Handheld single-drive self-adaptive auxiliary lifting equipment suitable for airport refueling vehicle

Abstract

The invention discloses handheld single-drive-source self-adaptive auxiliary lifting equipment suitable for an airport refueling vehicle, and relates to auxiliary lifting equipment. The problems that existing manual refueling head butt joint operation is high in labor intensity, non-manual butt joint pipeline vehicle power output is limited, the use requirement of a conventional mechanical arm is difficult to meet, explosion-proof safety protection measures needed for power supply of the conventional mechanical arm through a high-capacity mobile power source are complicated, and the whole equipment is numerous, jumbled and redundant are solved. Through reasonable connection rod and degree-of-freedom configuration, the gravity can be effectively unloaded under the action of a single driving source, a high-capacity mobile power supply is not needed, and the whole structure is simple and convenient to implement. The device is mainly used for assisting butt joint of the refueling head of the airport refueling vehicle.

Description

Technical Field

[0001] This invention relates to an auxiliary lifting device. Background Technology

[0002] During refueling via pipeline truck, the docking operation between the refueling nozzle and the aircraft's interface needs to be performed manually by the refueling operator. In practice, the operator uses the pipeline truck's built-in lifting platform to raise themselves and the refueling nozzle, along with the fuel hose, to a designated height. Generally, the appropriate height is when the operator can touch the lower edge of the wing with their right arm. The operator then removes the approximately 15kg refueling nozzle, which is mounted on the lifting platform's guardrail, and lifts it overhead. The weight gradually increases with the height, and the operator must continuously adjust the nozzle's position to complete a docking operation. This process is physically demanding; typically, a refueling operator needs to refuel an average of 20-30 aircraft per day, repeating the lifting and retraction operation more than 50 times. For large passenger aircraft with dual refueling ports, the number of docking operations required is even greater.

[0003] During the docking process between the refueling nozzle and the aircraft's interface, the operator often uses the strength of their waist to lift the nozzle upwards. If the connection cannot be made successfully on the first attempt, a period of rest is required before attempting again, further reducing refueling efficiency. Furthermore, excessive and frequent use of the waist and shoulder muscles can cause irreversible damage to the refueling operator's body, severely shortening their working lifespan.

[0004] Therefore, to address the issue of excessive weight of the refueling nozzle and pipeline section, an auxiliary lifting device needs to be designed to effectively counteract the gravity effect of the refueling nozzle and greatly alleviate the labor intensity of workers. However, the area around the refueling port has extremely stringent explosion-proof requirements, which conventional commercial robotic arms can hardly meet, and their own power supply needs are also difficult to meet. On the one hand, the power output of the pipeline vehicle is very limited, making it difficult to meet the needs of conventional robotic arms; on the other hand, the pipeline vehicle generally needs to perform multiple refueling tasks continuously, and if it has to return to charge / switch batteries due to power problems of the robotic arm, it will seriously reduce refueling efficiency. In addition, large-capacity mobile power supplies are extremely risky, requiring many related explosion-proof safety protection measures to be implemented in advance, resulting in a very complex and redundant overall equipment. Therefore, a single-drive-source auxiliary lifting device is proposed. Summary of the Invention

[0005] To address the issues of high manual labor intensity in existing manual refueling head docking operations, limited power output from non-manual docking pipeline vehicles which makes it difficult to meet the needs of conventional robotic arms, and the complex explosion-proof safety protection measures required for powering conventional robotic arms with large-capacity mobile power supplies, resulting in a bulky and redundant overall equipment, this invention provides a handheld single-drive source adaptive assisted lifting device suitable for airport refueling trucks.

[0006] A handheld single-drive adaptive assisted lifting device for airport refueling trucks, comprising a single-drive active lifting assembly, a robotic arm assembly, an elastic assembly, an adaptive end effector, and an open-top cylindrical base;

[0007] The single-drive-source active lifting component is set inside the cylindrical base, and the elastic component is fixed between the single-drive-source active lifting component and the robotic arm assembly in the vertical direction.

