CN215711758U - Automatic oil gun arranged under unmanned helicopter - Google Patents
Automatic oil gun arranged under unmanned helicopter Download PDFInfo
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- CN215711758U CN215711758U CN202120241921.2U CN202120241921U CN215711758U CN 215711758 U CN215711758 U CN 215711758U CN 202120241921 U CN202120241921 U CN 202120241921U CN 215711758 U CN215711758 U CN 215711758U
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Abstract
The utility model discloses an automatic oil gun arranged under an unmanned helicopter, which comprises a helicopter wing assembly, a light helicopter undercarriage arranged under the wing assembly, an oil gun driving frame arranged in the light helicopter undercarriage, a bottom plate arranged under the oil gun driving frame, the upper part of the bottom plate is provided with a lifting driving mechanism, a lifting part in the lifting driving mechanism is connected with a lifting platform, the lifting platform is provided with a rotary driving mechanism, the rotary driving mechanism is provided with a turntable, the turntable is provided with a transverse driving mechanism, the transverse driving mechanism is provided with a transverse moving part, the transverse moving part is provided with a refueling gun swinging driving part and a fuel tank cover switch driving part, the refueling gun swinging driving part is connected with a refueling gun clamping part, the bottom plate is provided with a battery and a fuel tank position detecting device which are respectively connected with a PLC (programmable logic controller), and the PLC is also respectively electrically connected with a helicopter driving servo motor and the driving parts in each driving mechanism. The oil gun has the characteristics of high automation degree of vehicle oiling, simple structure and the like.
Description
Technical Field
The utility model relates to the technical field of automatic automobile refueling equipment, in particular to an automatic refueling gun arranged under an unmanned helicopter.
Background
As the number of vehicles increases, the amount of fuel for vehicles is increasing. For many gas stations with large traffic flow, the phenomenon of queuing for refueling is very common, and particularly for high-speed trunk roads and other major roads, the phenomenon of queuing for refueling seriously affects the traveling of people, and passenger transportation and freight transportation are greatly affected. In the face of manual refueling, the filling station needs to queue for refueling, and meanwhile, cash settlement faces the phenomena of change making, cash safety, queuing and payment and the like, so that the working efficiency of the gas station is improved, the refueling speed is accelerated, and the filling station is imperative.
To address this problem, some service stations have sampled self-service refueling systems. Although the problem of waiting in line for refueling is solved to a certain extent by the existing self-service refueling system, the problems of low payment efficiency and incapability of fundamentally improving the refueling speed still exist. The existing self-service refueling system has two types: one is a self-service fueling system that uses cash to conduct transactions, such systems are not identifiable for most worn cash, and the cash identification system identification process takes some time. The other is a self-service refueling system using a fuel filling card stored in advance, in the system, the fuel filling card accounts for most of the fuel filling cards without name in one-time quota and cannot be recharged, and the stored fuel filling card needs to purchase cash at fixed points. In summary, the existing self-service refueling system is inefficient.
The existing refueling mode is that a fuel tank cap is unlocked through central control, then the fuel tank cap is manually pressed, the fuel tank cap is opened, then a fuel tank plug is manually unscrewed for refueling, the refueling is carried out after the refueling amount is determined manually, then the charging is carried out, then the fuel tank plug is manually screwed, the fuel tank cap is covered, and the refueling is completed. The mode is general, ordinary, and market share is high, but relies on manual operation, and is inefficient, produces easily when the flow is big and blocks up, along with internet and automatic rapid development, is eliminated easily. In conclusion, there is a need for an automatic refueling system for vehicles, which is convenient for self-service refueling and payment and improves refueling efficiency.
