An automatic calibration device for a fuel dispenser

Abstract

This invention relates to the field of fuel dispenser technology, specifically disclosing an automatic calibration device for fuel dispensers, comprising: a mobile chassis, a housing shell, a controller, a calibration mechanism, an operating mechanism, a fuel recovery device, a gripping robotic arm, and a battery; the calibration mechanism is located on the top of the housing shell; the operating mechanism is located on the top of the housing shell, and to the left rear of the calibration mechanism. This invention effectively solves the core problems in the current fuel dispenser calibration field, such as high reliance on manual labor, low calibration efficiency, insufficient operational accuracy, poor safety, and non-standard data management. It can automatically complete the entire process of equipment positioning, fuel nozzle docking, multi-dimensional fixing, trigger pulling, hook locking operation, parameter detection, and component reset, significantly reducing manual labor intensity, avoiding calibration errors caused by manual operation, significantly improving calibration efficiency, and enabling continuous calibration of multiple fuel dispensers.

Description

Technical Field

[0001] This invention relates to the field of fuel dispenser technology, specifically to an automatic calibration device for fuel dispensers. Background Technology

[0002] Fuel dispensers are core metering and supply equipment in fuel retail terminals, widely used in various fuel refueling stations. Their core function is to precisely deliver fuel from storage tanks to vehicles or other containers according to preset flow rates or quantitative requirements through an internal, sophisticated metering system and actuator. As a critical piece of equipment directly involved in trade settlement, the metering accuracy of fuel dispensers directly affects the interests of both operators and consumers. Therefore, they must possess stable flow control, accurate flow measurement, and reliable safety protection mechanisms. In daily operation, core components such as flow measurement converters, encoders, and solenoid valves inside the dispenser may experience metering deviations due to long-term use, environmental wear, or mechanical vibration. This necessitates regular verification and calibration to ensure that the output fuel quantity matches the displayed value, maintaining fair and orderly market transactions. In the current technical field, the calibration of fuel dispensers relies on manual labor to perform tasks such as grabbing and fixing the fuel nozzle, operating the trigger, and recovering fuel. This manual labor is labor-intensive, and the inconsistency of manual operation leads to fuel nozzle positioning deviations, insecure fixing, and inadequate simulation operations, resulting in significant calibration errors and affecting the accuracy and reliability of the calibration results. At the same time, manual calibration is inefficient, with a long calibration time for a single fuel dispenser, making it difficult to meet the needs of large-scale, multi-batch calibration. Furthermore, manual operation requires direct contact with fuel, posing safety hazards such as fuel leakage and evaporation, threatening the personal safety of operators and the on-site environment. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic calibration device for fuel dispensers to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automatic calibration device for a fuel dispenser, comprising: a mobile chassis, a housing shell, a controller, a calibration mechanism, an operating mechanism, a fuel recovery device, a gripping robotic arm, and a battery; the housing shell is installed on the top right side of the mobile chassis, and the top of the housing shell has a slot communicating with the inner cavity; the controller is embedded in the upper part of the housing shell, and the mobile chassis and the controller are electrically connected; the calibration mechanism is located on the top of the housing shell; the operating mechanism is located on the top of the housing shell and is situated to the left rear of the calibration mechanism; the fuel recovery device is installed on the lower left side of the inner bottom of the housing shell, and the fuel recovery device is electrically connected to the controller; the gripping robotic arm is mounted on the upper left side of the top of the mobile chassis via a bracket, and the gripping robotic arm is electrically connected to the controller; the battery is installed on the lower right side of the inner bottom of the housing shell, and the battery is electrically connected to the controller.

[0005] Preferably, the calibration mechanism includes: a height adjustment component, a handle fixing component, an external fixing component, a connector, and a calibration sensor; the height adjustment component is located at the top of the housing shell and to the right of the top slot of the housing shell; the handle fixing component is located above the moving end of the height adjustment component; the external fixing component is located below the moving end of the height adjustment component; the connector is fixedly installed on the top of the housing shell in the vertical direction and above the slot of the housing shell; the calibration sensor is fixedly installed on the inner top of the housing shell in the vertical direction, the connector passes through the inner cavity of the slot of the housing shell and connects to the liquid inlet of the calibration sensor, the liquid outlet of the calibration sensor is connected to the liquid inlet of the oil recovery equipment through a pipeline, and the calibration sensor and the controller are electrically connected.

[0006] Preferably, the grip fixing component includes a folding adjustment component and a fixing component, wherein the folding adjustment component is installed on the upper layer of the moving end of the height adjustment component, and the fixing component is disposed below the folding adjustment component.

[0007] Preferably, the fixing component includes a clamping base unit, a clamping execution unit, and a drive and reset unit; the clamping base unit provides a mounting and bearing foundation for the clamping execution unit and the drive and reset unit; the clamping execution unit is drively connected to the drive and reset unit, and is used to complete the clamping and releasing action of the oil gun handle under the drive of the drive and reset unit; the drive and reset unit is electrically connected to the controller, and is used to provide driving force for the clamping action and drive the clamping execution unit to automatically reset.

[0008] Preferably, the external fixing component includes: a tank shell, a first fixing seat, a first limiting rod, a second limiting rod, a moving frame, a drive frame, a drive seat, and a first miniature electric telescopic rod; the tank shell is fixedly installed on the lower layer of the moving end of the height adjustment component, and the longitudinal cross-sectional shape of the tank shell is U-shaped; the first fixing seat is fixedly installed on the middle left side of the outer surface of the tank shell; there are two first limiting rods, one end of each first limiting rod is rotatably installed on the front and rear ends of the left side of the outer surface of the first fixing seat via a rotating shaft; there are two second limiting rods, one end of each second limiting rod is rotatably installed on the front and rear ends of the outer surface of the first fixing seat via a rotating shaft; there are two moving frames, each rotatably installed on the front and rear ends of the first fixing seat via a rotating shaft. The inner side of the other end of the second limiting rod; there are two drive frames, which are rotatably mounted on the outer side of the other end of the front and rear first limiting rods via a rotating shaft. The inner side of the front and rear drive frames is rotatably connected to the outer left side of the front and rear moving frames via a rotating shaft. The drive frame is U-shaped. The drive seat is inserted into the inner side of the tank shell along the front-rear direction. The front and rear ends of the drive seat extend out of the tank shell and are rotatably connected to the inner right side of the front and rear moving frames via a rotating shaft. The first micro electric telescopic rod is installed on the right side of the outer surface of the tank shell. The telescopic end of the first micro electric telescopic rod extends into the inner side of the tank shell and is fixedly connected to the inside of the drive seat. The first micro electric telescopic rod is electrically connected to the controller.

[0009] Preferably, the external fixing components further include: mounting plates, a fifth micro motor, a rotating rod, a third limiting rod, a second connecting rod, and a buffer pad; the number of mounting plates is two, and the two mounting plates are respectively installed on the inner left end of the front and rear drive frames; the number of fifth micro motors is two, and the two fifth micro motors are respectively installed on the outer side of the front and rear mounting plates, with the rotating end of the fifth micro motor extending into the inner side of the mounting plate, and the fifth micro motor and the controller are electrically connected; the number of rotating rods is two, and the two rotating rods are respectively installed on the inner rotating side of the front and rear fifth micro motors; the number of third limiting rods is... There are two sets of third limiting rods, each set consisting of two rods. The two sets of third limiting rods are respectively located on the upper and lower outer sides of the front and rear rotating rods. There are also two sets of second connecting rods, each set consisting of two rods. The two sets of second connecting rods are rotatably mounted on the left and right ends of the inner sides of the front and rear rotating rods via a rotating shaft. The upper and lower outer ends of the two sets of second connecting rods are rotatably connected to the left and right ends of the front and rear sets of third limiting rods via a rotating shaft. There are also two sets of buffer pads, each set consisting of two pads. The two sets of buffer pads are respectively mounted on the upper and lower inner sides of the two sets of second connecting rods.

[0010] Preferably, the operating mechanism includes a lifting component and an actuating component; the lifting component is disposed on the top of the housing in the vertical direction and located to the left rear of the calibration mechanism; the actuating component is disposed on the outer front side of the lifting component.

[0011] Preferably, the actuating component includes a base load adjustment unit, a trigger operation actuating unit, and a locking hook operation unit. The base load adjustment unit is installed on the outer front side of the lifting component, providing a mounting base for the trigger operation actuating unit and the locking hook operation unit, and can adjust the height of the trigger operation actuating unit and the locking hook operation unit to adapt to the position requirements of the oil gun trigger and the locking hook. The trigger operation actuating unit is connected to the base load adjustment unit and electrically connected to the controller, and is used to perform the lifting, pulling, and resetting actions of the oil gun trigger to control the oil gun's oil output. The locking hook operation unit is connected to the base load adjustment unit and electrically connected to the controller, and is used to adjust the operating posture and perform the pushing, locking, and resetting actions of the oil gun locking hook to ensure continuous oil output from the oil gun.