[0008] The end of the robotic arm assembly is rotatably connected to an adaptive end-effector. The adaptive end-effector has a refueling head fixed to it, and the refueling head is rotatably connected relative to the adaptive end-effector to control the tilt angle of the refueling head.

[0009] The first end of the robotic arm assembly is rotatably connected to the inner wall of the upper opening of the cylindrical base. By controlling the end of the robotic arm assembly to move in the horizontal plane, the movement of the refueling head in the horizontal plane can be controlled.

[0010] By controlling the lifting and lowering of the single-drive-source active lifting component, the stretching of the elastic component is controlled, thereby driving the robotic arm assembly to lift and lower in the vertical plane, thus achieving lifting and lowering control of the refueling head.

[0011] Preferably, the single-drive active lifting assembly includes a motor, a support plate, a support rod assembly, a rotary lifting mechanism, cross roller bearings, a lead screw nut, and a ball screw;

[0012] The motor, support plate, and rotary lifting mechanism are arranged sequentially from bottom to top. The output shaft of the motor passes through the support plate and is connected to one end of the ball screw through a coupling. The other end of the ball screw is fixed to the arm base of the robotic arm assembly. The support plate is fixedly connected to the inner wall of the cylindrical base.

[0013] The lead screw nut is sleeved on the ball screw and threadedly connected to the ball screw. The outer reverse edge of the lead screw nut is fixedly connected to the lower surface of the rotary lifting mechanism.

[0014] The two ends of the support rod assembly are fixed to the upper surface of the support plate and the lower surface of the arm base, respectively.

[0015] The cross roller bearing is set at the upper opening of the cylindrical base, and the outer wall of the outer ring of the cross roller bearing is fixedly connected to the inner wall of the upper opening of the cylindrical base, and the inner wall of the inner ring of the cross roller bearing is fixedly connected to the arm base.

[0016] Both the support rod assembly and the ball screw pass through the rotary lifting mechanism, and the support rod assembly is slidably connected to the rotary lifting mechanism to guide it.

[0017] One end of the elastic component is fixed to the rotatable follower plate on the rotary lifting mechanism, and the other end of the elastic component is fixed to the robotic arm assembly, so that the robotic arm assembly drives the rotatable follower plate to rotate synchronously through the elastic component.

[0018] Preferably, the rotary lifting mechanism includes a rotatable follower plate and a lifting plate;

[0019] The lifting plate has a groove, and a rotatable follower plate is set in the groove and is rotatably connected to the lifting plate through a bearing.

[0020] Preferably, the elastic component includes a front drive spring and a rear drive spring;

[0021] One end of each of the front drive spring and the rear drive spring is fixed to the rotatable follower plate as one end of an elastic component, and the other end of each of the front drive spring and the rear drive spring is fixed to the robotic arm assembly as the other end of an elastic component.

[0022] Preferably, the robotic arm assembly includes an arm base, two first arms, two second arms, a third arm, and a fourth arm;

[0023] The boom base consists of a circular base plate and two vertical plates fixed on the circular base plate and arranged opposite each other. The two vertical plates are located between two symmetrically arranged first booms, and the bottom ends of the two first booms are connected outside the two vertical plates by a fixed shaft. The fixed shaft is used to connect the other end of the front drive spring, and the front drive spring passes through the circular base plate of the boom base. The two are not in contact. Each first boom is rotatably connected relative to the contact position of its corresponding vertical plate.

[0024] The bottoms of the two symmetrically arranged second arms are positioned between the tops of the two first arms, and the top of each first arm is rotatably connected to its corresponding second arm.

[0025] A fixed shaft is provided between the bottom ends of the two second arms, which is rotatably connected to the top end of the third arm. The bottom end of the fourth arm is fixedly connected to the rotating shaft provided between the two first arms through the fourth arm. The bottom end of the fourth arm is connected to the other end of the rear drive spring, and the rear drive spring passes through the circular base plate of the arm base, and the two are not in contact.

[0026] The third arm, the fourth arm, and the first and second arms on the same side together form a parallelogram;

[0027] The top ends of the two second arms are connected by a pivot, which serves as the end of the robotic arm assembly and is rotatably connected to an adaptive end effector.