The application numbers are: CN201610645550.8, a chinese patent discloses an automatic refueling system for vehicles, in which an electronic control unit is connected with a refueling server and a third party platform through a network; the liquid crystal display is used for selecting oil product information and carrying out online payment; the fuel tank cap opening and closing device comprises a driving motor and a rotating pair and is used for driving the fuel tank cap to open and close, a fuel tank plug is arranged on the inner side of the fuel tank cap and is used for pressing a fuel tank port of a vehicle fuel tank, and a distance measuring receiving transmitter is arranged beside the fuel tank port; the oiling robot is a mechanical arm which extends in space, and the bottom of the mechanical arm moves on a plane; the refueling robot is provided with a distance measuring transmitter and a distance measuring receiver close to the refueling gun; and the controller is used for receiving signals of the ranging receiving transmitter, the ranging receiver and the liquid level alarm, controlling the ranging transmitter and the oil gun, and receiving the signals of the ranging transmitter by the ranging receiving transmitter. However, the technical solution of the fueling robot is not provided in the technical document disclosed in the patent, however, the fueling robot is a very complicated mechanical control system, and the cost is high, and there is a safety hazard.
The application numbers are: CN201910490133.4, chinese patent discloses an automatic fuel gun connected to a fuel charger, comprising a ceiling arranged above a fuel station, a fuel gun traveling frame, a monitoring camera, a fuel gun, a voice prompter, a fuel filler port identification camera and a fuel gun transverse driver, which are hung under the ceiling; the ground of filling station is provided with pressure sensor, and the nozzle is connected with the tanker aircraft, and the tanker aircraft is connected with the controller, and the storage module of controller has all kinds of motorcycle type fuel tank oil filler hole positional information in. The method comprises the steps of hoisting a refueling gun on a refueling gun traveling frame, starting a controller connected with the refueling machine, monitoring image information sent by a camera and wheel position information collected by a pressure sensor arranged on the ground of a gas station, sending a driving instruction by the controller according to vehicle type information stored in a memory, controlling the movement of the refueling gun traveling frame, moving the refueling gun to the position of a fuel tank port of a vehicle, and returning the refueling gun to the original position after refueling. The fuel filler pipe of the fuel filler is hung on the top nozzle, the fuel filler pipe is long in pipeline, the driving structure of the fuel gun is complex, and the fuel gun is aligned to the fuel tank port of the vehicle, so that the accuracy of the fuel gun aligning to the fuel tank port of the vehicle is improved, and the structure of the fuel filler pipe is required to be improved.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provides the automatic oiling gun arranged under the unmanned helicopter, which has the advantages of high automation degree of vehicle oiling, high accuracy of oiling operation, high flexibility, small and exquisite automatic oiling equipment, good safety performance and simple structure.
In order to achieve the above object, the technical scheme of the utility model is to provide an automatic fuel gun arranged under an unmanned helicopter, the unmanned helicopter comprises a helicopter wing assembly, a light helicopter undercarriage is arranged under the wing assembly, a fuel gun driving frame is arranged in the light helicopter undercarriage, a bottom plate is arranged under the fuel gun driving frame, a lifting driving mechanism is arranged at the upper part of the bottom plate, a lifting part in the lifting driving mechanism is connected with a lifting platform, a rotary driving mechanism is arranged on the lifting platform, a rotary disc is arranged on the rotary driving mechanism, a transverse driving mechanism is arranged on the rotary disc, a transverse moving part is arranged in the transverse driving mechanism, a fuel gun swinging driving part and a fuel tank cover switch driving part are arranged on the transverse moving part, a fuel gun clamping part is connected on the fuel gun swinging driving part, and a battery and a fuel tank position detecting device which are respectively connected with a PLC controller are arranged on the bottom plate, the PLC is also electrically connected with the helicopter driving servo motor and the driving parts in each driving mechanism respectively.
In order to facilitate the stable, safe and flexible taking off and landing of the unmanned helicopter, the preferable technical scheme is that the helicopter driving servo motor is provided with 4 parts which are respectively arranged on 4 wings, the 4 wings are connected with a light helicopter undercarriage through wing connecting frames, the light helicopter undercarriage is of an inverted U-shaped frame structure, and casters are arranged at the bottom of the frame.