[0012] Preferably, the locking hook operating unit includes: a second fixed base, a slot housing, a fixed gear, a sixth micro motor, a first gear rack, a transmission gear, a fixed rack, a second gear rack, and a locking hook pusher; the second fixed base is fixedly installed in the left-right direction on the front side of the rotating end of the bottom micro rotating module, and the cross-sectional shape of the second fixed base is U-shaped; the slot housing is rotatably installed on the inner left side of the second fixed base via a rotating shaft; the fixed gear is keyed to the middle right side of the inner cavity of the slot housing; the sixth micro motor is fixedly installed on the front side of the outer surface of the second fixed base, and the rotating end of the sixth micro motor extends into the inner side of the second fixed base and is connected to the shaft of the slot housing. The sixth micro motor and the controller are electrically connected and fixedly connected. The first toothed bracket is inserted into the right side of the inner cavity of the slot housing in the left-right direction. The right side of the bottom inner side of the first toothed bracket is provided with a toothed groove and meshes with the fixed gear. The transmission gear is rotatably mounted on the left side of the inner side of the first toothed bracket via a rotating shaft. The fixed rack is fixedly mounted on the lower left side of the bottom inner cavity of the slot housing in the left-right direction. The fixed rack meshes with the transmission gear. The second toothed bracket is inserted into the left side of the inner cavity of the slot housing in the left-right direction. The upper inner side of the second toothed bracket is provided with a toothed groove and meshes with the transmission gear. The locking hook pusher is fixedly mounted on the left side of the second toothed bracket.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. The mobile chassis moves smoothly along the preset route to the designated work position of the fuel dispenser to be inspected. The gripping robotic arm inserts the fuel nozzle into the top of the connector. Under the constraint of the first limit component, the first electric telescopic rod drives the double-layer mounting base to rise and fall to the appropriate height. The handle fixing component aligns the clamping component with the fuel nozzle handle. The clamping claw simulates the gripping action of a human hand to complete the handle fixing. The external fixing component moves synchronously. Relying on the parallelogram transmission structure, the spacing of the buffer pad is adjusted. Driven by the first micro electric telescopic rod, the buffer pad is made to fit tightly with the fuel nozzle body to form a multi-dimensional fixation.

[0014] 2. After the fuel nozzle is fixed, the drive motor of the operating mechanism drives the lead screw assembly to operate, driving the moving seat to align with the fuel nozzle trigger. Through the coordinated action of the micro-rotation module and the micro-electric telescopic rod, the manual pulling of the trigger and pushing of the locking hook are simulated to trigger the normal fuel supply of the fuel dispenser. The fuel flows into the calibration sensor through the connector to complete the detection of key parameters such as fuel pressure and fuel injection speed. The detection data is transmitted to the controller for storage in real time. The calibrated fuel is transported to the fuel recovery equipment for sealed storage through the pipeline.

[0015] In summary, this invention effectively solves the core problems in the current fuel dispenser calibration field, such as high reliance on manual labor, low calibration efficiency, insufficient operational accuracy, poor safety, and non-standard data management. It eliminates the need for direct manual intervention in key steps such as nozzle grabbing, fixing, simulated operation, and fuel recovery. Through a preset program, it automatically completes the entire process, including equipment positioning, nozzle docking, multi-dimensional fixing, trigger pulling, hook locking, parameter detection, and component reset. This significantly reduces manual labor intensity, avoids calibration errors caused by manual operation, and significantly improves calibration efficiency. It can continuously complete the calibration of multiple fuel dispensers, breaking through the efficiency bottleneck of manual calibration. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 A schematic diagram of the interior of the outer shell of the box; Figure 3 for Figure 1 Explosion diagram of the inspection agency; Figure 4 for Figure 3 Exploded view of the height adjustment component; Figure 5 for Figure 3 Exploded view of the handle fixing component; Figure 6 for Figure 5 Enlarged view of point A; Figure 7 for Figure 3 Exploded view of the external fixed components; Figure 8 for Figure 1 Schematic diagram of the operating mechanism; Figure 9 for Figure 8 A schematic diagram of the lifting components; Figure 10 for Figure 8 Exploded view of the execution components; Figure 11 for Figure 10 Enlarged view of point B; Figure 12 for Figure 10 Exploded view of the locking hook operation unit.

[0017] In the diagram: 1. Mobile chassis; 2. Housing shell; 3. Controller; 4. Calibration mechanism; 41. Height adjustment component; 4101. Vertical slot frame; 4102. Slot plate; 4103. First limit component; 4104. First electric telescopic rod; 4105. Double-layer mounting base; 4106. Connector; 42. Handle fixing component; 4201. Fixed base; 4202. First rotating arm; 4203. First micro motor; 4204. Second rotating arm; 4205. Second micro motor; 4206. Rotating seat; 4207. Third micro motor; 100. Clamping base unit; 4208. Mounting base; 4209. Slot cylinder; 200. Clamping execution unit; 4210. First connecting seat; 4211. Two-finger gripper; 4212. Single-finger gripper; 300, 4213, Compression spring; 4214, Second connecting seat; 4215, First connecting rod; 4216, Drive rod; 4217, Fourth micro motor; 43. External fixing components; 4301. Tank shell; 4302. First fixing seat; 4303. First limiting rod; 4304. Second limiting rod; 4305. Moving frame; 4306. Drive frame; 4307. Drive seat; 4308. First miniature electric telescopic rod; 4309. Mounting plate; 4310. Fifth miniature motor; 4311. Rotating rod; 4312. Third limiting rod; 4313. Second connecting rod; 4314. Buffer pad; 44. Connector; 45. Calibration sensor; 5. Operating mechanism; 51. Lifting component; 5101. Guide rod frame; 5102. Lead screw assembly; 5103. Drive motor; 52. Actuating component; 400. Basic load-bearing adjustment unit; 5201. Movable seat; 5202. Mounting plate; 5203. Second limit assembly; 5204. Lifting seat; 5205. Second miniature electric telescopic rod; 5206. Conical seat; 5207. Spring ball; 500, Trigger operating unit; 5208, Slot seat; 5209, Telescopic frame; 5210, Third miniature electric telescopic rod; 5211, Trigger bracket; 5212, Miniature rotation module; 6. Locking hook operating unit; 61. Second fixed base; 62. Slot housing; 63. Fixed gear; 64. Sixth micro motor; 65. First gear rack; 66. Transmission gear; 67. Fixed rack; 68. Second gear rack; 69. Locking hook pusher; 7. Oil recovery equipment; 8. Grasping robotic arm; 9. Storage battery. Detailed Implementation

[0018] 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.