[0028] Preferably, both first arms and both second arms are hollow strip plates, and the two first arms have the same structure, and the two second arms have the same structure.

[0029] Preferably, the two first arms and the two second arms are fixedly connected by reinforcing plates.

[0030] Preferably, the reinforcing plate is a perforated strip plate.

[0031] Preferably, the adaptive end effector includes a retainer and a fixing bracket;

[0032] The fixing frame consists of a ring structure and fixing shafts on both sides of the ring structure;

[0033] The cage consists of a base plate and two side lugs located opposite each other on the upper surface of the base plate; the lower surface of the base plate of the cage is rotatably connected to the top of the two second arms via a connecting piece;

[0034] The fixing frame is positioned between the two side ears of the retainer, and the two fixing shafts on the fixing frame pass through the two side ears respectively and are rotatably connected to the side ears via bearings; the inner wall of the annular structure of the fixing frame is rotatably connected to the oiling head via bearings.

[0035] Preferably, the base plate of the cage has a circular structure.

[0036] The beneficial effects of this invention are:

[0037] The handheld single-drive adaptive assisted lifting device for airport refueling trucks described in this invention, through reasonable linkage and degree-of-freedom configuration, enables effective unloading of gravity under the action of a single drive source, without relying on a large-capacity mobile power supply. The overall structure is simple and easy to implement.

[0038] The robotic arm assembly of this invention possesses sufficient degrees of freedom of movement: specifically, the stretching of the elastic component is controlled by controlling the lifting and lowering of the single-drive-source active lifting assembly, thereby driving the robotic arm assembly to rise and fall in the vertical plane, achieving lifting and lowering control of the refueling head. The head end of the robotic arm assembly is rotatably connected to the inner wall of the upper opening of the cylindrical base. By controlling the movement of the tail end of the robotic arm assembly in the horizontal plane, the horizontal movement control of the refueling head is achieved. In the horizontal direction, the horizontal tilt angle can be adjusted by hand holding the refueling head to achieve precise and efficient docking. Therefore, as an unloading arm, the robotic arm assembly, carrying the refueling head, has sufficient degrees of freedom of movement, ensuring that it can be adjusted to any posture. During the adjustment process, the gravity unloading effect still exists, greatly reducing labor intensity. Attached Figure Description

[0039] Figure 1This is a schematic diagram of the overall structure of the handheld single-drive source adaptive assisted lifting device for airport refueling trucks described in this invention.

[0040] Figure 2 and Figure 3 These are schematic diagrams of the handheld single-drive adaptive assisted lifting device for airport refueling trucks after removing the cylindrical base with the top opening from different perspectives.

[0041] Figure 4 This is a schematic diagram of the boom base structure;

[0042] Figure 5 This is a schematic diagram of the first boom arm;

[0043] Figure 6 This is a schematic diagram of the rotary lifting mechanism;

[0044] Figure 7 This is a schematic diagram of the cage structure;

[0045] Figure 8 This is a structural diagram of the fixing frame;

[0046] Figure 9 This is a schematic diagram of the adaptive end effector. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0049] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0050] Specific Implementation Method 1: Combination Figure 1 As shown, this embodiment provides a handheld single-drive source adaptive assisted lifting device suitable for airport refueling trucks, including a single-drive source active lifting assembly 100, a robotic arm assembly 200, an elastic assembly 300, an adaptive end effector 400, and an open-top cylindrical base 500.

[0051] A single-drive-source active lifting assembly 100 is set inside a cylindrical base 500, and an elastic component 300 is fixed between the single-drive-source active lifting assembly 100 and the robotic arm assembly 200 in the vertical direction.

[0052] The end of the robotic arm assembly 200 is rotatably connected to the adaptive end mechanism 400. The adaptive end mechanism 400 is fixed with a refueling head 600 for refueling pipeline, and the refueling head 600 is rotatably connected relative to the adaptive end mechanism 400 to control the tilt angle of the refueling head 600.

