the robotic arm is connected to the mounting seat, and the movable end of the robotic arm is connected to the end-effector to drive the end-effector to move within the working area. The automatic refueling control system is electrically connected to the robotic arm, the mounting seat and the end-effector to control the movements of the robotic arm, the mounting seat and the end-effector.

[0005] Preferably, two guide rails spaced side by side are provided on the track, stop plates are provided at both ends of the guide rails, the mounting seat is movably installed between the two guide rails, and a plurality of casters are provided at the bottom of the track.

[0006] Preferably, the mounting seat includes a seat body, a first displacement motor and a slider, the seat body is movably connected to the guide rail through the slider, the first displacement motor is installed on the seat body, the output end of the first displacement motor faces downward, and is engaged with the spur rack on the inner side of the track through a gear.

[0007] Preferably, the end actuator includes a tray, a fuel tank plug opening assembly, a fuel tank cover opening assembly, a fuel gun refueling assembly and a mounting frame. The fuel tank plug opening assembly and the fuel tank cover opening assembly are mounted side by side on the mounting frame, and the output ends are oriented in the same direction. The output end of the fuel tank plug opening assembly movably clamps the tray, and the tray can be detachably adsorbed on the vehicle body under the drive of the fuel tank plug opening assembly. The fuel gun refueling assembly is mounted on the mounting frame and is used to clamp the refueling gun to refuel the vehicle tank.

[0008] Preferably, the fuel tank plug opening assembly includes a rotating motor, a transmission member, a first connecting rod, a first cylinder and a first clamp. The rotating motor and the transmission member are installed side by side on the side wall of the mounting frame, and the output end thereof is movably connected to the input end of the transmission member through a belt. The output end of the transmission member is connected to the fixed end of the first cylinder through the first connecting rod, and the output end of the first cylinder is connected to the first clamp, and the pallet is movably clamped by the first clamp.

[0009] Preferably, the fuel tank cap opening assembly includes a second cylinder, a second connecting rod and a vacuum suction cup. The second cylinder is mounted on a mounting frame, and an output end thereof is connected to the vacuum suction cup via a second connecting rod.

[0010] Preferably, the oil gun refueling assembly includes a third cylinder, a fourth cylinder, a ring, an oil gun bracket, a left claw, a right claw, a swing frame and a bracket. The third cylinder is connected to the mounting frame through the swing frame. The left claw and the right claw are installed on the output end of the third cylinder and move toward or away from each other under the drive of the third cylinder. The oil gun bracket is installed on the left claw. One end of the bracket is movably connected to the swing frame through a pin shaft, and the other end is connected to the right claw. The fourth cylinder is installed on the bracket, and the output end of the fourth cylinder is connected to the ring.

[0011] Preferably, the automatic refueling system includes a microcontroller, a power module, a sensor interface circuit and an actuator drive circuit. The power module supplies power to the microcontroller, the sensor interface circuit and the actuator drive circuit. The microcontroller is electrically connected to the sensor interface circuit and the actuator drive circuit. The microcontroller controls the movement of the robotic arm, the end actuator and the actuator in the refueling gun through the actuator drive motor based on the detection information fed back by the sensor interface circuit.

[0012] A method for using an integrated automatic refueling device includes the following steps:

[0013] S1, the automatic refueling control system guides the vehicle to be refueled into the refueling area;

[0014] S2, the automatic refueling control system identifies the target features of the vehicle to be refueled based on the feedback information from the vision / range-measuring sensor on the manipulator, calculates the target position to which the end effector needs to move, and then controls the manipulator to adjust the orientation of the end effector;

[0015] S3, the automatic refueling control system controls the end actuator to clamp the refueling gun and execute the refueling process based on the feedback information of the vision / ranging sensor of the end actuator.