In order to facilitate the oiling gun to refuel different vehicles and adapt to different oil tank heights of different vehicles, the preferred technical scheme is that the lifting driving mechanism is a screw nut lifting mechanism which comprises a lifting driving servo motor connected with the upper surface of the bottom plate, the lifting driving servo motor is connected with one end of a lifting driving screw rod, the lifting driving screw rod is in threaded fit with the lifting driving nut, a lifting slider is arranged on one side of the lifting driving nut and is in sliding fit with a guide groove of a lifting guide part arranged on the upper surface of the bottom plate, a cantilever type lifting platform is arranged on the other side of the lifting driving nut, and the other end of the lifting driving screw rod is connected with the lifting guide part through a supporting part.
In order to facilitate the control of the oil gun, the oil gun extends out of the oil gun driving frame when the oil gun is required to be used for oiling the vehicle, the oil gun is recycled into the oil gun driving frame when the oil gun is not required to be used for oiling the vehicle, so that other vehicles and the oil gun cannot be damaged due to collision.
In order to facilitate the insertion of the refueling gun into an oil tank of a refueled vehicle after a refueling gun driving frame is close to the refueled vehicle, the preferred technical scheme is that the transverse driving mechanism is a transverse lead screw nut driving mechanism which comprises a transverse driving servo motor arranged on a turntable, an output shaft of the transverse driving servo motor is connected with one end of a transverse driving lead screw, the other end of the transverse driving lead screw is connected onto the turntable through a bracket, the transverse driving lead screw is in threaded fit with the transverse driving nut, a transverse guide groove sliding block is arranged below the transverse driving nut and is in sliding fit with a transverse guide groove sliding groove arranged on the turntable, a transverse moving part is arranged above the transverse driving nut, and the transverse moving part is a supporting plate.
In order to facilitate the insertion of the oil gun into the oil tank of the vehicle to be refueled after the oil gun driving frame is close to the vehicle to be refueled, the preferred technical scheme is that the oil gun swinging driving part comprises an oil gun driving servo motor which is arranged on a transverse moving part and drives the oil gun to swing up and down, an output shaft of the oil gun driving servo motor is connected with an oil gun clamping part, the oil gun clamping part is used for clamping and fixing the oil gun, and the oil gun clamping part is of a triangular supporting frame structure or a triangular clamping sleeve type clamping structure.
In order to facilitate the oil tank door of the vehicle to be refueled to be opened and refueled after the refueling gun driving frame is close to the vehicle to be refueled, and to close the oil tank door after refueling, the preferred technical scheme is that the fuel tank cap switch driving part comprises a transverse ejector rod driving servo motor which is arranged on a rotary table and drives a transverse ejector rod to swing left and right, a transverse ejector rod which is vertically connected with an output shaft is connected onto the output shaft of the transverse ejector rod driving servo motor, the transverse ejector rod is divided into a rigid section and an elastic flexible section, one end of the rigid section is connected with the output shaft of the transverse ejector rod driving servo motor, the other end of the rigid section is connected with one end of the elastic flexible section, and a rubber mushroom head is arranged at the other end of the elastic flexible section.
In order to facilitate the simplification of a driving mechanism for inserting the oil gun into the oil tank and a driving mechanism for opening and closing the oil tank door, the two driving mechanisms are arranged on the same transverse moving part, the preferable technical scheme is that the oil gun swinging driving part and the oil tank cover switch driving part are respectively arranged at two positions on the transverse moving part, and the swinging surface direction of the oil gun swinging driving part and the oil tank cover switch driving part drive the accelerator switch direction to form an included angle of 60-180 degrees.
In order to facilitate the monitoring of the position of the refueled vehicle and the position of the oil tank, and facilitate the accurate and comprehensive monitoring of the position of the refueled vehicle and the position of the oil tank, the further preferred technical scheme is that the lifting guide part is a guide plate or a guide frame, an oil tank position detection device is arranged on the guide plate or the guide frame, the oil tank position detection device comprises a laser range finder or a radar speed and distance measuring instrument, an optical camera and a far infrared probe, and a voice prompt and an alarm are arranged on the guide plate or the guide frame.
