JP2002179034A - Fluid filling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly move a filling machine to improve weighing accuracy of a weight of a cylinder in the filling machine and durability of a system by preventing a load when moving holding arms toward the filling machine from working to the filling machine side. SOLUTION: The fluid filling system includes a detected part 52A provided on the filling machine side, a first detector 50 provided on a carry-in device side for detecting the part 52A, a carry means for advancing right and left holding arms to carry the cylinder 2 into the filling machine by a detection signal thereof, and a second detector 51 located ahead in a moving direction B of the filling machine of the first detector 50. When the part 52A is detected by the first detector 50, the cylinder 2 is carried in the direction B of the filling machine moving ahead of a normal carry-in position D for the filling machine. Then, the detected part 52A is detected by the second detector 51, and the cylinder 2 held by the right and left arms is released by the detection signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to, for example, a method of automatically carrying cylinders sequentially into a gas filling apparatus, and loading the introduced cylinders with gas such as LPG by a filling machine provided in a rotary table type gas filling apparatus. And a fluid filling system such as a high pressure gas filling system configured to automatically carry out a cylinder from a gas filling device after automatically filling the gas.

[0002]

2. Description of the Related Art Conventionally, there is a high-pressure gas filling system for sequentially and automatically filling a large number of cylinders with a gas such as LPG. In this high-pressure gas filling system, an empty cylinder brought into the platform is transported by a receiving conveyor to a carry-in conveyor, and is further transported by the carry-in conveyor to a carry-in device in front of the gas filling device. The cylinder is carried into the gas filling device by the device.

[0003] The gas filling apparatus includes a rotary table that rotates around a vertical axis, and a plurality of filling machines that are circumferentially arranged at equal intervals on the outer peripheral side of the rotary table. The cylinders are carried one by one into each filling machine while the filling machine is moving in the rotation direction of the rotary table.
When gas is filled in the cylinder by the filling machine, when the filling machine comes to the disposition position of the unloading device, the cylinder is unloaded by the unloading device, and the cylinder is transferred to the unloading port by the unloading conveyor.

FIGS. 14 and 15 show an example of the carry-in device (see Japanese Patent Application Laid-Open No. 8-285191). The carry-in device 71 includes a carry-in / holding unit 73 for holding a cylinder 72, and the carry-in / holding unit 73 while holding the cylinder 72, moves forward toward the rotary table 74, and fills the rotary table 74 that rotates the cylinder 72. And a pull-back means 76 for retracting the carry-in holding means 73 after carrying the cylinder 72 into the filling machine.

The carrying-in / holding means 73 includes a movable body 77 which can move forward and backward, and a pair of left and right holding arms 78 supported by the movable body 77. On the left and right sides of the movable body 77,
The sliders 79 are fixed, and each of the sliders 79 is supported by a guide rod 80 arranged in the front-rear direction so as to be movable back and forth, whereby the movable body 77 can be moved forward and backward. The left and right holding arms 78 are attached to the rear base 7.
8a is supported by the slider 79 so as to be rotatable around an axis 81 in the front-rear direction.

The holding arm 78 extends upward from the base portion 78a toward the front, and then extends forward. A holding portion 82 is provided for contact. Further, the movable body 77 is provided with an opening / closing device for rotating the base portions 78a of the left and right holding arms 78 around an axis 81 in the front-rear direction. The left and right holding parts 82 are configured to be opened and closed by moving about the axial axis 81 in the direction, so that the left and right holding parts 82 approach and separate from each other. The cylinder 72 is configured to be clamped and held from both left and right sides by 82.

The synchronous loading means 75 includes first and second rotating arms 84 and 85 whose base side is rotatably supported on a support base 83 about a vertical axis 89 and which is rotatable in a horizontal plane. The first rotary arm 8 provided on the rotary table 74 side
4 includes a contact member 87 </ b> A that can be brought into contact with the contact roller 86 provided on the distal end side of the fourth arm 4, and a connection link 88 that connects the distal end side of the second rotating arm 85 and the movable body 77. .
The first rotation arm 84 is vertically swingably attached to the base side of the second rotation arm 85 and is vertically swingable by an air cylinder 90. The position can be freely changed between a contact position at which the contact member 87A can be contacted and a retracted position not contacted with the contact member 87A, which is indicated by a virtual line in FIG.