[0016] Preferably, the timing of the refueling process in S3 is as follows: S3.1, visually locate the flat area of the vehicle body under the fuel tank cap of the vehicle to be refueled; S3.2, align the fuel tank cap opening component in the terminal actuator with the fuel tank cap to perform the opening operation; S3.3, adsorb the tray in the terminal actuator on the flat area of the vehicle body under the fuel tank cap, determine that the tray adsorption is successful, and then execute the next step; S3.4, use the fuel tank plug opening component of the terminal actuator to loosen and remove the fuel tank plug from the fuel tank port; S3.5, the fuel gun refueling component of the terminal actuator clamps the refueling gun, and presses the trigger to refuel; S3.6, after the fuel is refueled and the refueling gun is pulled out, the terminal actuator is reset, and the reinstallation of the fuel tank plug, closing the fuel tank cap, and recovering the tray are executed in sequence.

[0017] The benefits of the present invention are: reducing the repositioning time of the robotic arm by more than 60%, completing all operations in one positioning, eliminating tool switching errors, fixing the spatial relationship of each component, and highly coordinated movements. The overall refueling process time is reduced by 40%, shortening the single operation time to less than 120 seconds, optimizing the oil gun control accuracy, and ensuring refueling stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional schematic diagram of an integrated automatic refueling device according to one embodiment;

[0019] Figure 2 This is a schematic diagram of the assembly of the track and the mounting base;

[0020] Figure 3 It is a three-dimensional schematic diagram of the end effector;

[0021] Figure 4 This is the explosion diagram of the end effector;

[0022] Figure 5 This is a circuit module diagram of an integrated automatic refueling device;

[0023] Figure 6 The present invention is a flowchart of the method of using an integrated automatic refueling device. DETAILED DESCRIPTION

[0024] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] like Figures 1-2As shown, an integrated automatic refueling device includes a track 1, a robotic arm 2, a mounting base 3, an end effector 4, and an automatic refueling control system 100. The mounting base 3 is movably mounted on the track 1. The robotic arm 2 and the end effector 4 are both integrated with a visual sensor. The fixed end of the robotic arm 2 is connected to the mounting base 3, and the movable end of the robotic arm 2 is connected to the end effector 4, driving the end effector 4 to move within a working area. The automatic refueling control system 100 is electrically connected to the robotic arm 2, the mounting base 3, and the end effector 4 to control the movement of the robotic arm 2, the mounting base 3, and the end effector 4. Specifically, in this embodiment, the automatic refueling device is arranged side by side with the refueling station in the gas station to facilitate the movement of the robotic arm 2, which drives the end effector 4 to pick up and place the refueling gun hung on the refueling station. The robotic arm 2 is mounted on the track 1 via the mounting base 3, so that the robotic arm 2 can be moved back and forth along the track 1 under the drive of the mounting base 3, making it convenient to adjust the position of the robotic arm 2 carrying the refueling gun according to the position of the vehicle to be refueled. In order to accurately detect the position of the vehicle to be refueled and identify and grab the refueling gun, we have integrated a visual sensor on the robotic arm 2. The visual sensor is used to locate the information of the vehicle to be refueled, such as the vehicle signal and the position of the fuel tank cap, and drive the end actuator 4 to the vicinity of the fuel tank cap. The end actuator 4 can then perform the refueling operation in the control box of the automatic refueling system 100. The specific refueling method process is as follows: first, open the fuel tank cap, then adsorb the tray carried by the end actuator 4 on the vehicle body, and then after the end actuator 4 removes the fuel tank plug, the refueling gun can be inserted into the fuel tank port for automatic refueling. The entire process does not require human intervention, and after refueling is completed, the refueling gun is pulled out in sequence, the fuel tank plug is screwed, the fuel tank cap is closed, and then the tray adsorbed on the vehicle body is removed. This design utilizes a highly integrated end-effector 4 for automated refueling. The automated refueling system 100 controls the robotic arm 2, with the mounting base 3 and end-effector 4 working in concert. Assisted by the robotic arm 2 and mounting base 3, the system fully automatically and sequentially completes the key end-of-line operations of the refueling process: opening the fuel tank cap, placing the tank plug in a temporary storage tray, removing and temporarily storing the tank plug, refueling with a gun, replacing the tank plug, closing the tank cap, and retrieving the temporary storage tray. Its core innovation lies in the compact integration of multiple independent functional modules. The end-effector 4 addresses the issue of temporary storage and loss prevention for the tank plug during automated operation, significantly improving the efficiency and reliability of automated refueling.