In order to ensure the use safety of the oil gun, improve the oil filling efficiency of the oil gun and simplify the PLC controller, the preferable technical scheme is that three side surfaces of an oil gun driving frame on the bottom plate are respectively provided with a transparent cover shell, and an oil filling pipe of the oil gun is connected with the oil gun through the side surface of the transparent cover shell or the bottom plate; the battery and the PLC are arranged on the bottom plate in the transparent housing, the PLC is also connected with a display, and the display is hung and mounted below the top of the driving frame of the oil gun; the oil filling pipe of the oil filling gun is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.
The utility model has the advantages and beneficial effects that: the automatic oiling gun arranged under the unmanned helicopter has the characteristics of high degree of automation of vehicle oiling, high accuracy of oiling operation, high flexibility, small and exquisite automatic oiling equipment, good safety performance, simple structure and the like.
When the refueled vehicle drives into the gas station, the vehicle fuel tank position detecting device on the unmanned helicopter can judge the distance between the refueled vehicle and the unmanned helicopter and the position of the fuel tank door of the refueled vehicle. At the moment, the unmanned helicopter with the oiling gun drags the oiling pipe to fly to a position parallel to and close to the fueled vehicle and descends on one side of an oil tank of the fueled vehicle, and then the unmanned helicopter with the oiling gun can control the oiling gun to carry out a full-automatic oiling operation process for the fueled vehicle through a PLC (programmable logic controller) arranged on a bottom plate by connecting an oiling gun clamping component with an oiling gun swinging driving component and an oil tank cover switch driving component on the transverse moving component through a lifting driving mechanism and a rotary driving mechanism arranged on a lifting platform, a rotary disc on the rotary driving mechanism, a transverse driving mechanism on the rotary disc, a transverse moving component in the transverse driving mechanism, and an oiling gun swinging driving component and an oil tank cover switch driving component on the transverse moving component.
Drawings
FIG. 1 is a schematic view of the main structure of an automatic fuel gun according to the present invention;
FIG. 2 is a schematic side view of the structure of FIG. 1;
FIG. 3 is a diagram of the fueling state of FIG. 2;
FIG. 4 is a diagram of the refuel condition of FIG. 2;
FIG. 5 is a diagram of the open throttle condition of FIG. 2;
fig. 6 is a diagram of the open throttle condition of fig. 2.
In the figure: 1. a wing assembly; 1.1, driving a servo motor by the helicopter; 1.2, connecting a wing with a frame; 2. a landing gear; 2.1, a caster; 3. a fuel gun drive frame; 4. a base plate; 5. a lifting drive mechanism; 5.1, driving a servo motor in a lifting way; 5.2, lifting a driving screw rod; 5.3, lifting the driving nut; 5.4, lifting the sliding block; 6. a lifting platform; 7. a rotation driving mechanism; 7.1, rotationally driving a servo motor; 8. a turntable; 8.1, a transverse guide chute; 9. a lateral drive mechanism; 9.1, transversely driving a servo motor; 9.2, transversely driving a screw rod; 9.3, transversely driving the nut; 9.4, a transverse guide groove slide block; 10. a lateral moving member; 11. an oil gun swing drive part; 11.1, driving a servo motor by swinging an oil gun; 12. a fuel tank cap switch drive member; 12.1, a transverse ejector rod; 12.11, a rigid section; 12.12, a flexible section; 12.2, driving a servo motor by a transverse ejector rod; 12.3, rubber mushroom heads; 13. a fuel gun clamping component; 14. a PLC controller; 14.1, a display; 15. a battery; 16. a tank position detecting device; 17. a lifting guide member; 17.1, sliding the guide groove; 18. a transparent cover shell; A. an unmanned helicopter; B. a fuel nozzle.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 6, the utility model is an automatic fuel gun arranged under an unmanned helicopter, the unmanned helicopter a comprises a helicopter wing assembly 1, a light helicopter undercarriage 2 is arranged under the wing assembly 1, a fuel gun driving frame 3 is arranged in the light helicopter undercarriage 2, a bottom plate 4 is arranged under the fuel gun driving frame 3, a lifting driving mechanism 5 is arranged at the upper part of the bottom plate 4, a lifting part in the lifting driving mechanism 5 is connected with a lifting platform 6, a rotary driving mechanism 7 is arranged on the lifting platform 6, a rotary table 8 is arranged on the rotary driving mechanism 7, a transverse driving mechanism 9 is arranged on the rotary table 8, a transverse moving part 10 is arranged in the transverse driving mechanism 9, a fuel gun swinging driving part 11 and a fuel tank cover switch driving part 12 are arranged on the transverse moving part 10, a fuel gun swinging driving part 11 is connected with a fuel gun clamping part 13, the bottom plate 4 is provided with a battery 15 and an oil tank position detection device 16 which are respectively connected with a PLC (programmable logic controller) 14, and the PLC 14 is also respectively and electrically connected with a helicopter driving servo motor 1.1 and driving components in each driving mechanism.