[0053] The first end of the robotic arm assembly 200 is rotatably connected to the inner wall of the upper opening of the cylindrical base 500. By controlling the end of the robotic arm assembly 200 to move in the horizontal plane, the movement control of the refueling head 600 in the horizontal plane can be realized.

[0054] By controlling the lifting and lowering of the single-drive-source active lifting component 100, the stretching of the elastic component 300 is controlled, thereby driving the robotic arm assembly 200 to lift and lower in the vertical plane, thus achieving lifting and lowering control of the refueling head 600.

[0055] This embodiment, through the configuration of the robotic arm assembly 200 and its degrees of freedom, enables effective unloading of gravity under the action of a single drive source. In specific applications, the adaptive assisted lifting device of this invention is installed on an airport refueling truck, and the refueling head 600 is fixed by the adaptive end mechanism 400 carried by the robotic arm assembly 200. Through the docking operation of the refueling head 600 carried by the robotic arm assembly 200, the refueling operator does not need to remove the refueling head 600. By controlling the lifting and lowering of the single drive source active lifting assembly 100, the elastic component 300 is controlled, thereby pulling the robotic arm assembly 200 to lift and lower in the vertical plane, realizing the lifting and lowering control of the refueling head 600. In the horizontal direction, the horizontal tilt angle can be adjusted by hand holding the refueling head 600 to achieve precise and efficient docking. The robotic arm assembly 200, as an unloading arm, has sufficient degrees of freedom of movement for the refueling head 600, ensuring that any posture can be adjusted under a single drive source. During the adjustment process, the gravity unloading effect still exists, greatly reducing labor intensity, and eliminating the need for a large-capacity mobile power supply. The overall structure is simple and easy to implement.

[0056] See Figure 2 The specific structure of the single-drive-source active lifting assembly 100 is given. The single-drive-source active lifting assembly 100 includes a motor 110, a support plate 120, a support rod group 130, a rotary lifting mechanism 140, a cross roller bearing 150, a lead screw nut 160 and a ball screw 170.

[0057] The motor 110, support plate 120 and rotary lifting mechanism 140 are arranged sequentially from bottom to top. The output shaft of the motor 110 passes through the support plate 120 and is connected to one end of the ball screw 170 through a coupling. The other end of the ball screw 170 is fixed on the arm base 210 of the robotic arm assembly 200. The support plate 120 is fixedly connected to the inner wall of the cylindrical base 500.

[0058] The lead screw nut 160 is sleeved on the ball screw 170 and threadedly connected to the ball screw 170. The outer edge of the lead screw nut 160 is fixedly connected to the lower surface of the rotary lifting mechanism 140.

[0059] The two ends of the support rod assembly 130 are fixed to the upper surface of the support plate 120 and the lower surface of the arm base 210, respectively.

[0060] The cross roller bearing 150 is disposed at the upper opening of the cylindrical base 500, and the outer wall of the outer ring of the cross roller bearing 150 is fixedly connected to the inner wall of the upper opening of the cylindrical base 500, and the inner wall of the inner ring of the cross roller bearing 150 is fixedly connected to the arm base 210.

[0061] Both the support rod assembly 130 and the ball screw 170 pass through the rotary lifting mechanism 140, and the support rod assembly 130 is slidably connected to the rotary lifting mechanism 140 to guide the rotary lifting mechanism 140.

[0062] One end of the elastic component 300 is fixed to the rotatable follower plate 140-1 on the rotary lifting mechanism 140, and the other end of the elastic component 300 is fixed to the robotic arm assembly 200, so that the robotic arm assembly 200 drives the rotatable follower plate 140-1 to rotate synchronously through the elastic component 300.

[0063] In this preferred embodiment, the motor 110 drives the rotary lifting mechanism 140 downward via the ball screw 170 and screw nut 160. The tension of the elastic component 300 gradually increases until the refueling head 600 can be lifted. When the refueling operator notices that the end of the robotic arm assembly 200 has started to move, he / she grips the handle of the refueling head 600 with both hands, visually determines the position of the refueling port, and adjusts the position of the refueling head 600. During the adjustment process, the single-drive active lifting component 100 is always in a slow downward movement state, so that the refueling head 600 continuously and stably outputs unloading force. At the same time, the elastic component 300 is stretched, thereby providing greater tension, that is, providing greater unloading force to the end of the robotic arm assembly 200 to meet the unloading requirements.