[0019] Please see Figures 1-12This invention provides a technical solution: an automatic calibration device for fuel dispensers, comprising: a mobile chassis 1, a housing 2, a controller 3, a calibration mechanism 4, an operating mechanism 5, a fuel recovery device 7, a gripping robotic arm 8, and a battery 9. The mobile chassis 1 is an AGV (Automated Guided Vehicle) mobile chassis, adapted to the overall weight and workload requirements of the equipment. It adopts a wheeled drive structure, is equipped with a laser navigation module and obstacle avoidance sensors, receives movement commands from the controller 3 and feeds back position signals, and can set the movement route through a preset program in the controller 3 to achieve automatic positioning, smooth movement, and precise stopping at the fuel dispenser station to be calibrated. The bottom is equipped with anti-slip and wear-resistant rubber wheels, providing good ground adaptability. The system integrates a braking unit, allowing for quick locking after parking to prevent equipment displacement and ensure the stability of the calibration operation. The outer casing 2 is mounted on the top right side of the mobile chassis 1. The top of the outer casing 2 has a slot communicating with the inner cavity. The outer casing 2 serves as the mounting carrier for the internal electrical components, providing protection, dustproofing, and sound insulation. A warning light is installed on the top of the outer casing 2. The controller 3 is embedded inside the upper part of the outer casing 2. The mobile chassis 1 and controller 3 are electrically connected. Controller 3 is a PLC programmable logic controller with a modular design, supports Ethernet communication, and can pre-program calibration procedures, enabling centralized control of all actuators. The system coordinates and dispatches movement, parking, and braking commands to the mobile chassis 1, while simultaneously receiving position and status signals from the mobile chassis 1. It also features data acquisition and storage capabilities, allowing real-time reception of detection data transmitted from the calibration sensor 45 and supporting data export for easy review and analysis of calibration results. The calibration mechanism 4 is located on the top of the housing shell 2. The operating mechanism 5 is located on the top of the housing shell 2, to the left rear of the calibration mechanism 4. The fuel recovery device 7 is installed inside the housing shell 2 at the bottom left. The fuel recovery device 7 is electrically connected to the controller 3 and uses a small, sealed fuel recovery tank to effectively store fuel that has flowed through the calibration process. The fuel level sensor 45 is used to prevent fuel waste and environmental pollution. It receives start and stop commands from the controller 3 and integrates a liquid level sensor to detect the fuel storage level in real time and transmit the liquid level signal to the controller 3. The equipment is equipped with a sealed liquid inlet and outlet. The liquid inlet is connected to the outlet of the calibration sensor 45 through a special corrosion-resistant pipeline. The outlet is equipped with a solenoid valve and pump to facilitate the staff to refill the stored fuel into the fuel dispenser to be calibrated. The gripping robotic arm 8 is mounted on the top left of the mobile chassis 1 via a bracket. The gripping robotic arm 8 is electrically connected to the controller 3. The gripping robotic arm 8 is a multi-joint industrial robotic arm, specifically model IRB120, with a rated load of 1.Weighing 5kg and with an arm length of 580mm, the robotic arm is fixedly mounted on the upper left of the top of the mobile chassis 1 via a stainless steel bracket. The bracket height is adjustable to ensure that the working range of the robotic arm covers the entire process of oil gun gripping, docking, and repositioning. The robotic arm has 4 degrees of freedom and is equipped with a flexible gripper made of silicone at the end, which can automatically adjust the gripping force according to the size of the oil gun to avoid damaging the surface of the oil gun and the nozzle. The gripping accuracy can reach ±1mm. It is electrically connected to the controller 3, receives the controller's action commands, and can complete the precise gripping and smooth movement of the oil gun, the precise docking of the nozzle and connector 44, and the completion of calibration. The oil nozzle's return operation integrates position and force sensors, providing real-time feedback on clamping status and position information to ensure precise and stable operation. It is compatible with different specifications of oil nozzles, enhancing the device's versatility. The battery 9 is installed inside the lower right corner of the housing 2, electrically connected to the controller 3. The battery 9 is a valve-regulated sealed lead-acid battery with a sealed design, serving as the power source for the entire device. It provides a stable DC power supply to all electrical components, ensuring the equipment can continuously complete multiple calibration operations without an external power source. The controller 3 can monitor the battery's charge status in real time.

[0020] As a preferred option, furthermore, the verification agency 4 includes: such as Figure 3As shown, the device includes a height adjustment component 41, a handle fixing component 42, an external fixing component 43, a connector 44, and a calibration sensor 45. The height adjustment component 41 is located at the top of the housing 2, to the right of the top slot of the housing 2. The handle fixing component 42 is located above the moving end of the height adjustment component 41. The external fixing component 43 is located below the moving end of the height adjustment component 41. The connector 44 is fixedly installed vertically on the top of the housing 2, above the slot of the housing 2. The connector 44 is a stainless steel sealed quick connector with a double-ferrule sealing structure and a polished inner wall, effectively reducing fuel flow resistance and providing excellent sealing performance to prevent fuel leakage during calibration. It is connected to the inlet of the calibration sensor 45 via a threaded seal, providing a stable and sealed channel for fuel to flow from the fuel nozzle into the calibration sensor 45, ensuring the continuity and sealing of fuel delivery during calibration. The calibration sensor 45 is fixedly installed vertically on the housing. Inside the top of unit 2, connector 44 passes through the slotted cavity of the outer shell 2 and connects to the inlet of the calibration sensor 45. The outlet of the calibration sensor 45 is connected to the inlet of the fuel recovery device 7 via a pipeline. The calibration sensor 45 and controller 3 are electrically connected. The calibration sensor 45 is a high-precision integrated fuel flow and pressure sensor. The outlet of the calibration sensor 45 is sealed to the inlet of the fuel recovery device 7 via a corrosion-resistant fluororubber pipeline to achieve closed-loop recovery of fuel after calibration. The calibration sensor 45 and controller 3 are bidirectionally electrically connected, which can detect key calibration parameters such as fuel flow, pressure, and injection speed in real time. The analog signal is converted into a digital signal and transmitted to controller 3. Controller 3 completes data acquisition, storage, and analysis, and receives start and stop commands from controller 3. It has a fault self-checking function. When the detection data is abnormal or a fault occurs, it can promptly send a signal to controller 3 to trigger an alarm, ensuring the accuracy and reliability of the calibration results.

[0021] As a preferred option, further, such as Figure 4As shown, the height adjustment component 41 includes: a vertical slot frame 4101, a slot plate 4102, a first limiting component 4103, a first electric telescopic rod 4104, a double-layer mounting base 4105, and a connector 4106; the vertical slot frame 4101 is fixedly installed at the top of the housing shell 2 in the vertical direction and is located to the right of the top slot hole of the housing shell 2; the slot plate 4102 is fixedly installed on the left side of the outer surface of the vertical slot frame 4101 in the vertical direction, and the slot plate 4102 is used to provide a moving channel for the connector 4106, and at the same time plays a preliminary guiding role in the moving direction of the connector 4106, ensuring the connector 4106 drives the double-layer mounting base 4105 to rise and fall smoothly; there are two first limiting components 4103, which are respectively installed at the front and rear ends of the left side of the outer surface of the tank plate 4102 in the vertical direction. The first limiting components 4103 are linear guide rail slider assemblies, composed of guide rails and sliders, which mainly play a limiting and guiding role, restricting the movement direction of the double-layer mounting base 4105, ensuring that it can only rise and fall smoothly in the longitudinal direction, avoiding deviation and shaking during the lifting process, and ensuring that the handle fixing component 42 and the external fixing component 43 can be accurately aligned with the oil gun; the first electric telescopic rod 41 04 is installed on the top right side of the outer surface of the tank plate 4102 in a vertical direction. The first electric telescopic rod 4104 is electrically connected to the controller 3. The first electric telescopic rod 4104 is a DC electric telescopic rod. It receives the telescopic command from the controller 3 and drives the connecting piece 4106 to move up and down along the tank of the tank plate 4102 through the telescopic action of its own telescopic end. This drives the double-layer mounting base 4105 to rise and fall. It has a stroke limit function and can accurately stop at the preset height position to adapt to the height requirements of different specifications of fuel nozzles. The double-layer mounting base 4105 is installed on the limit of the front and rear first limit components 4103. On the left side of the first electric telescopic rod 4104, the connector 4106 is fixedly installed at the bottom of the telescopic end. The left side of the connector 4106 passes through the groove of the groove plate 4102 and is fixedly connected to the right side of the double-layer mounting base 4105. The connector 4106 is clearance-fitted with the groove of the groove plate 4102 and can move smoothly along the groove. The connector 4106 transmits the telescopic power of the first electric telescopic rod 4104 to the double-layer mounting base 4105, driving it to rise and fall smoothly along the first limiting component 4103. At the same time, it has a certain rigidity to avoid deformation during power transmission and ensure the accuracy of height adjustment.

[0022] As a preferred option, further, such as Figure 5 and Figure 6 As shown, the grip fixing component 42 includes a folding adjustment component and a fixing component. The folding adjustment component is installed on the upper layer of the moving end of the height adjustment component 41, and the fixing component is disposed below the folding adjustment component.

[0023] The folding adjustment assembly includes: a fixed base 4201, a first rotating arm 4202, a first micro motor 4203, a second rotating arm 4204, a second micro motor 4205, a rotating seat 4206, and a third micro motor 4207. The fixed base 4201 is fixedly installed on the upper left side of the double-layer mounting base 4105. One end of the first rotating arm 4202 is rotatably installed on the inner side of the fixed base 4201 via a rotating shaft. The first rotating arm 4202 forms a rotary joint with the inner side of the fixed base 4201 via a high-precision rotating shaft. The other end is hinged to the second rotating arm 4204, forming a first-stage folding rotation structure for adjusting the pitch angle of the fixed assembly in the vertical plane. The first micro motor 4203 is installed on the fixed base 4201. On the outside of the base 4201, the rotating end of the first micro motor 4203 extends into the inner side of the fixed base 4201 and is fixedly connected to the axis of the first rotating arm 4202. The first micro motor 4203 is electrically connected to the controller 3. The first micro motor 4203 is a DC geared servo micro motor. It receives commands from the controller 3 to drive the first rotating arm 4202 to achieve precise angle adjustment. It has smooth start and stop, sufficient torque, and overload protection functions. One end of the second rotating arm 4204 is rotatably mounted on the inner side of the other end of the first rotating arm 4202 via a rotating shaft. One end of the second rotating arm 4204 is hinged to the end of the first rotating arm 4202, and the other end forms a rotary joint with the rotating seat 4206, constituting the second-stage folding mechanism. The adjustable structure can further expand the attitude adjustment range based on the first rotating arm 4202; the second micro motor 4205 is installed on the outside of the first rotating arm 4202, and the rotating end of the second micro motor 4205 extends into the inside of the first rotating arm 4202 and is fixedly connected to the axis of the second rotating arm 4204. The second micro motor 4205 is electrically connected to the controller 3. The second micro motor 4205 is a DC geared servo micro motor, which receives commands from the controller 3. The second micro motor 4205 is used to drive the second rotating arm 4204 to achieve independent angle adjustment, and works with the first rotating arm 4202 to complete the double-joint linkage attitude positioning; one end of the rotating seat 4206 is rotatably mounted on the second rotating arm via a rotating shaft. On the inner side of the other end of 4204, the rotating seat 4206 is used to adjust the deflection of the fixing component around the horizontal axis, so that the fixing component can fit the oil gun handle contour at the best angle, ensuring clamping stability and centering; the third micro motor 4207 is installed on the outside of the second rotating arm 4204, and the rotating end of the third micro motor 4207 extends into the inner side of the second rotating arm 4204 and is fixedly connected to the axis of the rotating seat 4206. The third micro motor 4207 is electrically connected to the controller 3. The third micro motor 4207 is a DC geared servo micro motor, which receives the instructions of the controller 3. The third micro motor 4207 is used to drive the rotating seat 4206 to achieve fine adjustment of the end posture and complete the final precise alignment of the clamping mechanism.