In order to facilitate the stable, safe and flexible operation of the unmanned helicopter, the preferred embodiment of the utility model is that the helicopter driving servo motor 1.1 is provided with 4 parts which are respectively arranged on 4 wings, the 4 wings are connected with the light helicopter undercarriage 2 through wing connecting frames 1.2, the light helicopter undercarriage 2 is in an inverted U-shaped frame structure, and the bottom of the frame is provided with trundles 2.1.
In order to facilitate the refueling of the refueling gun B for different vehicles and adapt to different fuel tank heights of different vehicles, the preferred embodiment of the utility model is that the lifting driving mechanism 5 is a lead screw nut lifting mechanism, the lead screw nut lifting mechanism comprises a lifting driving servo motor 5.1 connected with the upper surface of the bottom plate 1, the lifting driving servo motor 5.1 is connected with one end of a lifting driving lead screw 5.2, the lifting driving lead screw 5.2 is in threaded fit with the lifting driving nut 5.3, a lifting slider 5.4 is arranged on one side of the lifting driving nut 5.3, the lifting slider 5.4 is in sliding fit with a guide groove 17.1 of a lifting guide part 17 arranged on the bottom plate 1, a cantilever type lifting platform 6 is arranged on the other side of the lifting driving nut 5.3, and the other end of the lifting driving lead screw 5.2 is connected with the lifting guide part 17 through a support part.
In order to facilitate the control of the oil gun B to extend out of the oil gun driving frame 3 when the oil gun B needs to be used for oiling the vehicle, and to recycle the oil gun into the oil gun driving frame 3 when the oil gun B does not need to be used for oiling the vehicle, so that the oil gun can not damage other vehicles and the oil gun due to collision.
In order to facilitate the insertion of the fuel nozzle B into the tank of the vehicle to be refueled, after the nozzle actuating frame 3 has approached the vehicle to be refueled, a preferred embodiment of the utility model also, the transverse driving mechanism 9 is a transverse lead screw nut driving mechanism, the transverse lead screw nut driving mechanism comprises a transverse driving servo motor 9.1 installed on a rotary table 8, an output shaft of the transverse driving servo motor 9.1 is connected with one end of a transverse driving lead screw 9.2, the other end of the transverse driving lead screw 9.2 is connected onto the rotary table 8 through a support, the transverse driving lead screw 9.2 is in threaded fit with a transverse driving nut 9.3, a transverse guide groove sliding block 9.4 is arranged below the transverse driving nut 9.3, the transverse guide groove sliding block 9.4 is in sliding fit with a transverse guide sliding groove 8.1 arranged on the rotary table 8, a transverse moving part 10 is arranged above the transverse driving nut 9.3, and the transverse moving part 10 is a supporting plate.
In order to facilitate the insertion of the fueling gun B into the fuel tank of the vehicle to be fueled after the fueling gun driving frame 3 approaches the vehicle to be fueled, in a preferred embodiment of the present invention, the fueling gun swing driving part 11 includes a fueling gun swing driving servo motor 11.1 arranged on the lateral moving part 10 and driving the fueling gun B to swing up and down, an output shaft of the fueling gun swing driving servo motor 11 is connected with a fueling gun clamping part 13, the fueling gun clamping part 13 is used for clamping and fixing the fueling gun B, and the fueling gun clamping part 13 is a triangular supporting frame structure or a triangular clamping sleeve type clamping structure.