[0064] The motor 110 generates a stable output torque to drive the ball screw 170 to rotate. The rotation of the ball screw 170 drives the screw nut 160 to move linearly, and the rotary lifting mechanism 140 moves accordingly. At the same time, the support rod group 130 connected to it is used to eliminate the torque effect.

[0065] The boom base 210 is rotatably connected to the cylindrical base 500 via the cross roller bearing 150, giving the robotic boom assembly 200 the freedom to rotate around the center of the cylindrical base 500.

[0066] The single-drive active lifting assembly 100 employs a lead screw-nut linear transmission method, which offers high transmission precision, strong positioning accuracy, and smooth movement. In practical applications, the support rod assembly 130 uses multiple parallel pillars as guide supports. This prevents the rotary lifting mechanism 140 from spinning and ensures the smoothness of linear motion with the high-rigidity metal pillars. Therefore, this transmission-guiding scheme guarantees that the rotary lifting mechanism 140 has stable linear motion capability under the action of a single drive source.

[0067] In addition, the rotary lifting mechanism 140 also includes a rotatable follower plate 140-1, which can rotate relative to the lifting plate 140-2 in the rotary lifting mechanism 140 around the center of the lead screw.

[0068] See details Figure 6 A specific structure of the rotary lifting mechanism 140 is given, which includes a rotatable follower plate 140-1 and a lifting plate 140-2.

[0069] The lifting plate 140-2 is provided with a groove, and the rotatable follower plate 140-1 is set in the groove and is rotatably connected to the lifting plate 140-2 through a bearing.

[0070] The purpose of setting the rotatable follower plate 140-1 is to prevent the two ends of the elastic component 300 from bending and affecting the output fluctuation, and to make the two ends of the elastic component 300 move synchronously, so as to achieve a continuous and stable output of unloading force during the lifting process, which meets the actual application requirements.

[0071] See Figure 1 and Figure 2 Furthermore, a specific structure of the elastic component 300 is given, which includes a front drive spring 310 and a rear drive spring 320.

[0072] One end of the front drive spring 310 and the rear drive spring 320 are fixed to the rotatable follower plate 140-1 as one end of the elastic component 300, and the other end of the front drive spring 310 and the rear drive spring 320 are fixed to the mechanical arm rod assembly 200 as the other end of the elastic component 300.

[0073] In this preferred embodiment, the elastic component 300 includes a front drive spring 310 and a rear drive spring 320. The function of the rear drive spring 320 is to generate a torque on the second arm 230 that is opposite to the gravity of the accelerator head 600, thereby achieving the effect of gravity unloading. It is also noted that there is an interaction force between the ends of the second arm 230 and the first arm 220, and an interaction force between the fourth arm 250 and the first arm 220. Both of these forces generate a torque that causes the first arm 220 to move clockwise. Therefore, the front drive spring 310 is provided to ensure the torque balance of the first arm 220. By providing these two springs, both a good gravity unloading effect and structural stability are ensured.

[0074] See Figures 1 to 3 Furthermore, a specific structure of the robotic arm assembly 200 is given, which includes an arm base 210, two first arms 220, two second arms 230, a third arm 240, and a fourth arm 250.

[0075] The boom base 210 consists of a circular base plate and two vertical plates fixed on the circular base plate and arranged opposite each other. The two vertical plates are located between two symmetrically arranged first booms 220, and the bottom ends of the two first booms 220 are connected outside the two vertical plates by a fixed shaft. The fixed shaft is used to connect the other end of the front drive spring 310, and the front drive spring 310 passes through the circular base plate of the boom base 210. The two are not in contact. Each first boom 220 is rotatably connected relative to the contact position of its corresponding vertical plate.