[0024] The fixing assembly includes a clamping base unit 100, a clamping execution unit 200, and a drive and reset unit 300. The clamping base unit 100 provides a mounting base for the clamping execution unit 200 and the drive and reset unit 300. The clamping execution unit 200 is connected to the drive and reset unit 300 for clamping and releasing the oil gun handle under the drive of the drive and reset unit 300. The drive and reset unit 300 is electrically connected to the controller 3 for providing driving force for the clamping action and for automatically resetting the clamping execution unit 200.

[0025] The clamping base unit 100 includes: a mounting base 4208 and a slot cylinder 4209; the mounting base 4208 is mounted on the bottom end of the rotating base 4206; the slot cylinder 4209 is fixedly mounted on the middle of the inner top of the mounting base 4208 in the vertical direction, and the outer wall of the slot cylinder 4209 has grooves on the front and rear sides in the vertical direction that communicate with the inner cavity. The slot cylinder 4209 provides vertical guidance constraint for the second connecting base 4214, restricting it to only move in a vertical straight line to avoid lateral deviation, and at the same time provides installation and protection space for the compression spring 4213.

[0026] The clamping execution unit 200 includes: a first connecting seat 4210, a two-finger clamping claw 4211, and a single-finger clamping claw 4212; the first connecting seat 4210 is disposed on the lower outer side of the slot cylinder 4209; the two-finger clamping claw 4211 is rotatably mounted on the inner front end of the mounting base 4208 via a rotating shaft, and the inner end of the two-finger clamping claw 4211 is rotatably connected to the outer side of the first connecting seat 4210 via a rotating shaft; the two-finger clamping claw 4211 is made of high-strength nylon and glass fiber composite material, and its inner arc-shaped surface matches the contour of the oil gun handle, for use with the single-finger clamping claw. The 4212 grippers form a ring-shaped clamping structure, increasing the clamping contact area, ensuring stable clamping and preventing damage to the oil gun surface. The single-finger gripper 4212 is rotatably mounted on the inner rear end of the mounting base 4208 via a pivot. The inner end of the single-finger gripper 4212 is rotatably connected to the inner side of the first connecting base 4210 via a pivot. The single-finger gripper 4212 is made of wear-resistant reinforced nylon material, forming an asymmetrical clamping layout with the two-finger gripper 4211. This adapts to the irregular structure of the oil gun handle, achieving a human-hand grip effect and improving clamping reliability and adaptability.

[0027] The drive and reset unit 300 includes: a compression spring 4213, a second connecting seat 4214, a first connecting rod 4215, a drive rod 4216, and a fourth micro motor 4217; the compression spring 4213 is fixedly installed on the inner top of the slot cylinder 4209 in the vertical direction, and the compression spring 4213 is used to provide reset elastic force, pushing the second connecting seat 4214 downward to reset during the clamping release phase, thereby causing the two-finger gripper 4211 and the single-finger gripper 4212 to open automatically; the second connecting seat 4214 is installed on the first connecting seat. The top of the second connecting seat 4214 is fixedly connected to the bottom of the compression spring 4213. The front and rear sides of the second connecting seat 4214 extend outwards from the front and rear grooves of the slot cylinder 4209, respectively. There are two first connecting rods 4215, one end of which is rotatably mounted on the front and rear sides of the second connecting seat 4214 via a rotating shaft. The first connecting rods 4215 are used to convert the swing of the drive rod 4216 into the vertical lifting motion of the second connecting seat 4214, thus realizing… Power transmission and motion mode conversion; there are two drive rods 4216, one end of which is rotatably mounted on the upper front side of the left and right ends of the inner side of the mounting base 4208 via a rotating shaft. The other ends of the two drive rods 4216 are rotatably connected to the other ends of the two first connecting rods 4215 via a rotating shaft. The drive rods 4216 swing under the drive of the fourth micro motor 4217, which is used to drive the first connecting rods 4215 and the second connecting base 4214 to move up and down; the fourth micro motor 4217 is fixed. The rotating end of the fourth micro motor 4217 extends into the inner side of the mounting base 4208 and is connected to the hinge axis of the second connecting seat 4214 on the right side and the mounting base 4208. The fourth micro motor 4217 is electrically connected to the controller 3. The fourth micro motor 4217 is a DC geared self-locking motor with a power-off self-locking function. It receives instructions from the controller 3 to drive the drive rod 4216 to achieve clamping and releasing actions, ensuring stable clamping force and accurate positioning, and preventing loosening.

[0028] As a preferred option, further, such as Figure 7As shown, the external fixing component 43 includes: a tank shell 4301, a first fixing seat 4302, a first limiting rod 4303, a second limiting rod 4304, a moving frame 4305, a drive frame 4306, a drive seat 4307, a first miniature electric telescopic rod 4308, a mounting plate 4309, a fifth miniature motor 4310, a rotating rod 4311, a third limiting rod 4312, a second connecting rod 4313, and a buffer pad 4314; the tank shell 4301 is fixedly installed on the lower left side of the double-layer mounting seat 4105, and the longitudinal cross-sectional shape of the tank shell 4301 is U-shaped; the first fixing seat 4302 is fixedly installed on the tank shell 4301. On the outer surface of the first fixed base 4302, on the left side center, there are two first limiting rods 4303. One end of each first limiting rod 4303 is rotatably mounted on the front and rear ends of the left side of the outer surface of the first fixed base 4302 via a rotating shaft. The first limiting rods 4303 restrict the movement trajectory of the drive frame 4306, ensuring that the drive frame 4306 can only open and close smoothly in a preset direction, avoiding movement deviation, and ensuring accurate positioning of the oil gun body. There are also two second limiting rods 4304. One end of each second limiting rod 4304 is rotatably mounted on the front and rear ends of the outer surface of the first fixed base 4302 via a rotating shaft. The second limiting rods 4304 and the first limiting rods 4304 are rotatably mounted on the front and rear ends of the outer surface of the first fixed base 4302. 303, the movable frame 4305, and the drive frame 4306 cooperate to form a stable four-bar linkage structure, improving the smoothness and rigidity of the drive frame 4306's movement and preventing swaying during transmission. There are two movable frames 4305, each rotatably mounted on the inner side of the other end of the front and rear second limit rods 4304 via a rotating shaft. The movable frames 4305 convert the linear motion of the drive seat 4307 into the opening and closing motion of the drive frame 4306. There are also two drive frames 4306, each rotatably mounted on the outer side of the other end of the front and rear first limit rods 4303 via a rotating shaft. The outer sides of the two drive frames 4306 are rotatably connected to the left outer sides of the two front and rear movable frames 4305 via rotating shafts. The drive frame 4306 is U-shaped. The drive seat 4307 is inserted into the inner side of the tank shell 4301 in the front-rear direction. The front and rear ends of the drive seat 4307 extend out of the tank shell 4301 and are rotatably connected to the right inner side of the two front and rear movable frames 4305 via rotating shafts. The drive seat 4307 serves as the power transmission carrier of the first micro electric telescopic rod 4308, converting the telescopic motion of the electric telescopic rod into the front-rear motion of the movable frame 4305, thereby driving the drive frame 4306 to open and close.The first miniature electric telescopic rod 4308 is installed on the right side of the outer surface of the tank housing 4301. The telescopic end of the first miniature electric telescopic rod 4308 extends into the inner side of the tank housing 4301 and is fixedly connected to the inside of the drive base 4307. The first miniature electric telescopic rod 4308 is electrically connected to the controller 3. The first miniature electric telescopic rod 4308 is a DC miniature electric telescopic rod. It receives the telescopic command from the controller 3 and drives the drive base 4307 to move back and forth through the extension and retraction of its own telescopic end, thereby driving the drive frame 4306 to realize the opening and closing action. It has the functions of stroke limit and power failure self-locking to ensure that the position is stable after clamping and does not loosen; mounting plate 4 There are two 309 mounting plates, 4309 and 4309 respectively, installed on the inner left side of the front and rear drive frames 4306; there are two fifth micro motors, 4310 respectively, installed on the outer side of the front and rear mounting plates 4309, with the rotating end of the fifth micro motor 4310 extending into the inner side of the mounting plate 4309. The fifth micro motor 4310 is electrically connected to the controller 3. The fifth micro motor 4310 is a DC geared micro servo motor equipped with a small encoder, receiving rotation commands from the controller 3 to drive the rotating rod 4311 to rotate precisely, thereby adjusting the spacing of the buffer pad 4314 to adapt to different diameters. The nozzle body; there are two rotating rods 4311, which are respectively installed on the inner rotating sides of the front and rear fifth micro motors 4310; there are two sets of third limiting rods 4312, with two rods in each set. The two sets of third limiting rods 4312 are respectively set on the upper and lower sides of the front and rear rotating rods 4311. The third limiting rods 4312 mainly play a limiting and guiding role, restricting the movement direction of the second connecting rod 4313, ensuring the stability of the parallelogram structure formed by the second connecting rod 4313, rotating rod 4311, and third limiting rod 4312, and ensuring smooth movement, avoiding the buffer pad 4314. Offset; There are two sets of second connecting rods 4313, with two second connecting rods 4313 in each set. The two sets of second connecting rods 4313 are respectively installed on the left and right ends of the inner side of the front and rear rotating rods 4311 via rotating shafts in the up and down direction. The upper and lower ends of the outer side of the two sets of second connecting rods 4313 are respectively connected to the left and right ends of the front and rear third limiting rods 4312 via rotating shafts. The second connecting rods 4313, rotating rods 4311, and third limiting rods 4312 together form a parallelogram transmission structure. Relying on the synchronous linkage characteristic of the parallelogram connecting rods, the buffer pads 4314 are driven to move synchronously, thereby realizing the adjustment of the spacing of the buffer pads 4314.There are two sets of buffer pads 4314, with two pads in each set. The two sets of buffer pads 4314 are respectively installed on the upper and lower inner sides of the two sets of second connecting rods 4313. The buffer pads 4314 are made of wear-resistant flexible silicone material and are in direct contact with the oil gun body. They are used to buffer the clamping force, prevent rigid contact from scratching the outer wall of the oil gun, and increase the friction with the oil gun, thus improving clamping stability.