In order to facilitate the refueling of the refueled vehicle after the refueling gun driving frame 3 approaches the refueled vehicle, and to close the fuel tank door after refueling, the preferred embodiment of the present invention further includes that the fuel tank cap switch driving part 12 includes a transverse push rod driving servo motor 12.2 installed on the turntable 8 for driving the transverse push rod 12.1 to swing left and right, the transverse push rod 12.1 connected to the output shaft of the transverse push rod driving servo motor 12.2 is connected to the output shaft of the transverse push rod driving servo motor 12.2, the transverse push rod 12.1 is divided into two parts, namely a rigid section 12.11 and an elastic flexible section 12.12, one end of the rigid section 12.11 is connected to the output shaft of the transverse push rod driving servo motor 12.2, the other end of the rigid section 12.11 is connected to one end of the elastic flexible section 12.12, and the other end of the elastic flexible section 12.12 is provided with a rubber mushroom head 12.3.
In order to simplify the driving mechanism for inserting the fuel nozzle B into the fuel tank and the driving mechanism for opening and closing the fuel tank door, the two driving mechanisms are mounted on the same transverse moving member 10, and in a preferred embodiment of the present invention, the fuel nozzle swing driving member 11 and the fuel tank cover switch driving member 12 are respectively mounted at two locations on the transverse moving member 10, and the direction of the swing surface of the fuel nozzle swing driving member 11 and the direction of the fuel tank cover switch driving member 12 driving the fuel tank switch form an angle of 60 ° to 180 °, preferably 90 °.
In order to facilitate the monitoring of the position of the refueled vehicle and the position of the fuel tank and facilitate the accurate and comprehensive monitoring of the position of the refueled vehicle and the position of the fuel tank, a further preferred embodiment of the present invention is that the lifting guide part 17 is a guide plate or a guide frame, the guide plate 17 or the guide frame is provided with a fuel tank position detection device 16, the fuel tank position detection device 16 comprises a laser range finder or a radar speed and distance measuring instrument, an optical camera and a far infrared probe, and the guide plate or the guide frame is provided with a voice prompt and an alarm (not shown in the figure).
In order to ensure the use safety of the oil gun B, improve the oil filling efficiency of the oil gun B and simplify the PLC controller, the preferred embodiment of the utility model is that three sides of the oil gun driving frame 3 on the bottom plate 4 are respectively provided with a transparent cover shell 18, and an oil filling pipe of the oil gun B is connected with the oil gun B through the side surface of the transparent cover shell 18 or the bottom plate 4; the battery 15 and the PLC 14 are arranged on the bottom plate 1 in the transparent housing 18, the PLC 14 is also connected with a display 14.1, and the display 14.1 is hung and mounted below the top of the oil gun driving frame 3; the oil filling pipe of the oil filling gun B is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.