The contact member 87A is provided with the contact roller 86.
And a retractable position where the roller 86 does not contact the contacted roller 86, and is provided for each filling machine. The retraction means 76 is composed of an air cylinder, the cylinder tube 76A is fixed to the frame 91 of the carry-in conveyor, and the distal end side of the piston rod 76B is connected to the movable body 77. This air cylinder is of a single-acting type. When the movable body 77 moves forward, the piston rod 76B is pulled out by the load, and the piston rod 76B is returned by the compressed air.
7 is configured to be pulled back.

In the above construction, when the preparation for carrying in the cylinder 72 on the side of the filling machine is ready, the contact member 87 is set.
When A is located at the contact position and the cylinder 72 is transferred to the carry-in device 71 and the cylinder 72 is held by the holding portion 82, the contacted roller 86 is located at the contact position. Then, when the cylinder 72 moves on the carry-in conveyor in the direction of arrow A and is transferred to the carry-in device 71, the left and right holding arms 78 stand by in a posture in which the holding portions 82 at the ends thereof are spread. Then, the holding arm 78 is closed by the opening / closing device, and the cylinder 72 is held between the left and right holding portions 82.

The rotary table 74 is rotating in the direction of arrow B. When the filling machine rotates in the direction of arrow B and the contact member 87A contacts the contacted roller 86, the contact member 87A is rotated. The contacted roller 86 is pushed by this, the second rotating arm 85 is rotated integrally with the first rotating arm 84, and the movable body 77 is drawn to the vicinity of the rotating table 74 via the connecting link 88. Can be Along with this operation, the cylinder 72 held by the holding arm 78 is pushed out onto the rotary table 74 in a state synchronized with the rotation operation of the rotary table 74, and the cylinder 72 is carried into the filling machine.

Thereafter, the holding arm 78 is opened and the holding portion 8 is opened.
2 is separated from the cylinder 72, and the retraction means 76 is driven to pull the holding arm 78 back. As described above, since the cylinder 72 is loaded onto the rotary table 74 in synchronization with the rotation of the rotary table 74, the loading operation can be automated while preventing the loading timing and the loading position from being shifted. ing. The cylinder 72 carried into the filling machine on the rotating table 74 is filled by the filling machine while the rotating table 74 is rotating, and is carried out of the filling machine by the carrying-out device.

The unloading device has substantially the same construction as the unloading device, and has unloading and holding means for holding the cylinder 72 and a rotating means for rotating the unloading and holding means for holding the cylinder 72 of the filling machine on the rotary table 74. Synchronous unloading means for advancing to a filling machine on a table 74;
Withdrawal means for retreating the carry-out holding means while holding. The carrying-out holding means corresponds to the carrying-in holding means 73 of the carrying-in device 71, the synchronous carrying-out means corresponds to the synchronous carrying-in means 75 of the carrying-in device 71, and the pull-back means corresponds to the pull-back means 76 of the carrying-in device 71.

The contact member 87B of the carry-out device is connected to the carry-in device 7
The first contact member 87A is located below the contact member 87A, and is configured not to contact the contact roller 86 of the carry-in device 71. When the filling of the cylinder 72 with the gas is completed, the contact position is determined. Protrude into. Then, when the rotary table 74 is rotated and the filled cylinder 72 approaches the carrying-out device, the contact member 87B comes into contact with the contacted roller of the synchronous carrying-out means, and the holding arm, which has been opened beforehand, carries out the synchronous carrying-out. It is adapted to be moved onto the turntable 74 via the means.

Next, the holding arm is closed and the cylinder 72 is closed.
Is held, the pulling-back means is driven and the cylinder 72 is driven.
Is carried out of the filling machine on the turntable 74.

[0015]

SUMMARY OF THE INVENTION The aforementioned conventional loading device 7
In 1, the contact member 87A provided on the turntable 74 side pushes the contact roller 86 provided on the carry-in device 71 side, and the first contact roller 86 is rotated by this.
Since the left and right holding arms 78 and the cylinder 72 are drawn toward the rotary table 74 by the second rotating arms 84 and 85 via the connection link 88 and the like, the contact member 87A is brought into contact with the contacted roller. The impact force acts on the rotary table 74 when the rotary table 74 contacts the rotary table 86, and the load for moving the holding arm 78 and the like acts on the rotary table 74. In addition to affecting the measurement accuracy, it also affects the durability of the gas filling device.