[0028] like Figures 1-2As shown, the track 1 is provided with two guide rails 11 spaced side by side, and stop plates 12 are provided at both ends of the guide rails 11. The mounting seat 3 is movably installed between the two guide rails 11, and a plurality of casters 13 are provided at the bottom of the track 1. Specifically, in the present embodiment, the track 1 is a straight line. In other embodiments, the track 1 can also be designed as a curve or other line type according to actual needs, which is not specifically limited here. Two guide rails 11 are provided on the track 1, and the guide rails 11 are used to limit the mounting seat 3 to prevent the mounting seat 3 from derailing when the track 1 is displaced. Stop plates 12 are provided at both ends of the track 1, and the stop plates 12 play a limiting role. Furthermore, an ultrasonic ranging sensor can be provided on the inner side of the stop plates 12 to measure and sense the position of the mounting seat 3 on the track 1, so that the mechanical arm 2 driven by the mounting seat 3 moves to a specified position and aligns with the fuel tank of the vehicle to be refueled. Casters 13 are provided under the track 1 to facilitate the overall movement of the track 1 as needed, so that the position positioning of the mounting seat is more accurate.

[0029] like Figure 2 As shown, the mounting base 3 includes a base body 31, a first displacement motor 32 and a slider 33. The base body 31 is movably connected to the guide rail 11 through the slider 33. The first displacement motor 32 is mounted on the base body 31. The output end of the first displacement motor 32 faces downward and is engaged with the spur rack on the inner side of the track 1 through a gear. Specifically, in this embodiment, the gear at the output end of the first displacement motor 32 is engaged with the spur rack on the inner side of the track 1. When the first displacement motor 32 is started, it can drive the base body 31 to move along the guide rail 11. The slider 33 is movably engaged with the guide rail 11 to prevent derailment. The first displacement motor 32 is controlled by the automatic refueling system 100, so that the position of the base body 31 on the track 1 is accurately controlled, thereby facilitating the control of the position of the robot arm 2, so that the end actuator 4 driven by the robot arm 2 can be aligned with the fuel tank cap for refueling.

[0030] like Figures 3-4As shown, the end effector 4 comprises a tray 41, a fuel tank plug opening assembly 42, a fuel tank cap opening assembly 43, a fuel gun assembly 44, and a mounting bracket 45. The fuel tank plug opening assembly 42 and the fuel tank cap opening assembly 43 are mounted side by side on the mounting bracket 45, with their output ends oriented in the same direction. The output end of the fuel tank plug opening assembly 42 movably holds the tray 41. The tray 41 is removably attached to the vehicle body under the action of the fuel tank plug opening assembly 42. The fuel gun assembly 44 is mounted on the mounting bracket 45 and is used to hold a fuel gun for refueling the vehicle's fuel tank. Specifically, in this embodiment, the vision / range-finding sensor in the robotic arm 2 detects the location of the vehicle to be refueled in real time. Once the location is determined, the automatic refueling system 100 controls the positioning of the fuel tank plug opening assembly 42, the fuel tank cap opening assembly 43, and the fuel gun assembly 44. The robotic arm 2 first moves the end effector 4 close to the vehicle's fuel tank opening. When approaching the vehicle, the fuel tank cap opening assembly 43 first operates to open the fuel tank cap of the vehicle body. Since most fuel tank caps are flip-top, they can be opened by suction. After the fuel tank cap is opened, the vehicle's fuel tank plug will leak out. At this time, the fuel tank cap opening assembly 42 drives the tray 41 toward the vehicle body. Under the action of the fuel tank cap opening assembly 2, the tray 41 can be firmly attached to the vehicle body through suction or magnetic attraction. The fuel tank cap opening assembly 42 then separates from the tray 41. Driven by the robot arm 2, the output end of the fuel tank cap opening assembly 42 is aligned with the fuel tank plug, and the fuel tank plug is screwed out and placed on the tray 41. This can prevent the fuel tank plug from falling and being lost. At this time, the fuel gun refueling assembly 44 can carry the fuel gun (not shown) close to the fuel tank opening and control the fuel gun trigger to open, thereby completing the refueling operation. The entire refueling process requires no manual labor and is fully functional. The steps for removing and placing the fuel tank plug are taken into consideration, and the tray used to place the fuel tank plug and the fuel tank plug opening component are designed to be detachable, which is more flexible. The entire end-effector is extremely flexible, facilitating the autonomous completion of refueling actions with low human intervention.

