DE19839049B4 - Device for the automatic refueling of motor vehicles - Google Patents

Abstract

Device for the automatic refueling of motor vehicles with different quality fuels with a component of a cantilever of a tank robot forming end effector (1), wherein the end effector (1) comprises the following assemblies:
- A tank flap unit (2) for opening and closing the fuel filler flap of a motor vehicle with a at the free end of a telescopic flexible flap arm (3) arranged sucker (4);
- A tank closure gripping unit (5) with a rotatable and axially displaceable tank closure head (6), a tank closure the localization sensor (7) and gripping tongs (8) for locking contact on the tank cap;
- A filling tube unit (9) with a central filling tube (10), a filling tube (10) concentrically comprising rotary sleeve (11) and a rotary sleeve (11) axially displaceable, spring-loaded, forming an abutment for the gripping tongs (8), the rotary sleeve (11) cross sliding sleeve (12) and
- A nozzle valve unit (13) with an integrated rotary feedthrough (14) for supplying fuel to the filling tube (10).

Description

The The invention relates to a device for automatic refueling of motor vehicles with different quality fuels with one Component of a boom of a tank robot forming end effector.

Around Making refueling easier to service is an ambitious effort underway to automate the refueling process.

Automated automotive refueling and refueling robots are known in various designs. So counts by the DE 39 30 981 A1 a method and apparatus for automatically refueling motor vehicles of the prior art. The fueling system has a separate dispensing unit for each type of fuel available with a filling hose and attached fuel nozzle.

To the Fueling a motor vehicle takes a manipulator of the dispensing unit designed as a filling head Fuel nozzle from its tray and leads this into the with a to open Closure provided tank neck of a motor vehicle. After this Fueling the motor vehicle brings the manipulator in the filling head his filing back.

For every fuel type a separate dispensing unit is required. This increases the technical equipment Effort and costs.

The prior art also counts by the DE 42 42 243 A1 a tank robot housed inside a tank island. The tank robot can take different nozzles with its grippers and lead to the tank neck of a motor vehicle.

Also known by the DE 42 42 244 A1 a handling device for the automatic refueling of motor vehicles. In order to introduce the filling tube into the filler neck of the vehicle, the handling device has an end effector, which is associated with a position detection device which is connected to a controller of the manipulator. Before inserting the filling tube into the filler neck, the end effector is docked to the tank lid.

Furthermore heard by the DE 44 19 657 C1 a fueling unit of the prior art with a fuel nozzle module and a connecting bell module. The actuating unit is part of a refueling robot, on whose robot arm an end effector is arranged, which carries the refueling unit. The refueling unit has a fuel nozzle receiving sleeve for receiving a fuel nozzle. The nozzle module and the connec tion bell module relative to each other and relative to the end effector in the axial direction displaceable. In the waiting position of the refueling unit and after completion of the refueling unit, the filling tube with its filling tube mouth is in front of the filling tube closure flap and is sealed by it. Fuel nozzle module and connecting bell module are spaced apart. In the refueling position, the connecting bell module and fuel nozzle module collide with each other. In this case, the filling tube protrudes from the stop bell module when the filler tube closure flap is pushed open.

The Decoupling tap valve module and connection bell module inside the end effector makes the refueling unit more flexible. A practical However, realization has not been achieved so far.

Of the Invention is based on the prior art, the task, a structurally improved flexible and efficient end effector for docking to the tank neck of a motor vehicle and refueling to create the motor vehicle.

The solution This object is according to the invention in an end effector according to claim 1.

• – eine Tankklappen-Einheit zum Öffnen und Schließen der Tankklappe eines Kraftfahrzeugs mit einem am freien Ende eines teleskopierbaren flexiblen Klappenarms angeordneten Sauger,
• – eine Tankverschluss-Greifeinheit mit einem drehbaren und axial verlagerbaren Tankverschluss-Kopf, einer den Tankverschluss lokalisierenden Sensorik und Greifzangen zum arretierenden Kontakt am Tankverschluss,
• – eine Füllrohr-Einheit mit einem zentralen Füllrohr, einer das Füllrohr konzentrisch umfassenden Drehhülse und einer zur Drehhülse axial verlagerbaren, federbelasteten, ein Widerlager für die Greifzangen bildenden, die Drehhülse übergreifenden Schiebehülse sowie
• – eine Zapfventil-Einheit mit einer integrierten Drehdurchführung zur Zuleitung von Kraftstoff zum Füllrohr.