This problem becomes more pronounced as the rotation speed of the turntable 74 is increased. The same can be said for the unloading device. The present invention has been made in view of the above problems, when moving the carry-in holding means or the carry-out holding means to the filling machine side, by not applying a load to draw the carry-in holding means or the carry-out holding means on the filling machine side, It is an object to provide a fluid filling system that solves the problem.

[0017]

The technical means taken by the present invention to solve the technical problem comprises a filling machine for filling a container with a fluid and a carry-in device for carrying the container into the filling machine. In the fluid filling system, the carry-in device includes carry-in holding means for carrying the container to the filling machine moving in a direction intersecting the front-rear direction in the horizontal plane by holding the container and moving forward. A detection target provided on the filling machine side, a first detection target provided on the loading device side, and detection of the first detection target when the first detection target detects the detection target. Transfer means for moving the carry-in holding means forward so as to carry the container into the filling machine according to the signal.

In addition, a second detector is provided on the front side of the first detector in the moving direction of the filling machine, and when the detected part is detected by the first detector, the container is properly placed on the filling machine. Is carried forward of the filling machine in the moving direction of the filling machine from the carrying position of the filling machine. Then, when the container coincides with the regular carrying position of the filling machine, the detected part is detected by the second detection body, and the detection signal is used. It is preferable to release the holding of the container by the loading and holding means. Further, another technical means includes a filling machine that fills the container with a fluid, and an unloading device that unloads the container from the filling machine, and the unloading device moves forward and thereby intersects in the front-rear direction in the horizontal plane. The carry-out means which advances to the filling machine moving in the direction in which the container is held, and the container is held by the carry-out holding means, and then the carry-out holding means is moved backward, so that the container is taken out from the filling machine. In the fluid filling system thus configured, a detected portion provided on the filling machine side and a first portion provided on the unloading device side are provided.
And a transfer unit that, when the first detection unit detects the detection target, moves forward so as to cause the carry-out holding unit to advance to the filling machine according to a detection signal of the first detection unit. It is characterized by having.

In addition, the apparatus further includes a second detector positioned forward of the first detector in the moving direction of the filling machine. When the first detector detects a portion to be detected, the filled container is unloaded. The unloading and holding means is advanced to the filling machine located on the rear side in the moving direction of the filling machine from the position, and then, when the container coincides with the unloading position, the detected part is detected by the second detection body. It is preferable that the container is detected and the container is held by the unloading and holding means according to the detection signal.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows a high-pressure gas filling system 1 for automatically filling a large number of cylinders (containers) 2 with a gas such as LPG. A loading section 4 for loading an empty cylinder 2 into the filling device 3 and a cylinder 2 filled with gas;
And an unloading section 5 for unloading from the gas filling device 3.

The cylinder 2 is a normal pressure-resistant container, and its upper and lower ends are formed in a closed cylindrical shape, and a valve is provided at the center of the upper surface. In the loading section 4, the empty cylinder 2 loaded from the loading port 6 is transferred in the loading transfer direction A,
A carry-in conveyor for transferring the cylinder 2 to the gas filling device 3 is provided, and an orienteering code reading unit 7, a measuring unit 8, and a carry-in device 9 are arranged in order from the rear in the carry-in / transfer direction A to the front. Have been. Carriage 6
The empty cylinder 2 automatically or manually carried in is transferred by the carry-in conveyor in the carry-in transfer direction A.
The orienteering code reading section 7 is reached. Here, the cylinder 2 is positioned (the position is corrected) so that the direction of the filling port of the valve provided on the upper part of the cylinder 2 is directed to a predetermined direction, and the cylinder 2 is positioned. A bar code (or an identification code such as a number or a symbol) attached to the upper part of is read.