[0031] like Figures 3-4As shown, the fuel tank plug opening assembly 42 includes a rotating motor 421, a transmission member 422, a first connecting rod 423, a first cylinder 424 and a first clamp 425. The rotating motor 421 and the transmission member 422 are installed side by side on the side wall of the mounting frame 45, and the output end thereof is movably connected to the input end of the transmission member 422 through a belt. The output end of the transmission member 422 is connected to the fixed end of the first cylinder 424 through the first connecting rod 423, and the output end of the first cylinder 424 is connected to the first clamp 425, and the tray 41 is movably clamped by the first clamp 425. Specifically, in this embodiment, when the fuel tank plug opening assembly 42 is aligned with the fuel tank plug under the drive of the robotic arm 2, the first cylinder 424 drives the first clamping jaw 425 to clamp the fuel tank plug. At this time, the rotary motor 421 is activated, driving the transmission member 422 to rotate via a belt drive. The transmission member 422 is specifically mounted on the mounting bracket 45 via a bearing. When the transmission member 422 rotates, the first cylinder 424 and the first clamping jaw 425, which are holding the fuel tank plug, are driven to rotate synchronously via the first connecting rod 423, thereby unscrewing the fuel tank plug from the fuel tank. After the first clamping jaw 425 is released, the fuel tank plug can be placed on the tray 41 attached to the vehicle body, eliminating the need for the first clamping jaw 425 to continuously clamp the fuel tank plug. After refueling is completed, the first clamping jaw 425 can re-grip the fuel tank plug from the tray 41, and the rotary motor 421 drives the transmission member 422 to rotate in the opposite direction, thereby rotating the fuel tank plug back onto the fuel tank. Then the first clamping claw 425 clamps the pallet and removes the pallet 41 adsorbed on the vehicle body by twisting, thereby completing the separation of the pallet 41 from the vehicle body.

[0032] like Figures 3-4 As shown, the fuel tank cap opening assembly 43 includes a second cylinder 431, a second connecting rod 432, and a vacuum suction cup 433. The second cylinder 431 is mounted on a mounting bracket 45, and its output end is connected to the vacuum suction cup 433 via the second connecting rod 432. Specifically, the fuel tank cap opening assembly 433 operates as follows: the second cylinder 431 drives the vacuum suction cup 433 toward the fuel tank cap via the second connecting rod 432. After the vacuum suction cup 433 has attracted the fuel tank cap, the second cylinder 431 drives the second connecting rod 432 to retract and reset, allowing the fuel tank cap to be flipped open, completing the cap opening operation. After fueling is completed and the fuel tank plug is tightened, the second cylinder 431 repeats the action, driving the vacuum suction cup 433 to attract the fuel tank cap and then continue to extend until the fuel tank cap is closed. At this point, the vacuum suction cup 433 is released and separated from the fuel tank cap. The second cylinder 431 then retracts, separating the vacuum suction cup 433 from the fuel tank cap.