[0029] As a preferred option, further, such as Figure 8 As shown, the operating mechanism 5 includes a lifting component 51 and an actuating component 52; the lifting component 51 is disposed on the top of the housing 2 in the vertical direction and is located to the left rear of the calibration mechanism 4; the actuating component 52 is disposed on the outer front side of the lifting component 51.

[0030] As a preferred option, further, such as Figure 9 As shown, the lifting component 51 includes: a guide rod frame 5101, a lead screw assembly 5102, and a drive motor 5103; the guide rod frame 5101 is fixedly installed on the top of the housing 2 in the vertical direction and is located on the outer left rear side of the height adjustment component 41; the lead screw of the lead screw assembly 5102 is rotatably installed in the middle of the inner side of the guide rod frame 5101 in the vertical direction through a bearing; the lead screw assembly 5102 is a precision ball screw assembly, which can convert the rotational motion of the drive motor 5103 into the longitudinal linear motion of the actuator 52, and can accurately drive the actuator 52 to rise and fall to the height position suitable for the oil gun trigger; the drive motor 5103 is installed on the top of the housing 2 in the vertical direction and located on the outer left rear side of the height adjustment component 41; the lead screw of the lead screw assembly 5102 is rotatably installed in the middle of the inner side of the guide rod frame 5101 through a bearing. Mounted on the top of the outer surface of the guide rod frame 5101, the rotating end of the drive motor 5103 extends into the inner side of the guide rod frame 5101 and is fixedly connected to the top of the lead screw shaft of the lead screw assembly 5102. The drive motor 5103 is electrically connected to the controller 3. The drive motor 5103 is a DC geared servo motor equipped with an absolute encoder, which receives start / stop and speed commands from the controller 3. As the power source of the lifting component 51, the drive motor 5103 can drive the lead screw to rotate at a uniform speed, thereby driving the actuator 52 to rise and fall smoothly. It has overload protection and power failure self-locking function to ensure that the actuator 52 does not slide down when it stays at the preset height.

[0031] As a preferred option, further, such as Figure 10 and Figure 11As shown, the execution component 52 includes a base load adjustment unit 400, a trigger operation execution unit 500, and a locking hook operation unit 6. The base load adjustment unit 400 is installed on the front side of the lifting component 51, providing a mounting base for the trigger operation execution unit 500 and the locking hook operation unit 6, and can adjust the height of the trigger operation execution unit 500 and the locking hook operation unit 6 to adapt to the position requirements of the oil gun trigger and the locking hook. The trigger operation execution unit 500 is connected to the base load adjustment unit 400 and electrically connected to the controller 3, and is used to perform the lifting, pulling, and resetting actions of the oil gun trigger to control the oil gun to dispense oil. The locking hook operation unit 6 is connected to the base load adjustment unit 400 and electrically connected to the controller 3, and is used to adjust the operating posture and perform the pushing, locking, and resetting actions of the oil gun locking hook to ensure continuous oil dispensing from the oil gun.

[0032] The basic load-bearing adjustment unit 400 includes: a movable seat 5201, a mounting plate 5202, a second limiting component 5203, a lifting seat 5204, a second miniature electric telescopic rod 5205, a conical seat 5206, and a spring ball 5207; the movable seat 5201 is sleeved on the outside of the guide rod frame 5101 in the front-to-back direction, and the inner side of the mounting plate 5202 is connected to the lead screw nut of the lead screw assembly 5102; the mounting plate 5202 is fixedly installed on the top rear side of the movable seat 5201; there are two second limiting components 5203, which are respectively installed on the outer surface of the mounting plate 5202 in the vertical direction. At the front left and right ends, the second limiting component 5203 uses a linear guide rail slider assembly, consisting of a guide rail and a slider, which can restrict the lifting seat 5204 to move only in a straight line in the up and down direction, preventing the lifting seat 5204 from shifting or wobbling back and forth, and ensuring that the trigger bracket 5211 can be accurately aligned with the oil gun trigger; the lifting seat 5204 is installed in the front of the limiting ends of the two second limiting components 5203 in the front and back direction; the second mini electric telescopic rod 5205 is fixedly installed in the middle of the bottom front end of the outer surface of the mounting plate 5202 in the front and back direction, and the second mini electric telescopic rod 5205 is electrically connected to the controller 3. 5. A DC miniature electric telescopic rod is selected, which receives the telescopic command from the controller 3. Through the extension and retraction of its own telescopic end, it drives the conical seat 5206 to move back and forth, thereby pushing the lifting seat 5204 to move up and down. It has a stroke limit function, which can precisely control the lifting height of the lifting seat 5204, simulating the force and stroke of manually pulling the trigger. The conical seat 5206 is fixedly installed on the front side of the telescopic end of the second miniature electric telescopic rod 5205. The shape of the conical seat 5206 is conical. The conical seat 5206 can convert the back and forth linear motion of the second miniature electric telescopic rod 5205 into the up and down linear motion of the lifting seat 5204, using the conical inclined surface. The guide function enables the smooth lifting of the lifting seat 5204; the spring ball 5207 is installed on the front side of the bottom end of the lifting seat 5204 in the vertical direction, and the bottom of the spring ball 5207 contacts the upper surface of the conical seat 5206. The spring ball 5207 is made of stainless steel spring ball bearing, with an integrated compression spring inside, which has an elastic buffer function. Its main function is to fit against the inclined surface of the conical seat 5206 and smoothly transmit the front and rear displacement of the conical seat 5206 to the lifting seat 5204. At the same time, it plays a buffering role to avoid rigid contact between the conical seat 5206 and the lifting seat 5204, reduce wear, and ensure smooth movement of the lifting seat 5204.