The code read from this bar code is
The size of the cylinder 2 (for example, a 20 kg cylinder, 3
The empty weight (empty capacity) of the cylinder 2 (0 kg cylinder or 50 kg cylinder) or the like is read. If a cap is attached to the valve of the cylinder 2, the cap is removed before reaching the orienteering code reader 7. Next, the cylinder 2 is transferred to the measuring section 8, where the current weight of the cylinder 2 is measured, and the remaining gas is calculated by comparing the measured weight with the empty weight.

The gas filling device 3 has a central axis X in the vertical direction.
The rotary table 12 includes a rotary table 12 that rotates around in the direction of arrow B, and a plurality of filling machines 13 that are arranged in a circumferential direction on the outer peripheral side of the rotary table 12. Each filling machine 13 is installed so as to face outward in the radial direction of the rotary table 12, and is capable of receiving the cylinder 2 from the radial outside of the rotary table 12. Machine 13
Is moved in the direction B, so that the cylinder 2 is carried in the carry-in transfer direction A by the carry-in device 9 (therefore, the cylinder 2 is carried into the filling machine 13 by the carry-in device 9). And the transfer direction A
Is configured so that the cylinder 2 is carried into the filling machine 13 which moves in a direction intersecting with the carrying-in direction A in the horizontal plane).

At the lower end of the filling machine 13, there is provided a mounting portion 10 composed of a plurality of rollers. The cylinder 2 is loaded on the mounting portion 10, and the cylinder 2 mounted on the mounting portion 10 is mounted.
While the gas is being measured by the measuring device, the gas is filled up to the weight according to the standard of the cylinder 2 and the like. A pair of openable / closable gripping arms 11 for gripping the cylinder 2 is provided at a position above the mounting portion 10, and it is detected by the cylinder detection sensor that the cylinder 2 has been loaded onto the mounting portion 10. Then, the cylinder 2 is gripped by the gripping arm 11.

The filling machine 13 includes the filling machine 13
A filling nozzle which is attached to a filling port of the cylinder 2 charged in the tank and injects gas into the cylinder 2 from the filling port;
The filling nozzle is provided so as to face radially inward of the rotary table 12. Therefore, in the present embodiment, in the orienteering code reading unit 7,
The direction of the filling port of the valve 10 of the cylinder 2 is changed so as to face the carry-in and transfer direction A rearward. The unloading section 5 is provided with an unloading conveyor for transferring the cylinder 2 from the gas filling device 3 to the unloading port 14 in the unloading and transferring direction C (the direction opposite to the loading and transferring direction A). The gas filling amount checking unit 16, the gas leak checking unit 17, and the seal cap device 18 are sequentially arranged from the rear in the unloading / transporting direction C to the front.

When the gas is filled in the cylinder 2 by the filling machine 13, when the filling machine 13 comes to a position substantially facing the unloading device 15, the unloading device 15 causes the cylinder 2 to be filled.
Is taken out (carryed out) in the carry-out and transfer direction C, and the removed cylinder 2 is taken out by the carry-out conveyor in the carry-out and transfer direction C.
The gas filling amount checking unit 16 checks whether the gas filling amount is excessive or insufficient. Then, the gas leak checking unit 17 checks whether or not the plug is not properly closed. A seal cap is attached to the safety valve 19 of the valve 10 of the cylinder 2 by the device 18.
, The cap is mounted by the cap mounting device,
It is discharged from the carry-out port 14.

It should be noted that the case where the filling amount is insufficient or the plugging is insufficient is appropriately removed. Next, the loading device 9 and the unloading device 1
5 will be described in detail, but in the following description, the front of the carry-in and transfer direction A is referred to as the front, the rear of the carry-in and transfer direction A is referred to as the rear, and the left side toward the front of the carry-in and transfer direction A is referred to as the left. A The right side toward the front is referred to as the right side (the lateral direction perpendicular to the carry-in transfer direction A is the left-right direction). As shown in FIGS. 1 and 3 to 8, the carry-in device 9 includes carry-in holding means 20 for holding the cylinder 2, transfer means 21 for moving the carry-in / hold means 20 back and forth, and filling means for moving the cylinder 2. And a carry-in synchronizing means 22 for setting the carry-in timing when carrying in the machine 13.