[0033] like Figures 3-4As shown, the oil gun refueling assembly 44 includes a third cylinder 441, a fourth cylinder 442, a ring 443, an oil gun bracket 444, a left claw 445, a right claw 446, a swing frame 447 and a bracket 448. The third cylinder 441 is connected to the mounting frame 45 through the swing frame 447. The left claw 445 and the right claw 446 are installed on the output end of the third cylinder 441 and move toward or away from each other under the drive of the third cylinder 441. The oil gun bracket 444 is installed on the left claw 445. One end of the bracket 448 is movably connected to the swing frame 447 through a pin, and the other end is connected to the right claw 446. The fourth cylinder 442 is installed on the bracket 448, and the output end of the fourth cylinder 442 is connected to the ring 443. Specifically in this embodiment, the oil gun bracket 444 is used to fix the oil gun (not shown in the figure), and the oil gun bracket 444 is installed on the movable left claw 445. The horizontal position of the oil gun can be fine-tuned as needed. The right claw 446 is used to install the bracket 448. When the third cylinder 441 drives the right claw 446 to move, it can drive the bracket 448 to rotate around the pin shaft connected to the swing frame 447, and then the fourth cylinder 442 and the ring finger 443 rotate synchronously, so that the fourth cylinder 442 drives the ring finger 443 to press the trigger on the oil gun, and can press it in an aligned manner without misalignment.

[0034] like Figure 5As shown, the automatic refueling system 100 includes a microcontroller 101, a power module 102, a sensor interface circuit 103, and an actuator drive circuit 104. The power module 102 supplies power to the microcontroller 101, the sensor interface circuit 103, and the actuator drive circuit 104. The microcontroller 101 is electrically connected to the sensor interface circuit 103 and the actuator drive circuit 104. Based on the detection information fed back by the sensor interface circuit 103, the microcontroller 101 controls the operation of the robotic arm 2, the end effector 4, and the actuators in the refueling gun via the actuator drive motor 104. Specifically, in this embodiment, the functional modules of the microcontroller 101 include: a main processor (CPU): executes the control program, processes sensor data, and makes decisions; a memory (ROM / RAM): stores the control program, preset parameters, and temporary data; an input / output (I / O) interface: includes a digital input (DI) channel, a digital output (DO) channel, an analog input (AI) channel (if required), and a pulse width modulation (PWM) output channel (for motor speed control, if supported). Communication interface: Typically includes a serial communication interface (such as UART, RS-232 / 485, CAN bus) or Ethernet interface, used for data exchange (receiving instructions and reporting status) with the upper-level robotic arm control system or the gas station main control system. The functional modules of the power supply module 102 include an input filter circuit, an AC / DC or DC / DC converter, a voltage regulator circuit, and protection circuits (overvoltage and overcurrent). Function: Converts external input power (such as a 24V DC industrial power supply) into the stable voltage required by the controller and various actuators (such as 5V, 3.3V, 12V, 24V). The sensor interface circuit 103 is responsible for receiving input signals from the sensors integrated into the robotic arm 2 (via a communication interface or dedicated I / O). These sensors typically include: Vision sensor (camera): Provides image data for identifying the vehicle, the position of the fuel tank cap, the fuel tank plug, and the fuel nozzle. Distance sensor (such as a laser rangefinder, ultrasonic sensor): Provides precise distance information to assist the end effector 4 in determining its relative position to the target (fuel tank cap, fuel tank plug, fuel tank opening). Position / in-place sensor (optional but recommended): such as a magnetic switch or proximity switch installed on the cylinder rod, used to detect whether the cylinder has reached the extension / retraction limit position (for example, whether the vacuum suction cup is in contact and adsorbed successfully, whether the gripper is clamped in place, whether the pallet is adsorbed successfully, whether the left and right claws are clamped in place, and whether the ring is pressed into place). Circuit function: After conditioning the original sensor signal (such as amplification, filtering, isolation, analog-to-digital conversion ADC), it is sent to the I / O or communication interface of the central controller. The actuator drive circuit 104 drives a motor, usually a DC motor or a stepper motor. Cylinder: These cylinders require a solenoid valve to control their air path (intake / exhaust) to achieve extension / retraction. Vacuum generator / solenoid valve (for vacuum suction cup): controls the adsorption and release of the vacuum suction cup.(Optional) Indicator light / alarm: displays the device status or fault. The circuit composition of the actuator drive circuit 104 includes: Motor drive module: For DC motors, an H-bridge drive circuit or a motor drive chip is usually used to receive the PWM and direction signals of the controller and provide sufficient current to drive the motor forward and reverse. For stepper motors, a dedicated stepper drive module is used. Solenoid valve drive module: A switching circuit composed of a relay or solid-state relay (SSR) or a power transistor / MOSFET. The controller's DO channel outputs high and low level signals to control the on and off of the drive module, thereby controlling the power on / off of the solenoid valve coil and switching the air path state of the cylinder or vacuum. Vacuum control circuit: Similar to the solenoid valve drive, it controls the on and off of the vacuum generator or the vacuum on-off valve, human-computer interaction interface, a simple status indicator light (LED) or a small display screen, an emergency stop button or a reset button, etc.