[0033] The trigger operation unit 500 includes: a slot seat 5208, a telescopic frame 5209, a third miniature electric telescopic rod 5210, a trigger bracket 5211, and a miniature rotation module 5212; there are two slot seats 5208, which are respectively fixedly installed on the front top of the lifting seat 5204 and the front bottom of the moving seat 5201; there are two telescopic frames 5209, which are respectively inserted into the inner side of the upper and lower slot seats 5208 in the front-back direction, and the telescopic frames 5209 are clearance-fitted with the slot seats 5208, and can move along the slot seats. The internal slot of 5208 slides smoothly back and forth; there are two third miniature electric telescopic rods 5210, which are fixedly installed at the rear ends of the upper and lower slot seats 5208 respectively, and located inside the telescopic frame 5209. The telescopic ends of the third miniature electric telescopic rods 5210 extend out of the front side of the slot seat 5208 and are fixedly connected to the inner side of the telescopic frame 5209. The third miniature electric telescopic rods 5210 are electrically connected to the controller 3. The third miniature electric telescopic rods 5210 are DC miniature electric telescopic rods, which receive the telescopic commands from the controller 3 and perform telescopic operations. The telescopic frame 5209 serves as the power source, driving it to move back and forth, which in turn moves the trigger bracket 5211 and the locking hook operating unit 6 closer to or further away from the oil gun. It features a power-off self-locking function to ensure stable positioning after alignment. The trigger bracket 5211 is fixedly installed on the front end of the outer surface of the top telescopic frame 5209. Made of flexible nylon, the trigger bracket 5211 can lift the oil gun trigger upwards under the action of the lifting seat 5204, simulating the action of manually pulling the trigger. The flexible material prevents scratching the oil gun trigger and increases the contact area to ensure no slippage during lifting. A micro-rotation module is also included. 5212 is fixedly installed on the inner front end of the bottom telescopic frame 5209. The rotating end of the micro rotation module 5212 extends out of the front side of the bottom telescopic frame 5209. The micro rotation module 5212 is electrically connected to the controller 3. The micro rotation module 5212 is a micro servo rotation module. It receives the rotation command from the controller 3 and drives the locking hook operation unit 6 to rotate as a whole. It adjusts the angle of the locking hook pusher 69 to ensure that it is accurately aligned with the oil gun locking hook and adapts to oil gun locking structures of different angles. The locking hook operation unit 6 is located on the front side of the rotating end of the micro rotation module 5212.

[0034] As a preferred option, further, such as Figure 12As shown, the locking hook operation unit 6 includes: a second fixed base 61, a slot housing 62, a fixed gear 63, a sixth micro motor 64, a first gear rack 65, a transmission gear 66, a fixed rack 67, a second gear rack 68, and a locking hook pusher 69; the second fixed base 61 is fixedly installed on the front side of the rotating end of the bottom micro rotating module 5212 in the left-right direction, and the cross-sectional shape of the second fixed base 61 is U-shaped; the slot housing 62 is rotatably installed on the inner left side of the second fixed base 61 via a rotating shaft, and the slot housing 62 is generally in the shape of a cuboid slot, with a hollow interior, the right side of the inner cavity reserving space for the movement of the first gear rack 65, and the left side reserving space for the movement of the second gear rack 68; the fixed gear 63 is keyed to the locking hook pusher 69. In the middle right side of the inner cavity of the slot housing 62, a fixed gear 63 serves as the transmission core, forming a meshing transmission pair with the first gear carrier 65. This transmits the rotational power of the sixth micro motor 64 to the first gear carrier 65, converting it into linear motion. The sixth micro motor 64 is fixedly mounted on the front side of the outer surface of the second fixed base 61. The rotating end of the sixth micro motor 64 extends into the inner side of the second fixed base 61 and is fixedly connected to the axis of the slot housing 62. The sixth micro motor 64 is electrically connected to the controller 3. The sixth micro motor 64 is a DC geared servo motor equipped with a small absolute encoder, receiving start / stop and rotation angle commands from the controller 3. It serves as the power source for the locking hook operation unit 6, driving the slot housing. The housing 62 rotates around a pivot, simultaneously driving the fixed gear 63 to rotate synchronously, and has overload protection and power-off self-locking functions. The first toothed bracket 65 is inserted into the right side of the inner cavity of the slot housing 62 in the left-right direction. The right side of the inner bottom end of the first toothed bracket 65 is provided with a toothed groove that meshes with the fixed gear 63. The first toothed bracket 65 can slide smoothly left and right along the slot housing 62, meshing with the fixed gear 63 through its own internal toothed groove, and moving along the outer side of the fixed gear 63. At the same time, it carries the transmission gear 66, playing the role of power transmission and motion guidance. The transmission gear 66 is rotatably mounted on the inner left end of the first toothed bracket 65 through a pivot. The transmission gear 66 can convert the linear motion of the first toothed bracket 65 into its own rotational motion, and then transmit it to the… The first gear rack 65 is handed over to the second gear carrier 68 to realize the secondary transmission of power and the conversion of the direction of motion, ensuring that the first gear carrier 65 and the second gear carrier 68 move synchronously. The fixed rack 67 is fixedly installed on the lower left side of the bottom of the inner cavity of the slot housing 62 in the left-right direction. The fixed rack 67 meshes with the transmission gear 66 and provides a fixed meshing reference for the transmission gear 66. When the first gear carrier 65 drives the transmission gear 66 to move left and right, the transmission gear 66 rotates under the meshing action of the fixed rack 67, thereby driving the second gear carrier 68 to move. The second gear carrier 68 is inserted into the left side of the inner cavity of the slot housing 62 in the left-right direction. The upper inner side of the second gear carrier 68 is provided with a tooth groove that meshes with the transmission gear 66.The locking hook pusher 69 is fixedly installed at the left end of the second toothed frame 68. The locking hook pusher 69 is made of flexible, wear-resistant nylon and has an overall V-shaped structure to fit the contour of the oil gun locking hook. Driven by the second toothed frame 68, it applies a smooth pushing force to the oil gun locking hook, pressing it into the designated position, simulating manual locking of the oil gun. The flexible material prevents scratching the oil gun locking hook and increases the contact area, ensuring no slippage or deviation during the pushing process.