Thereafter, the component of a boom of a tank robot end effector forming the following modules:

• A tank flap unit for opening and closing the tank flap of a motor vehicle with a vacuum cleaner arranged at the free end of a telescopic flexible flap arm,
• A tank closure gripping unit with a rotatable and axially displaceable tank closure head, a sensor which locates the tank closure and gripping tongs for arresting the contact on the tank closure,
• - A filling tube unit with a central filling tube, the filling tube concentrically comprehensive rotary sleeve and a rotary sleeve axially displaceable, spring-loaded, forming an abutment for the gripping tongs, the rotary sleeve cross sliding sleeve and
• - A nozzle unit with an integrated rotary feedthrough for supplying fuel to the filling tube.

advantageous Further developments and refinements of the inventive concept form Subject of the dependent claims 2 to 5.

To Claim 2, the gripper tongs are radially tilted and mounted to the sliding sleeve axially relatively displaceable.

Of the Tank closure head is advantageous limited space articulated to the sliding sleeve arranged (claim 3). By this feature is a particularly favorable positioning of the tank cap head relative to the tank cap possible.

In Another advantageous embodiment of the flap arm by a Spring tube formed and has a bellows-shaped suction cup end on (claim 4). Both the spring tube and the bellows-like Suckers serve to damage of the vehicle when opening and closing to avoid the fuel filler flap of a motor vehicle. The sucker sticks by a generator of a Unterdrucker generated vacuum on the Tank flap, with its bellows-like training an adaptation to different surface contours the fuel filler flap allows.

In Another advantageous embodiment of the invention is a fuel line for various petrol fuels and a fuel line for Diesel fuels led to the rotary feedthrough (claim 5). The rotary feedthrough are Changeover valves for locking and switching the individual fuels upstream. By only one fuel pipe for different Otto fuels is a cheap Design of the rotary feedthrough possible. A loss of quality of each Fuel is by remaining in the fuel line residual amount not to worry because the fuels are on the one hand of the same fuel and secondly the residual amount is negligibly small and far below harmful Limits. The separation of petrol fuels from diesel fuels already before the rotary feedthrough allows an emptying of the filling tube in the end effector, thereby avoiding mixing of the fuel types becomes.

The Invention is described below with reference to the accompanying schematic not to scale drawing based on a technically simple illustrated embodiment described in more detail.

A component of a boom of a tank robot forming end effector 1 essentially comprises three functional groups. A tank flap unit 2 serves to open and close the fuel filler flap of a motor vehicle. It is at a free end of a telescopic, formed from a flexible spring tube, Klappenarms 3 a bellows-shaped sucker 4 arranged.

Furthermore, the end effector includes 1 a gas cap gripping unit 5 with a rotatable and axially displaceable tank cap head 6 , To the tank cap gripping unit 5 further include a sensor that locates the tank cap 7 and tongs 8th for arresting contact on the tank cap. The front gripper tongs are spring-loaded and slide-guided. They are moved by a drive and can grab and open a fuel cap.

Moreover, a filling tube unit counts 9 with a central filling tube 10 with gas return to the end effector 1 , The filling tube 10 is concentric with a rotating sleeve 11 includes and from one to the rotating sleeve 11 axially displaceable spring-loaded sliding sleeve 12 , The sliding sleeve 11 forms an abutment for the tongs 8th , The radially tilted articulated mounted and axially relative to the sliding sleeve 12 are relocatable.

About a nozzle unit 13 with an integrated rotary feedthrough 14 fuel gets to the filling tube 9 , The nozzle unit 13 consists of a round body with valve technology, whereby the rotary union with fuel lines 15 . 16 connected to the supply of various fuels. The nozzle unit also includes the necessary sensors for filling and switching off the refueling process.

A refueling process takes place as follows:
The fuel filler flap is opened by means of the tank flap unit 2 opened, then the end effector docks 1 on the fuel filler neck and the tank cap is opened. After that, the filling tube moves 10 in the filler neck and the vehicle is refueled. After completion of the refueling process and extension of the filling tube 10 From the filler neck of the tank cap by means of the tank cap gripper unit 5 turned closed and the end effector 1 docks off. Finally, the fuel filler flap is closed.