The carry-in holding means 20 comprises a movable body 23 which can be moved back and forth at a position below the cylinder transfer surface 30 of the carry-in conveyor, and a pair of left and right holding arms 24L, 24R supported by the movable body 23. Have. Sliders 25 are fixed to the left and right sides of the movable body 23, and each slider 25 is supported by a guide member 26 composed of a rod or the like arranged in the front-rear direction so as to be movable back and forth. It is free to move in any direction. The guide member 26 is disposed below the cylinder transfer surface 30 of the carry-in conveyor, and its front and rear ends are fixed to the frame 27 and the like of the carry-in conveyor.

Base 2 of left and right holding arms 24L, 24R
4a is supported by a slider 25 so as to be rotatable around a longitudinal axis, and the left and right holding arms 24L and 24R can be opened and closed freely. That is, the holding arms 24L, 2
A support tube 28 having a longitudinal axis is provided on the base 24a of the 4R. The support tube 28 is fitted around a longitudinal support shaft 29 provided on the slider 25 so as to be rotatable around the axis. When the support cylinder 28 rotates around the axis of the support shaft 29, the holding arms 24L and 24R swing right and left to open and close.

The left and right holding arms 24L, 24R
Swings inward in the left-right direction and closes, whereby the cylinder 2 can be sandwiched and held between the distal ends of the left and right holding arms 24L and 24R.
The cylinder 2 sandwiched between the distal ends of the left and right holding arms 24L and 24R is configured to be opened by swinging the L and 24R outward in the left and right direction. The left and right holding arms 24L and 24R extend upward from the base 24a, and then extend in an inclined direction that shifts upward as going forward, and extend upward from the cylinder transfer surface 30 of the carry-in conveyor. The holding portion 31 is extended to the front and extended to the extension end side thereof, that is, to the tip end side (front side) of the holding arms 24L and 24R, and held in contact with the cylinder 2 to be clamped.
Are provided so as to be tiltable around the front-rear axis.

On the inner side in the left-right direction of the holding portion 31, a tapered surface 32 is formed which expands inward in the left-right direction in plan view, and this tapered surface 32 contacts the cylinder 2. Further, the movable body 23 is provided with an opening / closing device 33 for rotating the bases 24a of the left and right holding arms 24L, 24R around the support shaft 29. As shown in FIGS. 7 and 8, the opening and closing device 33 includes a rotating piece 35 whose middle part is rotatably supported by the movable body 23 around a vertical support shaft 34, and a rotating piece 35.
Connecting rod 3 connecting one end side of the support cylinder 28 to the left support cylinder 28
6L, a connecting rod 36R for connecting the other end of the rotating piece 35 and the right support cylinder 28, and a driving means 37 for rotating the rotating piece 35.

One end of each of the connecting rods 36L, 36R is pivotally connected to a rotating piece 35 via a ball joint, and the other end of each of the connecting rods 36L, 36R is fixed to the support cylinder 28 in a downwardly projecting manner. It is pivotally connected to the lower end of the bracket 38 via a ball joint. The driving means 37 is composed of an air cylinder or the like.
The bottom side of 7A is supported by the movable body 23 through a support shaft 39 having a vertical axis so as to be rotatable around the axis.
The tip end of the cylinder rod 37B is pivotally attached to the other end of the rotating piece 35.

In the opening / closing device 33 having the above-described structure, by projecting the cylinder rod 37B, the rotating piece 35 rotates counterclockwise in a plan view of FIG. 36R is pushed outward in the left-right direction, whereby the left and right holding arms 24L, 24R swing in the closing direction. Also, as shown by the arrow in FIG. 8, by retracting the cylinder rod 37B, the rotation piece 35 rotates clockwise in the plan view of FIG. 8, and the left and right connecting rods 36L and 36R move left and right. Inward in the direction, thereby holding the left and right holding arms 24L,
24R swings in the opening direction.

The left holding arm 24L, that is, the holding arm 24 on the front side in the rotation direction B of the rotary table 12 is provided.
L is configured to be bendable in the middle, and the holding portion 31
Can be retracted from the cylinder 2 so as to escape from the cylinder 2 moving in the rotation direction B of the rotary table 12 (to a position where the path of the cylinder is not obstructed). This holding arm 24L
The main part is composed of a rear support part 41 and a front movable part 42, and a U-shaped bracket 43 that is open forward in a side view is fixed to a front part on the upper end side of the support part 41, At the rear end side of the movable portion 42, a cylindrical body 44 having a vertical axis is provided.
The cylindrical body 44 is fitted around a support shaft 45 provided on the bracket 43 so as to be rotatable around the axis. When the left and right holding arms 24L and 24R are closed, the movable portion 42 is Are rotatable outward in the left-right direction around the vertical axis.