[0035] The working principle is as follows: Step 1: The staff sends a start command to the controller 3 through the operation panel. The controller 3 activates the internal pre-made control program and starts the mobile chassis 1. The mobile chassis 1 moves smoothly along the preset navigation route based on its own walking mechanism and arrives at the external designated calibration station of the fuel dispenser to be calibrated, ensuring that the whole device is adapted to the position of the fuel dispenser nozzle. Step 2: After the equipment is in place, the controller 3 synchronously starts the gripping robotic arm 8, the first electric telescopic rod 4104, the first micro motor 4203, the second micro motor 4205, the third micro motor 4207, the fourth micro motor 4217, the fifth micro motor 4310, and the first micro electric telescopic rod 4308. Each component works in coordination according to the preset logic. Among them, the gripping robotic arm 8 drives the end clamping execution end to move to the preset clamping position outside the fuel dispenser nozzle through the internal multi-axis linkage structure. The opening and closing action of the clamping execution end realizes the clamping of the fuel dispenser nozzle. After clamping, the gripping robotic arm 8 drives the fuel dispenser nozzle to move to the preset calibration station below the calibration mechanism 4, accurately aligns with the top interface of the connector 44, and slowly inserts the fuel dispenser nozzle into the connector 44, ensuring a tight seal to prevent fuel leakage during the calibration process and ensure calibration accuracy. Step 3: The first electric telescopic rod 4104 is started. Through the telescopic action of its own telescopic end, it drives the connector 4106 to move synchronously. Under the transmission action of the connector 4106, combined with the longitudinal constraint and limiting action of the first limiting component 4103, it drives the double-layer mounting base 4105 to rise and fall along the vertical slot frame 4101 to the specified height, so that the handle fixing component 42 and the external fixing component 43 are accurately aligned with the handle part of the oil gun and the outside of the gun body respectively. Step 4: Regarding the fixing of the oil gun handle, the folding adjustment component of the handle fixing part 42 is activated first: the first micro motor 4203 drives the first rotating arm 4202 to rotate clockwise downwards or counterclockwise upwards to a preset tilt angle, with the rotating shaft on the inner side of the fixing base 4201 as the axis. Simultaneously, the second micro motor 4205 drives the second rotating arm 4204 to adjust the tilt angle in the same or opposite direction, with the rotating shaft at the other end of the first rotating arm 4202 as the axis. The third micro motor 4207 drives the rotating seat 4206 to rotate with the rotating shaft at the end of the second rotating arm 4204 as the axis. Through the three-degree-of-freedom linkage adjustment of the first rotating arm 4202, the second rotating arm 4204, and the rotating seat 4206, the fixing component is moved to the corresponding position on the outside of the oil gun handle. Subsequently, the fourth micro motor 4217 is activated, driving... The corresponding drive rod 4216 rotates clockwise upward around the hinge point with the mounting base 4208. Under the synchronous and coordinated action of the drive rod 4216 on the other side, the drive rods 4216 on both sides drive one end of the first connecting rod 4215 at both ends to move upward synchronously. The other end of the first connecting rod 4215 drives the second connecting seat 4214 to slide upward along the inner cavity of the slot cylinder 4209 and compresses the compression spring 4213. The second connecting seat 4214 synchronously drives the first connecting seat 4210 below to move upward, thereby driving the two-finger gripper 4211 and the single-finger gripper 4212 to rotate inward around their respective hinge points with the inner side of the mounting base 4208, simulating the action of a human hand gripping, realizing stable clamping of the oil gun handle, and ensuring that the oil gun does not shift during subsequent simulated operations. Step 5: While the handle is fixed, the external fixing component 43 simultaneously fixes the oil gun body: the fifth micro motors 4310 on the front and rear sides are started respectively, driving the corresponding rotating rods 4311 to rotate clockwise or counterclockwise. The rotating rods 4311 drive the parallelogram transmission structure composed of the third limiting rod 4312 and the second connecting rod 4313 to move. Relying on the structural characteristics of the parallelogram mechanism's linkage and constant posture, the rotating rods 4311 drive the second connecting rods 4313 on both sides to move synchronously in the same direction under the guidance and limiting action of the third limiting rod 4312. This causes the buffer pads 4314 on the inner side of the second connecting rods 4313 on both sides to unfold outward, increasing the distance between the upper and lower buffer pads 4314, adapting to the gun body size of different specifications of oil guns, and improving the fixation. To ensure range and stability, the first miniature electric telescopic rod 4308 is activated, and its piston rod extends to drive the drive seat 4307 to move smoothly to the left along the inner cavity of the tank shell 4301. The drive seat 4307 drives the front and rear moving frames 4305 to move forward synchronously. Under the guidance and limiting action of the second limiting rod 4304, the moving frames 4305 drive the front and rear driving frames 4306 to move inward synchronously. Under the constraint and limiting action of the first limiting rod 4303, the driving frames 4306 drive the mounting plates 4309 on both sides to move precisely to both sides of the vertical outer wall of the oil gun, so that the buffer pad 4314 is tightly attached to the outer wall of the oil gun, thereby achieving auxiliary fixation of the oil gun body. Together with the handle fixing component 42, it forms a multi-dimensional fixing structure between the handle and the gun body, ensuring that the oil gun remains absolutely stable during subsequent calibration. Step 6: After the fuel nozzle is fully secured, the controller 3 switches to the calibration mode, simultaneously starting the drive motor 5103, the micro rotation module 5212, the third micro electric telescopic rod 5210, the second micro electric telescopic rod 5205, the sixth micro motor 64, the calibration sensor 45, and the fuel recovery device 7. All components work together to complete the simulated operation of the fuel nozzle and the fuel calibration process. The drive motor 5103 starts, and its output shaft drives the lead screw of the lead screw assembly 5102 to rotate uniformly around its own axis, according to the principle of screw transmission. The rotation of the lead screw is converted into the longitudinal linear motion of the lead screw nut, which in turn drives the movable seat 5201 connected to the lead screw nut to move up and down along the outer guide rail of the guide rod frame 5101 until the movable seat 5201 is precisely aligned with the preset operating position of the oil gun trigger. The micro rotation module 5212 is activated, driving the second fixed seat 61 to rotate around its own axis, which in turn drives the locking hook operation unit 6 to adjust its overall posture, so that the locking hook pusher 69 in the locking hook operation unit 6 is precisely aligned with the position of the oil gun locking hook, preparing for the subsequent locking operation. Step 7: The third miniature electric telescopic rods 5210 on the upper and lower sides are started simultaneously. Their piston rods extend and drive the telescopic frame 5209 at the corresponding position to extend forward along the inner cavity of the slot seat 5208, so that the trigger bracket 5211 at the front end of the top telescopic frame 5209 is inserted under the oil gun trigger. At the same time, the locking hook operation unit 6 at the front end of the bottom telescopic frame 5209 moves to the top of the oil gun locking hook, completing the precise alignment of the operating components. Step 8: The second miniature electric telescopic rod 5205 is activated, and its piston rod extends to drive the conical seat 5206 to move forward. Since the conical seat 5206 has a conical structure, its inclined surface is in close contact with the spring ball 5207 at the bottom of the lifting seat 5204. As the conical seat 5206 moves forward, the spring ball 5207 rolls upward along the inclined surface of the conical seat 5206, thereby generating an upward pushing force on the lifting seat 5204. Under the longitudinal limiting action of the second limiting component 5203, the lifting seat 5204 moves upward smoothly. Through the transmission action of the upper slot seat 5208 and the telescopic frame 5209, the trigger bracket 5211 is driven to lift the oil gun trigger upward, accurately simulating the action of manually pulling the trigger and triggering the oil gun to open. Step 9: The sixth micro motor 64 starts, driving the slot housing 62 to rotate downward around the hinge point with the second fixed seat 61. During the rotation of the slot housing 62, the fixed gear 63 inside it forms a meshing transmission pair with the first toothed frame 65. Under the action of the meshing driving force, the first toothed frame 65, which forms a moving pair with the slot housing 62, extends outward along the guide direction of the slot housing 62. Since the second toothed frame 68 and the first toothed frame 65 form a rotary linkage structure through the transmission gear 66, the constraint of this kinematic pair is coupled through the meshing transmission of the transmission gear 66 and the fixed rack 67, driving the second toothed frame 68, which forms a moving pair with the slot housing 62, to move outward in a straight line along the guide direction of the slot housing 62. After the second toothed frame 68 extends out of the inner cavity of the slot housing 62, it drives the locking hook pusher 69 to make close contact with the oil gun locking hook and continuously applies a pushing force to press it into the preset locking position, simulating the operation of manually locking the oil gun, ensuring that the oil gun continues to dispense oil and ensuring the continuity of the inspection operation. Step 10: After the fuel nozzle is triggered and turned on, the external fuel dispenser starts the normal fuel supply process. Fuel is injected into the connector 44 through the fuel nozzle nozzle and flows into the inlet of the calibration sensor 45. The calibration sensor 45 accurately detects the key parameters of the fuel flowing inside in real time, including fuel pressure, fuel injection speed, fuel flow rate, etc., and transmits the detected electrical signals to the controller 3 in real time. The controller 3 completes the data collection, analysis and storage to form a calibration data record. After the calibration is completed, the fuel flows out from the outlet of the calibration sensor 45 and is transported to the fuel recovery equipment 7 through the preset pipeline for sealed storage, realizing closed-loop fuel recovery. Step 11: When the calibration sensor 45 completes the preset duration of detection and the controller 3 records all calibration data, the calibration operation is completed. The controller 3 starts the reset program, and the third micro electric telescopic rods 5210 on the upper and lower sides start synchronously. Their telescopic ends shorten, driving the telescopic frame 5209 to retract to the initial position along the inner cavity of the slot seat 5208. This drives the trigger bracket 5211 and the locking hook operation unit 6 to retract synchronously, releasing the operation state of the oil gun trigger and the locking hook. The fourth micro motor 4217 starts in reverse, driving the drive rod 4216 to rotate in reverse. At this time, the compression spring 4213 resets under the action of its own elastic potential energy, pushing the second connecting seat 4214 and the first connecting seat 4210 to move downward, thereby driving the two-finger gripper 4211 and the single-finger gripper 4212 to rotate outward, releasing the clamping and fixing of the oil gun handle. Step 12: The first miniature electric telescopic rod 4308 is activated, its telescopic end shortens, driving the drive seat 4307 to move to the right along the inner cavity of the tank shell 4301, driving the front and rear moving frames 4305 and drive frames 4306 to reset outwards simultaneously, so that the mounting plate 4309 drives the buffer pad 4314 to disengage from the outer wall of the oil gun, completely releasing the fixed constraint on the oil gun body. The first electric telescopic rod 4104 moves in the opposite direction, driving the double-layer mounting seat 4105, the handle fixing component 42 and the external fixing component 43 to descend to the initial height, completing the reset of the calibration mechanism 4; Step 13: After the fixed constraints are released, the gripping robotic arm 8 starts, grips the oil gun above the connector 44, slowly pulls the oil gun nozzle out of the connector 44, and then drives the oil gun to the oil gun placement position of the fuel dispenser, and smoothly puts the oil gun back to its original position, completing the oil gun return operation. Step 14: The staff opens the drain valve of the fuel recovery device 7 and injects the calibration fuel stored inside the device back into the fuel storage chamber of the fuel dispenser through a special pipeline to realize the recycling of fuel. After the injection is completed, the drain valve is closed, and the staff closes all the actuators through the controller 3. The equipment returns to standby mode and waits for the next calibration operation.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic calibration device for a fuel dispenser, characterized in that, include: Mobile chassis (1); The outer shell (2) is installed on the top right side of the mobile chassis (1), and the top of the outer shell (2) is provided with a slot that communicates with the inner cavity; The controller (3) is embedded in the upper part of the housing (2), and the mobile chassis (1) and the controller (3) are electrically connected; The inspection mechanism (4) is located on the top of the outer shell (2) of the housing; The operating mechanism (5) is located on the top of the housing (2) and to the left rear of the inspection mechanism (4); The oil recovery device (7) is installed at the lower left of the bottom of the inner end of the housing (2), and the oil recovery device (7) and the controller (3) are electrically connected; The gripping robotic arm (8) is mounted on the upper left of the top of the mobile chassis (1) via a bracket, and the gripping robotic arm (8) is electrically connected to the controller (3); The storage battery (9) is installed at the lower right of the bottom of the inner end of the housing (2), and the storage battery (9) is electrically connected to the controller (3).