[0076] The bottoms of two symmetrically arranged second arms 230 are located between the tops of two first arms 220, and the top of each first arm 220 is rotatably connected to its corresponding second arm 230.

[0077] A fixed shaft is provided between the bottom ends of the two second arms 230, which is rotatably connected to the top end of the third arm 240. The bottom end of the fourth arm 250 is fixedly connected to the rotating shaft provided between the two first arms 220 through the fourth arm 250. The bottom end of the fourth arm 250 is connected to the other end of the rear drive spring 320, and the rear drive spring 320 passes through the circular base plate of the arm base 210, and the two are not in contact.

[0078] The third arm 240, the fourth arm 250, and the first arm 220 and the second arm 230 located on the same side form a parallelogram.

[0079] The top ends of the two second arms 230 are connected by a pivot, which serves as the end of the robotic arm assembly 200 and is rotatably connected to the adaptive end effector 400.

[0080] In this preferred embodiment, the front drive spring 310 and the rear drive spring 320 are the power sources for the first arm 220 and the fourth arm 250, respectively. The four arms form a parallelogram structure, which allows for pure translational motion, with all points following the same trajectory and no additional degrees of freedom, facilitating precise control. Simultaneously, it evenly distributes the load, avoiding stress concentration and improving the structural load-bearing capacity. When the front drive spring 310 is under tension, it causes the first arm 220 to rotate counterclockwise around the arm base 210, thereby generating an upward driving force at the end of the robotic arm assembly 200. When the rear drive spring 320 is under tension, it causes the second arm 230 to rotate clockwise around the connection between the first arm 220 and the second arm 230 via the fourth arm 250, thus generating an upward driving force at the end of the robotic arm assembly 200. These two driving forces can be coupled into a more pronounced upward driving force, thereby achieving gravity unloading.

[0081] Clearly, this layout of the robotic arm assembly 200 inevitably results in the end-effector unloading force being entirely controlled by the drive spring. Furthermore, it's noted that as the end-effector height of the robotic arm assembly 200 increases, the stretch of the elastic component 300 decreases, and the unloading force coupled to the end-effector gradually weakens, which contradicts practical application requirements. In fact, as the lifting height increases, the required unloading force gradually increases; therefore, a simple linkage mechanism cannot meet the usage requirements. It should be noted that the gravity unloading process is actually an energy conversion process, where the elastic potential energy of the elastic component 300 is converted into the gravitational potential energy of the fuel filler head 600. Without new energy input, the unloading force at the rear end will inevitably continue to decrease; therefore, this type of unloading arm configuration must incorporate an active component. To address this, this invention designs an actively adjustable single-drive-source active lifting assembly 100.

[0082] Specifically, in order to reduce the weight of the boom, both first booms 220 and both second booms 230 are designed as hollow strips, and the two first booms 220 have the same structure, and the two second booms 230 have the same structure.

[0083] See Figure 1 To ensure the rigidity of the robotic arm assembly 200, the two first arms 220 and the two second arms 230 are fixedly connected by reinforcing plates 260. Specifically, the reinforcing plates 260 are perforated strip plates, which further ensure rigidity while reducing weight.

[0084] See Figures 7 to 9 A specific structure of an adaptive end effector 400 is given, which includes a retainer 410 and a fixing frame 420.

[0085] The fixing frame 420 consists of a ring structure and fixing shafts on both sides of the ring structure;

[0086] The retainer 410 consists of a base plate and two side lugs located opposite each other on the upper surface of the base plate; the lower surface of the base plate of the retainer 410 is rotatably connected to the pivot between the top ends of the two second arms 230 via a connector;

[0087] The fixing frame 420 is disposed between the two side ears of the retainer 410, and the two fixing shafts on the fixing frame 420 pass through the two side ears respectively and are rotatably connected to the side ears through bearings; the inner wall of the annular structure of the fixing frame 420 is rotatably connected to the oiling head 600 through bearings.

[0088] In this preferred embodiment, the adaptive end mechanism is a passive adaptive configuration. Through the vertically arranged passive rotational degrees of freedom, it has multi-directional angle adaptability, making it easier for workers to complete the docking operation of the refueling head.