The working principle of the automatic oil gun arranged on the unmanned helicopter is as follows:
after the refueled vehicle drives into the gas station, the distance, the direction and the head orientation of the refueled vehicle from the unmanned helicopter A and the position of the fuel tank door of the refueled vehicle can be judged by a laser range finder or a radar speed measuring range finder, an optical camera, a far infrared probe and the like in the vehicle fuel tank position detecting device 16 on the unmanned helicopter A. At this time, the unmanned helicopter A carrying the fuel truck B drags the fuel truck to take off and fly to a position parallel to and approximately aligned with the refueled vehicle, and is positioned at one side of the fuel tank of the refueled vehicle to land and stop, then the height of the fuel truck B on the lifting platform 6 is adjusted to a position consistent with the height of the fuel tank of the refueled vehicle through the lifting driving mechanism 5, the lifting platform 6 is provided with the rotary driving mechanism 7, the rotary disc 8 on the rotary driving mechanism 7, the rotary driving mechanism 7 firstly rotates the rotary disc 8 to the direction that the fuel tank cover switch driving part 12 is aligned with the fuel tank of the refueled vehicle, then the transverse moving part 10 in the transverse driving mechanism 9 drives the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector 12.1 in the fuel tank cover switch driving part 12 to press against the fuel tank cover to open the fuel tank cover, and then the transverse moving part 10 in the transverse driving mechanism 9 drives the rubber head 12.12 on the flexible section 12 at one end 12.1 in the transverse ejector 12 in the fuel tank cover switch driving part 12 The mushroom head 12.3 retreats a distance, and simultaneously the unmanned helicopter also longitudinally and backwards slightly moves a distance, so that the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the driving transverse push rod 12.1 in the fuel tank cap opening and closing driving part 12 moves to the opened side of the fuel tank cap, then the transverse mandril 12.1 is driven to swing left and right to drive the servo motor 12.2 to start, the fuel tank cover is completely rotated and opened by the swinging of a rubber mushroom head 12.3 on a flexible section 12.12 at one end of a transverse ejector rod 12.1, a transverse moving part 10 drives a fuel tank cover switch driving part 12 to retreat again, a rotary disc 8 rotates by 90 degrees to align a fuel gun with a fuel tank opening, the transverse moving part 10 moves forwards and a fuel gun swinging driving part 11 drives the fuel gun to swing downwards to carry out combined motion, the fuel gun is inserted into the fuel tank and then is filled with fuel, and the combined motion in the opposite direction after the fuel filling is finished is the motion that the fuel gun leaves the fuel tank opening of the mailbox. The rotating disc 8 rotates reversely by 90 degrees, the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1 in the driving part 12 for driving the oil tank cover switch is aligned with the oil tank opening again, meanwhile, the unmanned helicopter also slightly moves forwards longitudinally by a distance, the transverse moving part 10 moves forwards, the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1 in the driving part 12 for driving the oil tank cover switch is advanced by a distance, then the transverse ejector rod driving servo motor 12.2 for driving the transverse ejector rod 12.1 to swing left and right drives the servo motor 12.2 to start, the oil tank cover is rotated to a closing position by the swing of the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1, and finally the transverse moving part 10 moves forwards again to drive the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1 to press the oil tank cover again to finally close the oil tank cover. The unmanned aerial vehicle which is oiled by the oiled vehicle takes off again and flies back to the initial position for standby. The oiling process is controlled by the PLC 14 to complete the whole oiling process automatically through a control program.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An automatic oil gun arranged under an unmanned helicopter is characterized in that the unmanned helicopter comprises a helicopter wing assembly, a light and light helicopter undercarriage is arranged under the wing assembly, an oil gun driving frame is arranged in the light helicopter undercarriage, a bottom plate is arranged under the oil gun driving frame, a lifting driving mechanism is arranged at the upper part of the bottom plate, a lifting part in the lifting driving mechanism is connected with a lifting platform, a rotary driving mechanism is arranged on the lifting platform, a rotary disc is arranged on the rotary driving mechanism, a transverse driving mechanism is arranged on the rotary disc, a transverse moving part is arranged in the transverse driving mechanism, an oil gun swinging driving part and an oil tank cover switch driving part are arranged on the transverse moving part, an oil gun clamping part is connected on the oil gun swinging driving part, and a battery and an oil tank position detecting device which are respectively connected with a PLC are arranged on the bottom plate, the PLC is also electrically connected with the helicopter driving servo motor and the driving parts in each driving mechanism respectively.
2. The automatic fuel gun under the unmanned helicopter of claim 1, wherein the helicopter driving servo motor has 4 parts and is respectively disposed on 4 wings, the 4 wings are connected with the light helicopter undercarriage through wing connecting frames, the light helicopter undercarriage is in an inverted U-shaped frame structure, and casters are disposed at the bottom of the frame.
3. The automatic fuel filling gun arranged under the unmanned helicopter according to claim 1, wherein the elevation driving mechanism is a screw nut elevation mechanism, the screw nut elevation mechanism comprises an elevation driving servo motor connected with the upper surface of the bottom plate, the elevation driving servo motor is connected with one end of an elevation driving screw rod, the elevation driving screw rod is in threaded fit with the elevation driving nut, one side of the elevation driving nut is provided with an elevation slider, the elevation slider is in sliding fit with a guide groove of an elevation guide part arranged on the upper surface of the bottom plate, the other side of the elevation driving nut is provided with a cantilever type elevating platform, and the other end of the elevation driving screw rod is connected with the elevation guide part through a supporting part.