2. The automatic calibration device for a fuel dispenser according to claim 1, characterized in that, The testing organization (4) includes: The height adjustment component (41) is provided at the top of the housing (2) and is located to the right of the top slot of the housing (2); A handle fixing component (42) is disposed above the movable end of the height adjustment component (41); An external fixing component (43) is disposed below the movable end of the height adjustment component (41); The connector (44) is fixedly installed on the top of the housing shell (2) in the vertical direction and is located above the slot of the housing shell (2); The calibration sensor (45) is fixedly installed at the top of the inner part of the housing (2) along the vertical direction. The connector (44) passes through the slot cavity of the housing (2) and is connected to the liquid inlet of the calibration sensor (45). The liquid outlet of the calibration sensor (45) is connected to the liquid inlet of the oil recovery device (7) through a pipeline. The calibration sensor (45) and the controller (3) are electrically connected.

3. The automatic calibration device for a fuel dispenser according to claim 2, characterized in that, The grip fixing component (42) includes a folding adjustment component and a fixing component. The folding adjustment component is installed on the upper layer of the moving end of the height adjustment component (41), and the fixing component is disposed below the folding adjustment component.

4. The automatic calibration device for a fuel dispenser according to claim 3, characterized in that, The fixing assembly includes a clamping base unit (100), a clamping execution unit (200), and a drive and reset unit (300). The clamping base unit (100) provides a mounting and bearing base for the clamping execution unit (200) and the drive and reset unit (300); The clamping execution unit (200) is connected to the drive and reset unit (300) for performing clamping and releasing actions on the oil gun handle under the drive of the drive and reset unit (300). The drive and reset unit (300) and the controller (3) are electrically connected to provide driving force for the clamping action and drive the clamping execution unit (200) to automatically reset.

5. The automatic calibration device for a fuel dispenser according to claim 4, characterized in that, The external fixing component (43) includes: The tank shell (4301) is fixedly installed on the lower layer of the moving end of the height adjustment component (41), and the longitudinal cross-sectional shape of the tank shell (4301) is U-shaped; The first fixing seat (4302) is fixedly installed on the middle left side of the outer surface of the tank shell (4301); The first limiting rod (4303) has two ends, one end of each first limiting rod (4303) is rotatably mounted on the left front and rear ends of the outer surface of the first fixed seat (4302) via a rotating shaft; The second limiting rod (4304) has two ends, one end of each of the two second limiting rods (4304) is rotatably mounted on the front and rear ends of the outer surface of the first fixed seat (4302) via a rotating shaft; The movable frame (4305) is two in number, and the two movable frames (4305) are respectively rotatably installed on the inner side of the other end of the front and rear second limiting rods (4304) via a rotating shaft; The drive frame (4306) consists of two drive frames (4306). The two drive frames (4306) are rotatably mounted on the outer side of the other end of the front and rear first limit rods (4303) via a rotating shaft. The inner side of the front and rear drive frames (4306) is rotatably connected to the outer left side of the front and rear movable frames (4305) via a rotating shaft. The drive frame (4306) is U-shaped. The drive seat (4307) is inserted into the inner side of the tank shell (4301) in the front-back direction. The front and rear ends of the drive seat (4307) extend out of the tank shell (4301) and are rotatably connected to the inner right side of the front and rear movable frames (4305) through a rotating shaft. The first miniature electric telescopic rod (4308) is installed on the right side of the outer surface of the tank shell (4301). The telescopic end of the first miniature electric telescopic rod (4308) extends into the inner side of the tank shell (4301) and is fixedly connected to the inside of the drive seat (4307). The first miniature electric telescopic rod (4308) and the controller (3) are electrically connected.

6. The automatic calibration device for a fuel dispenser according to claim 5, characterized in that, The external fixing component (43) also includes: Mounting plate (4309), there are two mounting plates (4309), and the two mounting plates (4309) are respectively installed on the inner left side of the front and rear drive frames (4306); The fifth micro motor (4310) has two components. The two fifth micro motors (4310) are respectively installed on the outer side of the front and rear mounting plates (4309). The rotating end of the fifth micro motor (4310) extends into the inner side of the mounting plate (4309). The fifth micro motor (4310) is electrically connected to the controller (3). Rotating rod (4311), there are two rotating rods (4311), and the two rotating rods (4311) are respectively installed on the inner rotating side of the front and rear fifth micro motors (4310); The third limiting rod (4312) is in two sets, with two third limiting rods (4312) in each set. The two sets of third limiting rods (4312) are respectively set on the upper and lower sides of the outer side of the front and rear rotating rods (4311). The second connecting rod (4313) has two sets, with two second connecting rods (4313) in each set. The two sets of second connecting rods (4313) are respectively installed on the left and right ends of the inner side of the front and rear rotating rods (4311) through a rotating shaft in the up and down direction. The upper and lower ends of the outer side of the two sets of second connecting rods (4313) are respectively connected to the left and right ends of the front and rear third limiting rods (4312) through a rotating shaft. The buffer pads (4314) are in two sets, with two buffer pads in each set. The two sets of buffer pads (4314) are respectively installed on the upper and lower ends of the inner side of the two sets of second connecting rods (4313).

7. The automatic calibration device for a fuel dispenser according to claim 6, characterized in that, The operating mechanism (5) includes: The lifting component (51) is located on the top of the housing (2) in the vertical direction and is located to the left rear of the inspection mechanism (4); An actuating component (52) is disposed on the outer front side of the lifting component (51).

8. The automatic calibration device for a fuel dispenser according to claim 7, characterized in that, The actuating component (52) includes a basic load adjustment unit (400), a trigger operation actuating unit (500), and a locking hook operation unit (6); The basic load-bearing adjustment unit (400) is installed on the front side of the lifting component (51) to provide a mounting load base for the trigger operation execution unit (500) and the locking hook operation unit (6), and can adjust the height position of the trigger operation execution unit (500) and the locking hook operation unit (6) to adapt to the position requirements of the oil gun trigger and the locking hook. The trigger operation execution unit (500) is connected to the base bearing adjustment unit (400) and electrically connected to the controller (3) to perform the lifting, pulling and resetting actions of the oil gun trigger and control the oil gun to dispense oil. The locking hook operation unit (6) is connected to the foundation bearing adjustment unit (400) and electrically connected to the controller (3) to adjust the operating posture and perform the pushing, locking and resetting actions of the oil gun locking hook to ensure that the oil gun continues to output oil.

9. The automatic calibration device for a fuel dispenser according to claim 8, characterized in that, The locking hook operation unit (6) includes: The second fixing seat (61) is fixedly installed on the front side of the rotating end of the micro rotating module (5212) at the bottom in the left-right direction. The cross-sectional shape of the second fixing seat (61) is U-shaped. The slot housing (62) is rotatably mounted on the inner left end of the second fixed seat (61) via a pivot. A fixed gear (63) is keyed to the middle right side of the inner cavity of the slot housing (62); The sixth micro motor (64) is fixedly installed on the front side of the outer surface of the second fixed base (61). The rotating end of the sixth micro motor (64) extends into the inner side of the second fixed base (61) and is fixedly connected to the axis of the slot housing (62). The sixth micro motor (64) is electrically connected to the controller (3). The first toothed bracket (65) is inserted into the right side of the inner cavity of the slot housing (62) in the left-right direction. The right side of the inner bottom end of the first toothed bracket (65) is provided with a toothed groove and meshes with the fixed gear (63). The transmission gear (66) is rotatably mounted on the inner left end of the first gear frame (65) via a rotating shaft; A fixed rack (67) is fixedly installed on the lower left side of the inner cavity of the slot housing (62) in the left-right direction, and the fixed rack (67) meshes with the transmission gear (66); The second toothed bracket (68) is inserted into the left side of the inner cavity of the slot housing (62) in the left-right direction. The upper inner side of the second toothed bracket (68) is provided with a toothed groove and meshes with the transmission gear (66). The locking hook pusher (69) is fixedly installed on the left end of the second toothed frame (68).

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