[0089] See Figure 7 The base plate of the cage 410 has a circular ring structure. This is to reduce the weight of the cage 410 by making it a hollow circular ring structure, but it is not limited to... Figure 7 The specific structure can be any other hollow structure.

[0090] In practical applications, the usage process of the handheld single-drive source adaptive assisted lifting device for airport refueling trucks described in this invention is as follows:

[0091] Once the refueling operator controls the lifting platform to the designated height, they hold the refueling nozzle 600, which is fixed to the adaptive end effector 400. The motor 110 then starts operating, driving the rotary lifting mechanism 140 downwards via the ball screw 170 and screw nut 160. The tension of the front drive spring 310 and the rear drive spring 320 gradually increases until the refueling nozzle 600 is raised. When the operator notices the end effector of the robotic arm assembly 200 starting to move, they grip the handle of the refueling nozzle 600, visually determine the refueling port position, and adjust the nozzle's position. During this adjustment, the rotary lifting mechanism 140 remains in a slow downward motion because the refueling nozzle 600 requires continuous unloading force. Once the operator has completed the docking, the motor 110 locks, and the robotic arm assembly 200 maintains its current position. After refueling is completed, the refueling operator manually disconnects the refueling nozzle 600, the motor 110 starts to reverse, the rotating lifting mechanism 140 moves upward, the tension of the front drive spring 310 and the rear drive spring 320 gradually decreases, the refueling nozzle 600 begins to slowly descend until it reaches the retracted state, the motor 110 stops working, and the robotic arm assembly 200 completes its storage.

[0092] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A handheld, single-drive adaptive assisted lifting device suitable for airport refueling trucks, characterized in that: It includes a single-drive active lifting assembly (100), a robotic arm assembly (200), an elastic assembly (300), an adaptive end effector (400), and an open-top cylindrical base (500). A single-drive active lifting assembly (100) is set inside a cylindrical base (500), and an elastic component (300) is fixed between the single-drive active lifting assembly (100) and the robotic arm assembly (200) in the vertical direction; The end of the robotic arm assembly (200) is rotatably connected to an adaptive end mechanism (400). An oiling head (600) of an oiling line is fixed on the adaptive end mechanism (400), and the oiling head (600) is rotatably connected relative to the adaptive end mechanism (400) to control the tilt angle of the oiling head (600). The first end of the robotic arm assembly (200) is rotatably connected to the inner wall of the upper opening of the cylindrical base (500). By controlling the end of the robotic arm assembly (200) to move in the horizontal plane, the movement control of the refueling head (600) in the horizontal plane is realized. By controlling the lifting and lowering of the single-drive-source active lifting component (100), the stretching of the elastic component (300) is controlled, thereby driving the mechanical arm assembly (200) to lift and lower in the vertical plane, thus realizing the lifting and lowering control of the refueling head (600).

2. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 1, characterized in that, The single-drive active lifting assembly (100) includes a motor (110), a support plate (120), a support rod assembly (130), a rotary lifting mechanism (140), a cross roller bearing (150), a lead screw nut (160), and a ball screw (170). The motor (110), support plate (120) and rotary lifting mechanism (140) are arranged sequentially from bottom to top. The output shaft of the motor (110) passes through the support plate (120) and is connected to one end of the ball screw (170) through a coupling. The other end of the ball screw (170) is fixed on the arm base (210) of the robotic arm assembly (200). The support plate (120) is fixedly connected to the inner wall of the cylindrical base (500). The lead screw nut (160) is sleeved on the ball screw (170) and threadedly connected to the ball screw (170). The outer edge of the lead screw nut (160) is fixedly connected to the lower surface of the rotary lifting mechanism (140). The two ends of the support rod assembly (130) are fixed to the upper surface of the support plate (120) and the lower surface of the arm base (210), respectively. The cross roller bearing (150) is set at the upper opening of the cylindrical base (500), and the outer wall of the outer ring of the cross roller bearing (150) is fixedly connected to the inner wall of the upper opening of the cylindrical base (500), and the inner wall of the inner ring of the cross roller bearing (150) is fixedly connected to the arm base (210). Both the support rod assembly (130) and the ball screw (170) pass through the rotary lifting mechanism (140), and the support rod assembly (130) is slidably connected to the rotary lifting mechanism (140) to guide the rotary lifting mechanism (140); One end of the elastic component (300) is fixed to the rotatable follower plate (140-1) on the rotary lifting mechanism (140), and the other end of the elastic component (300) is fixed to the robotic arm assembly (200), so that the robotic arm assembly (200) drives the rotatable follower plate (140-1) to rotate synchronously through the elastic component (300).

3. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 1, characterized in that, The rotary lifting mechanism (140) includes a rotatable follower plate (140-1) and a lifting plate (140-2). The lifting plate (140-2) is provided with a groove, and the rotatable follower plate (140-1) is set in the groove and is rotatably connected to the lifting plate (140-2) through a bearing.

4. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 1, characterized in that, The elastic component (300) includes a front drive spring (310) and a rear drive spring (320). One end of the front drive spring (310) and the rear drive spring (320) are fixed to the rotatable follower plate (140-1) as one end of the elastic component (300), and the other end of the front drive spring (310) and the rear drive spring (320) are fixed to the robotic arm rod assembly (200) as the other end of the elastic component (300).

5. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 4, characterized in that, The robotic arm assembly (200) includes an arm base (210), two first arms (220), two second arms (230), a third arm (240), and a fourth arm (250). The arm base (210) consists of a circular base plate and two vertical plates fixed on the circular base plate and arranged opposite to each other; the two vertical plates are located between two symmetrically arranged first arms (220), and the bottom ends of the two first arms (220) are connected outside the two vertical plates by a fixed shaft, which is used to connect the other end of the front drive spring (310), and the front drive spring (310) passes through the circular base plate of the arm base (210) and the two are not in contact. Each first arm (220) is rotatably connected relative to the contact position of its corresponding vertical plate. The bottom of the two symmetrically arranged second arms (230) is located between the tops of the two first arms (220), and the top of each first arm (220) is rotatably connected to its corresponding second arm (230); A fixed shaft is provided between the bottom ends of the two second arms (230), which is rotatably connected to the top end of the third arm (240). The bottom end of the fourth arm (250) is fixedly connected to the rotating shaft provided between the two first arms (220) through the fourth arm (250). The bottom end of the fourth arm (250) is connected to the other end of the rear drive spring (320), and the rear drive spring (320) passes through the circular base plate of the arm base (210) and the two are not in contact. The third arm (240), the fourth arm (250), and the first arm (220) and the second arm (230) on the same side form a parallelogram; The top ends of the two second arms (230) are connected by a pivot, which serves as the end of the robotic arm assembly (200) and is rotatably connected to the adaptive end effector (400).

6. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 5, characterized in that, Both first arms (220) and both second arms (230) are hollow strip plates, and the two first arms (220) have the same structure, and the two second arms (230) have the same structure.

7. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 5, characterized in that, The two first arms (220) and the two second arms (230) are fixedly connected by a reinforcing plate (260).

8. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 7, characterized in that, The reinforcing plate (260) is a perforated strip plate.

9. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 5, characterized in that, The adaptive end effector (400) includes a retainer (410) and a retainer (420); The fixing frame (420) consists of a ring structure and fixing shafts on both sides of the ring structure; The retainer (410) consists of a base plate and two side lugs located opposite each other on the upper surface of the base plate; the lower surface of the base plate of the retainer (410) is rotatably connected to the top of the two second arms (230) via a connector; The fixing frame (420) is located between the two side ears of the retainer (410), and the two fixing shafts on the fixing frame (420) pass through the two side ears respectively and are rotatably connected to the side ears through bearings; the inner wall of the annular structure of the fixing frame (420) is rotatably connected to the oiling head (600) through bearings.

10. The handheld single-drive adaptive assisted lifting device for airport refueling trucks according to claim 9, characterized in that, The base plate of the cage (410) has a circular ring structure.

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