[0035] Based on the above embodiments, Figure 6 As shown, this embodiment discloses a method for using an integrated automatic refueling device, comprising the following steps:

[0036] S1, the automatic refueling control system 100 guides the vehicle to be refueled into the refueling area. Specifically, it can guide the vehicle to be refueled to approach the gas station through indicator lights or voice broadcasts to avoid over-distance, the fuel pipe of the refueling gun is not long enough, or the robot arm 2 cannot drive the end actuator 4 to approach the fuel tank port.

[0037] S2, the automatic refueling control system 100 identifies the target features of the vehicle to be refueled based on the feedback information from the visual / ranging sensor on the robotic arm 2, calculates the target position to which the end effector 4 needs to move, and then controls the robotic arm 2 to adjust the orientation of the end effector 4. Specifically, during refueling, when the vehicle enters the refueling area, the automatic refueling control system 100 controls the mounting base 3 to move the robotic arm 2 on the track 1 based on the vehicle's position, so that the robotic arm 2 approaches the vehicle. The visual sensor on the robotic arm 2, such as a camera, collects vehicle image information and sends the information to the automatic refueling control system 100 for calculation. By running a visual algorithm to identify the outline and position of the fuel tank cap, the laser rangefinder measures the three-dimensional coordinates (X, Y, Z) of the center point of the fuel tank cap. In this design, the camera's image resolution is ≥1280×720, the recognition accuracy is ±5mm; the ranging accuracy is ±1mm; and the total positioning time is ≤2 seconds.

[0038] In step S3, the automatic refueling control system 100 controls the end effector 4 to grip the fueling gun and execute the refueling process based on feedback from the vision / ranging sensor of the end effector 4. Specifically, during the refueling operation, the robotic arm 2 first moves the end effector 5, aligning the center of the vacuum suction cup with the center of the fuel tank cap (with an error of <3mm). The pneumatic cylinder pushes the vacuum suction cup against the fuel tank cap, activating the vacuum generator with a suction force of ≥50N (maintained for 0.5-1 second to confirm successful suction). The cylinder retracts, pulling the fuel tank cap open to its maximum angle (>90°). The visual positioning of the flat area of the vehicle body beneath the fuel tank cap is performed, and the end effector's tray is attached to the vehicle body. The visual positioning of the fuel tank plug is then performed, and the end effector 4 adjusts the gripper to align with the center of the plug, opening the fuel tank plug. The fuel gun is then inserted into the tank opening to begin refueling. During refueling, the robotic arm adjusts the angle of the fuel gun (using the swing frame 47 for fine-tuning ±15°) and inserts it into the tank opening (to a depth of 80-120mm). The system also monitors the fuel gun's status signals (such as flow meter pulses or pressure sensors) in real time, refueling to a preset number of liters or automatically tripping the gun. Fuel gun parameters include: nozzle insertion speed: 100-200mm / s; trigger travel: 15-25mm (preset by gun model); and fuel flow monitoring cycle: 100ms.

[0039] The timing of the refueling process in S3 is as follows: S3.1, visually locate the flat area of the vehicle body below the fuel tank cap of the vehicle to be refueled, specifically through image recognition, and then use multi-frame image fusion + point cloud registration. The next step is triggered when the confidence level is >95%.