After reaching the Tankklappenöffnungsvorposition the robot moves sensory guided to the fuel filler flap of the vehicle and at the same time drives the flap arm 3 with sucker 4 with a drive 17 telescopic. The sucker 4 accesses the tank flap via vacuum and opens it.

Afterwards the flap arm moves 3 one and the robot moves sensory led to the tank cap of the vehicle and docked.

When docking, the tank cap head contacts 6 with the tank cap and may possibly due to a compensation unit on the tank cap center. By a further defined feed movement and the Ab supporting the tank cap head 6 on the tank cap are the tongs 8th over the scenes 18 and scenery spring 19 locked with the tank cap. It then creates a frictional and positive connection for transmitting the opening or closing moments of the tank cap. After that, the drive is activated and the tank cap is opened in a rotary motion. In this case, a relative axial stroke of the tank cap is compensated and turned on the gas extraction. By the gas extraction, a gas recirculation of released vapors from the vehicle tank.

After the tank cap is opened, it is replaced by a further feed movement of the end effector 1 in the direction of the tank closure central axis the filling tube 10 retracted into the filler neck. In this feed movement be the sliding sleeve moves 12 on the rotary sleeve 11 , This is a return spring 20 axially tensioned.

Now the actual refueling process takes place. The fuel flows through a rotary feedthrough 14 into the nozzle unit 13 and through the filling tube 10 in the motor vehicle tank.

After completing the refueling process and switching off the fuel supply line, the robot moves back axially and the sliding sleeve 12 is due to the return spring 20 brought into their starting position. In this case, it experiences a relative movement in the direction of the rotary sleeve 11 ,

Due to this backward movement the filling tube moves 10 from the tank cap. This can now be closed by a direction opposite to the opening direction of rotation. During this movement, the relative axial stroke of the tank cap is automatically offset by a relative displacement of the tank cap head 6 compensated. Now the robot docks with its end effector 1 from the tank cap of the vehicle. Here are the scenes 18 and the scenery feathers 19 the tongs 8th in the tank cap head 6 released and returned to its original position via suitable return elements such as springs.

The robot moves with the flap arm extended 3 and suckers 4 to the still open fuel door and closes it. Then the tank robot takes its starting position.

1

end effector

2

Tank flap unit

3

clapper

4

sucker

5

Tank closure gripping unit

6

Gas-Cap-head

7

sensors

8th

tongs

9

fill tube

10

filling pipe

11

rotating sleeve

12

sliding sleeve

13

Nozzle unit

14

Rotary union

15

Fuel line

16

Fuel line

17

drive

18

scenes

19

setting spring

20

Return spring

Claims (5)

Device for the automatic refueling of motor vehicles with different quality fuels with a component of a jib of a tank robot forming end effector ( 1 ), the end effector ( 1 ) comprises the following components: - a tank flap unit ( 2 ) for opening and closing the fuel filler flap of a motor vehicle with a free end of a telescopic flexible flap arm ( 3 ) arranged suckers ( 4 ); A gas cap gripping unit ( 5 ) with a rotatable and axially displaceable tank closure head ( 6 ), a sensor which locates the tank closure ( 7 ) and tongs ( 8th ) for arresting contact on the tank cap; A filling tube unit ( 9 ) with a central filling tube ( 10 ), the filling tube ( 10 ) concentric rotating sleeve ( 11 ) and one to the rotary sleeve ( 11 ) axially displaceable, spring-loaded, an abutment for the gripping tongs ( 8th ), the rotating sleeve ( 11 ) overlapping sliding sleeve ( 12 ) and - a nozzle unit ( 13 ) with an integrated rotary feedthrough ( 14 ) for supplying fuel to the filling tube ( 10 ). Device according to claim 1, in which the tongs ( 8th ) mounted radially tiltable joint and the sliding sleeve ( 12 ) are axially relatively displaceable. Apparatus according to claim 1 or 2, wherein the tank closure head ( 6 ) limited space articulated to the sliding sleeve ( 12 ) is arranged. Device according to one of claims 1 to 3, wherein the flap arm ( 3 ) is formed by a spring tube and end a bellows-like suction cup ( 4 ) having. Device according to Claim 1, in which a fuel line ( 15 ) for various petrol fuels and a fuel line ( 16 ) for diesel fuel up to rotary feedthrough ( 14 ) are guided.