The movable portion 4 of the left holding arm 24L
A movable means 47 for moving the movable portion 42 is disposed on the side (outer side in the left-right direction) of the second member 2. This movable means 4
Reference numeral 7 denotes an air cylinder or the like.
The front portion of the cylinder tube 47A is rotatably supported around a vertical axis by a support 48 provided above the support portion 41, and the distal end side of the piston rod 47B is A bracket 46 is provided so as to protrude outward, and is pivotally mounted so as to be rotatable around a vertical axis.

As shown by the solid line in FIG. 4, the holding arms 24L, 2
When the piston rod 47B is retracted in a closed state where the cylinder 2 clamps the cylinder 2, the left holding arm 2
The 4L movable portion 42 is rotated around the support shaft 45 outward in the left-right direction, so that the intermediate portion is bent. At this time, the movable portion 42 of the left holding arm 24L
The held cylinder 2 is in the rotation direction B of the rotary table 12.
Evacuate to a position where it does not contact even if it moves to. Transfer means 2
1 comprises an extrusion cylinder and a cylinder tube 2
1A is fixed to the frame 27 side of the transport conveyor, the tip side of the piston rod 21B is connected to the movable body 23, and the piston rod 21B is connected to the cylinder tube 21.
By moving out of A, the movable body 23 is configured to move back and forth.

The transfer means 21 according to the present embodiment
Is configured so that the piston rod 21B is protruded by supplying compressed air to the chamber on the top side of the piston, and the piston rod 21B is retracted by supplying pressure oil to the chamber on the rod side of the piston, When projecting the piston rod 21B, the projecting speed of the piston rod 21B is controlled by the speed at which oil is drained from the chamber on the rod side of the piston. The carry-in synchronization means 22 is shown in FIGS.
As shown in (1), there are provided first and second detectors 50 and 51 provided on the loading device 9 side, and a detected part 52A provided on the turntable 12 side.

The first and second detectors 50 and 51 are arranged at the end side of the carry-in conveyor and are attached to the frame 27 of the carry-in conveyor. Limit switch (or other contact sensor or non-contact sensor)
The first detection body 50 is disposed on the rear side in the rotation direction B of the turntable 12 and is used for starting a loading operation.
When A is detected, the loading operation of the loading device 9 is started.

The second detector 51 is disposed in front of the rotation direction B and is used for detecting a normal carry-in position. When the detector 50 detects the detected portion 52A, it is carried into the filling machine 13. The filled cylinder 2 is at the normal loading position (filling machine 1
3 is located at a position where it can be automatically connected to the filling port of the valve of the cylinder 2). Detected part 5
2A is a guide rod 55 supported on a stay 53 fixed to the rotary table 12 movably in the radial direction of the rotary table 12, and a tip of a piston rod 54a of a moving means 54 such as an air cylinder attached to the stay 53. The detected part 52A moves in the radial direction of the turntable 12 by moving the piston rod 54a of the moving means 54 back and forth, and the detection object 50A is indicated by a virtual line in FIG. , 51, and a non-contact position, which cannot be contacted with the contacts 50a, 51a of the detectors 50, 51, as shown by solid lines in FIG. It has been.

The detected parts 52A are provided for each filling machine 13. In the carrying-in synchronization means 22 having the above-described configuration, when the preparation for carrying in the cylinder 2 on the filling machine 13 side is completed, the detected portion 52A is positioned at the contact position. In addition, when the preparation for carrying in the cylinder 2 is not ready, such as when the filling machine 13 fails, the detected portion 52A is
By being located at the non-contact position, the detected portion 52A
The loading operation of the cylinder 2 is not performed for the filling machine 13 corresponding to the above, and it is possible to carry the filling operation to any of the filling machines 13.