[0040] S3.2, align the fuel tank cover opening assembly 43 in the end effector 4 with the fuel tank cover to perform the cover opening operation; the cover is opened by adsorption of the vacuum suction cup, and the vacuum adsorption is maintained for ≥ 1 second. If the pressure sensor feedback is > -50kPa, it is determined that the adsorption is successful and proceed to the next step; if the adsorption fails within the time limit, retry or alarm.

[0041] In step S3.3, the tray 41 in the end effector 4 is attached to the flat area of the vehicle body below the fuel tank cap. If the attachment is successful, the process proceeds to step S3.4. The attachment force threshold for tray 41 is 30N, and success is determined after the pressure sensor is triggered or a delay of 500ms. If the threshold is not met, magnetic suction assistance is initiated.

[0042] S3.4. Use the fuel tank plug opening assembly 42 of the end effector 4 to loosen and remove the fuel tank plug from the fuel tank opening. The unscrewing torque sudden change detection threshold is 30%. The motor current is monitored in real time. Unscrewing is completed when the current drop rate ΔI / Δt is greater than 30%.

[0043] S3.5: The fuel gun assembly 44 of the end effector 4 holds the fuel gun and presses the trigger to refuel. The trigger is pressed for 20 ± 2 mm, and the travel switch confirms that the fuel gun is in position. During refueling, the fuel gun signal is continuously monitored, and the process is terminated if there is no flow for more than 10 seconds.

[0044] S3.6: After fueling is complete and the fuel nozzle is removed, end effector 4 resets and sequentially reinstalls the fuel tank plug, closes the fuel tank cap, and retrieves the tray. The plug tightening torque is 2.0 ± 0.3 Nm, using a torque-angle dual closed-loop control. A pass is determined when the preset torque is reached and the angle is within 90° ± 5°.

[0045] The device's usage sequence is strictly limited: open the lid → place the tray → remove the plug → refuel → install the plug → close the lid → collect the tray. This irreversible sequence avoids step conflicts. The tank plug's tightening angle / torque is automatically matched to a parameter library based on the visually recognized plug type (cross / slotted / inner plum blossom). The oil gun insertion depth is dynamically calculated based on the tank opening height. Redundant safety assessment: Key actions utilize a triple confirmation mechanism of "information feedback + timing timeout + physical limit." Fault-tolerant handling: If the torque fails to meet the standard three times consecutively when loosening the tank plug, it is determined to be thread slipped and an alarm is issued. If the oil gun insertion is blocked (resistance > 50N), it automatically retracts 10mm and tries again.

[0046] This method solves the defects of existing refueling robots' terminal operations, such as timing confusion, poor compatibility, easy loss of tank plugs, and low reliability, through refined step decomposition, dynamic process parameter matching, and multi-modal safety control logic, and realizes full-process automated refueling without human intervention.

[0047] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An integrated automatic refueling device, characterized by: It includes a track, a robotic arm, a mounting seat, an end-effector and an automatic refueling control system. The mounting seat is movably installed on the track. The robotic arm and the end-effector are both integrated with visual sensors. The fixed end of the robotic arm is connected to the mounting seat, and the movable end of the robotic arm is connected to the end-effector to drive the end-effector to move within the working area. The automatic refueling control system is electrically connected to the robotic arm, the mounting seat and the end-effector to control the movements of the robotic arm, the mounting seat and the end-effector.

2. The integrated automatic refueling device according to claim 1, characterized in that: Two guide rails spaced side by side are arranged on the track, stop plates are arranged at both ends of the guide rails, the mounting seat is movably mounted between the two guide rails, and a plurality of casters are arranged at the bottom of the track.

3. The integrated automatic refueling device according to claim 2, characterized in that: The mounting seat includes a seat body, a first displacement motor and a slider. The seat body is movably connected to the guide rail through the slider. The first displacement motor is installed on the seat body. The output end of the first displacement motor faces downward and is engaged with the spur rack on the inner side of the track through a gear.