4. The automatic fuel gun as claimed in claim 1, wherein the rotary drive mechanism comprises a rotary drive servomotor connected to the elevating platform, and an output shaft of the rotary drive servomotor is connected to the turntable via a flange.
5. The automatic fuel gun as claimed in claim 1, wherein the lateral driving mechanism is a lateral screw nut driving mechanism, the lateral screw nut driving mechanism includes a lateral driving servo motor mounted on a turntable, an output shaft of the lateral driving servo motor is connected to one end of a lateral driving screw rod, the other end of the lateral driving screw rod is connected to the turntable through a bracket, the lateral driving screw rod is in threaded fit with the lateral driving nut, a lateral guide groove slider is disposed below the lateral driving nut, the lateral guide groove slider is in sliding fit with a lateral guide groove sliding groove disposed on the turntable, a lateral moving member is disposed above the lateral driving nut, and the lateral moving member is a supporting plate.
6. The automatic fuel gun arranged under the unmanned helicopter according to claim 1, wherein the fuel gun swing driving part comprises a fuel gun driving servo motor arranged on the lateral moving part and driving the fuel gun to swing up and down, a fuel gun clamping part is connected to an output shaft of the fuel gun driving servo motor and used for clamping and fixing the fuel gun, and the fuel gun clamping part is of a triangular support frame structure or a triangular clamping sleeve type clamping structure.
7. The automatic fuel gun under the unmanned helicopter of claim 1, wherein the fuel tank cap switch driving part comprises a transverse push rod driving servo motor installed on the turntable for driving the transverse push rod to swing left and right, the output shaft of the transverse push rod driving servo motor is connected with a transverse push rod vertically connected with the output shaft, the transverse push rod is divided into a rigid section and an elastic flexible section, one end of the rigid section is connected with the output shaft of the transverse push rod driving servo motor, the other end of the rigid section is connected with one end of the elastic flexible section, and the other end of the elastic flexible section is provided with a rubber mushroom head.
8. The automatic fuel nozzle installed under an unmanned helicopter of claim 1, wherein the fuel nozzle swing driving part and the fuel tank cap switch driving part are installed at two locations respectively at the lateral moving part, and the direction of the swing surface of the fuel nozzle swing driving part and the direction of the fuel tank cap switch driving part driving the throttle switch form an angle of 60 ° to 180 °.
9. The automatic fuel gun arranged under the unmanned helicopter according to claim 3, wherein the lifting guide component is a guide plate or a guide frame, a fuel tank position detecting device is arranged on the guide plate or the guide frame, the fuel tank position detecting device comprises a laser range finder or a radar speed measuring range finder, an optical camera and a far infrared probe, and a voice prompt and an alarm are arranged on the guide plate or the guide frame.
10. The automatic fuel gun arranged under the unmanned helicopter of claim 1, wherein the fuel gun driving frame above the base plate is provided with transparent housings on three sides respectively, and the fuel pipe of the fuel gun is connected with the fuel gun through the side surface of the transparent housing or under the base plate; the battery and the PLC are arranged on the bottom plate in the transparent housing, the PLC is also connected with a display, and the display is hung and mounted below the top of the driving frame of the oil gun; the oil filling pipe of the oil filling gun is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.
Priority Applications (1)
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Cited By (1)
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CN117923408A (en) * | 2024-03-25 | 2024-04-26 | 福州市规划设计研究院集团有限公司 | Automatic oiling control system |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN117923408A (en) * | 2024-03-25 | 2024-04-26 | 福州市规划设计研究院集团有限公司 | Automatic oiling control system |
CN117923408B (en) * | 2024-03-25 | 2024-06-07 | 福州市规划设计研究院集团有限公司 | Automatic oiling control system |
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