The left and right holding arms 24 stand by in a posture in which the holding portion 31 at the leading end thereof is expanded until the cylinder 2 moves on the carry-in conveyor and is transferred to the carry-in device 9. Is transported between the left and right holding portions 31 of the loading device 9, the opening and closing device 33 closes the left and right holding arms 24, and the cylinder 2 is held between the left and right holding portions 31. Then, when the filling machine 13 rotates in the direction of the arrow B, the detected part 52A comes into contact with the first detection body 50, and the detection part 52A is detected by the first detection body 50. In response to the detection signal of the first detection body 50, the transfer means 21 operates, the piston rod 21B protrudes, the holding arm 24 moves forward together with the movable body 23 while holding the cylinder 2, and the cylinder 2 It is carried into the receiver 10.

Here, the position indicated by the imaginary line D in FIGS. 9 and 11 is the normal carry-in position of the cylinder 2 in the filling machine 13, and the cylinder 2 is first moved by the detection signal of the first detector 50. 11, ie, a position slightly in front of the rotation direction B of the turntable 12 than the regular carry-in position D. Then, when the filling machine 13 moves in the direction of arrow B and the cylinder 2 coincides with the regular carry-in position D, the detected part 52A comes into contact with the second detection body 51, and the second detection When the detection target 52A is detected by the body 51, the detection signal of the second detection body 51
The opening / closing device 33 is operated, the holding arms 24L and 24R are opened, the holding portion 31 is separated from the cylinder 2 (the holding of the cylinder 2 by the holding portion 31 is released), and the cylinder 2 is placed at the regular carry-in position D. At the same time, the cylinder 2 is gripped by the gripping arm 11 of the filling machine 13.

At this time, simultaneously with or before the holding arms 24L and 24R are opened, or before the holding arms 24L and 24R are opened, the movable means 47 is operated to move the movable portion 42 of the left holding arm 24L to the support shaft 45. The left holding arm 24L is bent outward from the middle part, and the holding portion 31 of the left holding arm 24L is rotated by the filling machine 1.
3. Retreat so as to escape from the cylinder 2 that moves together with the cylinder 3 (the holding section 31 of the left holding arm 24L retracts to a position where the cylinder 2 does not come into contact even if the cylinder 2 moves in the direction of arrow B).

When the cylinder 2 is released from the holding of the holding portion 31, the holding means 24L, 24R
Is returned to the original position (moves backward). After carrying the cylinder 2 into the filling machine 13, the left holding arm 2
4L bends from the middle, the left holding arm 24
Since the holding portion 31 of L does not hinder the advance of the cylinder 2, the left and right holding arms 24L and 24R are kept open after returning to the original position or returning to the original position. (The left and right holding arms 24L, 2
If the cylinder 2 to be carried in next is sent to the carry-in device 9 before the 4R returns to the original position, the left and right holding arms 24L and 24R are returned to the original position. , Configured to be open).

As described above, the left holding arm 24
L, that is, the holding arm 24L on the front side in the rotation direction B of the turntable 12 is bent from the middle, so that the holding portion 31 of the holding arm 24L turns the entire holding arm 24L around the support shaft 29. Moved to hold section 31
Is retracted more quickly than the cylinder 2 is retracted from the cylinder 2, so that even if the rotation speed of the turntable 12 is increased, it is possible to sufficiently cope with it. Also, the cylinder 2 is installed in the loading device 9.
When the loading device 9 is not ready, such as when the object is not transferred, the detection signal is controlled even if the detected portion 52A comes into contact with the first and second detection bodies 50 and 51. It is configured not to be sent to the device.

After the cylinder 2 is loaded into the filling machine 13, the detected part 52A corresponding to the filling machine 13 is retracted to the non-contact position. In the loading device 9 having the above-described configuration, the detection target 52A is detected by the first detection body 50, and the detection signal of the first detection body 50 causes the holding arm 24 to detect the detection target 52A.
L, 24R cylinder loading operation is started, and the holding arm 2
Since the carrying-in operation of the cylinders of 4L and 24R is performed by the transfer means 21, the rotation table 1 can be moved as in the prior art.
As compared with the configuration in which the holding arm is drawn by the rotation force of 2, the load for drawing the holding arms 24L and 24R does not act on the rotary table 12, the rotation of the rotary table 12 becomes smooth, and This does not affect the weighing accuracy and also improves the durability.