4. The integrated automatic refueling device according to claim 1, characterized in that: The end actuator includes a tray, a fuel tank plug opening assembly, a fuel tank cover opening assembly, a fuel gun refueling assembly and a mounting frame. The fuel tank plug opening assembly and the fuel tank cover opening assembly are mounted side by side on the mounting frame, and the output ends are oriented in the same direction. The output end of the fuel tank plug opening assembly movably clamps the tray, and the tray can be detachably adsorbed on the vehicle body under the drive of the fuel tank plug opening assembly. The fuel gun refueling assembly is mounted on the mounting frame and is used to clamp the refueling gun to refuel the vehicle tank.

5. The integrated automatic refueling device according to claim 4, characterized in that: The fuel tank plug opening assembly includes a rotating motor, a transmission member, a first connecting rod, a first cylinder and a first clamp. The rotating motor and the transmission member are installed side by side on the side wall of the mounting frame, and the output end thereof is movably connected to the input end of the transmission member through a belt. The output end of the transmission member is connected to the fixed end of the first cylinder through the first connecting rod, and the output end of the first cylinder is connected to the first clamp, and the pallet is movably clamped by the first clamp.

6. The integrated automatic refueling device according to claim 5, characterized in that: The fuel tank cover opening assembly includes a second cylinder, a second connecting rod and a vacuum suction cup. The second cylinder is installed on the mounting frame, and the output end of the second cylinder is connected to the vacuum suction cup through the second connecting rod.

7. The integrated automatic refueling device according to claim 6, characterized in that: The oil gun refueling assembly includes a third cylinder, a fourth cylinder, a ring, an oil gun bracket, a left claw, a right claw, a swing frame and a bracket. The third cylinder is connected to the mounting frame through the swing frame. The left claw and the right claw are installed on the output end of the third cylinder and move toward or away from each other under the drive of the third cylinder. The oil gun bracket is installed on the left claw. One end of the bracket is movably connected to the swing frame through a pin shaft, and the other end is connected to the right claw. The fourth cylinder is installed on the bracket, and the output end of the fourth cylinder is connected to the ring.

8. The integrated automatic refueling device according to claim 1, characterized in that: The automatic refueling system includes a microcontroller, a power module, a sensor interface circuit and an actuator drive circuit. The power module supplies power to the microcontroller, the sensor interface circuit and the actuator drive circuit. The microcontroller is electrically connected to the sensor interface circuit and the actuator drive circuit. The microcontroller controls the movement of the robotic arm, the end actuator and the actuator in the refueling gun through the actuator drive motor based on the detection information fed back by the sensor interface circuit.

9. A method for using the integrated automatic refueling device according to any one of claims 1 to 8, characterized in that: The following steps are included: S1, the automatic refueling control system guides the vehicle to be refueled into the refueling area; S2, the automatic refueling control system identifies the target features of the vehicle to be refueled based on the feedback information from the vision / range-measuring sensor on the manipulator, calculates the target position to which the end effector needs to move, and then controls the manipulator to adjust the orientation of the end effector; S3, the automatic refueling control system controls the end actuator to clamp the refueling gun and execute the refueling process based on the feedback information of the vision / ranging sensor of the end actuator.

10. The method of use according to claim 9, wherein: The S3, the timing of the refueling process is as follows: S3.1, visually locate the flat area of the vehicle body under the fuel tank cap of the vehicle to be refueled; S3.2, align the fuel tank cap opening component in the terminal actuator with the fuel tank cap to perform the cap opening operation; S3.3, adsorb the tray in the terminal actuator on the flat area of the vehicle body under the fuel tank cap, determine that the tray adsorption is successful, and then execute the next step; S3.4, use the fuel tank plug opening component of the terminal actuator to loosen and remove the fuel tank plug from the fuel tank port; S3.5, the fuel gun refueling component of the terminal actuator clamps the refueling gun, and presses the trigger to refuel; S3.6, after the fuel is refueled and the refueling gun is pulled out, the terminal actuator is reset, and the fuel tank plug is reinstalled, the fuel tank cap is closed, and the tray is recovered in sequence.

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