Since the holding arms 24L and 24R are not drawn by the rotational force of the rotary table 12, the loading operation of the holding arms 24L and 24R can be accelerated, and the loading operation cycle can be shortened. The cylinder 2 is moved from the regular carry-in position D to the rotation direction B of the turntable 12 by the detection signal of the first detection body 50.
When the cylinder 2 is slightly carried forward and it is recognized from the detection signal of the second detector 51 that the cylinder 2 has matched the regular carry-in position D, the holding of the cylinder 2 by the holding unit 31 is released. Therefore, even if the speed of the turntable 12 is increased, the cylinder 2 can be surely carried into the regular carry-in position D of the filling machine 13.

On the other hand, the cylinder 2 carried into the filling machine 13 on the rotating table 12 is filled by the filling machine 13 while the rotating table 12 rotates, and is carried out of the filling machine 13 by the carrying-out device 15. As shown in FIG. 3, the carry-out device 15 is configured substantially similarly to the carry-in device 9,
Unloading and holding means 57 for holding the cylinder 2, transfer means 58 for moving the unloading and holding means 57 back and forth, and unloading synchronizing means 56 for setting the unloading timing when unloading the cylinder 2 from the filling machine 13 (see FIG. 9). It has.

The unloading and holding means 57 of the unloading device 15 corresponds to the loading and holding means 20 of the loading device 9, the transfer means 58 of the unloading device 15 corresponds to the transfer means 21 of the loading device 9, and the unloading synchronization means of the unloading device 15. Is the carry-in synchronization means 22 of the carry-in device 9
3 and FIG. 1 and FIG.
As shown in FIG. 2, the main differences from the loading device 9 are as follows.
The right holding arm 24R, that is, the holding arm 24R on the rear side in the rotation direction B of the rotary table 12 is configured to be bent from an intermediate portion so that the holding portion 31 is retracted outward in the left-right direction. Detected part 52 of unloading device 15
B is the detected portion 52 of the loading device 9 as shown in FIG.
A, and the first and second
The first and second detectors 59 and 60 of the unloading device 15 (see FIG. 9) are configured so as not to contact the detecting members 50 and 51 of the loading device 9. Detectors 50, 5
1 and is configured so as not to come into contact with the detected portion 52A of the carry-in device 9, the first detector 59 of the carry-out device 15 is used for starting the carry-out operation,
The second detector 60 is used for detecting the carry-out position.

When the filling of the gas into the cylinder 2 by the filling machine 13 is completed, the detected portion 52B of the unloading device 15 projects to the contact position. Then, the rotary table 12 is rotated and the filled cylinder 2 is removed from the unloading device 1.
5, first, the detected part 52B comes into contact with the first detection body 59, and when the first detection body 59 detects the detection part 52B, the transfer means 58 is operated by this detection signal. , Which is previously opened and the right holding arm 24
The left and right holding arms 24L and 24R in which R is bent as shown by the solid line in FIG. 12 are moved onto the rotary table 12 (the holding section 31 advances to the filling machine 13).

The right and left holding arms 24L and 24R may be moved onto the rotary table 12 in a closed state and the right holding arm 24R is in a bent state. At this time, the left and right holding arms 24L,
24R is a discharge position F (a position where the filled cylinder 2 is taken out from the filling machine 13 by holding the cylinder 2 by the holding arms 24L and 24R or a holding portion 31 of the left and right holding arms, indicated by a solid line in FIG. When the cylinder 2 is positioned at a position G slightly behind in the rotation direction B of the rotation table 12 at a position where the cylinder 2 can be satisfactorily held, the cylinder 2 is moved onto the rotation table 12 and the left and right holding arms 24L and 24R are It is on standby until the cylinder 2 reaches the carry-out position F.

Further, since the right holding arm 24R is in a bent state, before the cylinder 2 comes to the unloading position F,
First, even if the left and right holding arms 24L and 24R move onto the rotary table 12, the holding portion 31 of the right holding arm 24R does not contact the cylinder 2. Then, when the cylinder 2 comes to the carry-out position F, the detected part 52B comes into contact with the second detection body 60, and the second detection body 60 detects the detection part 52B. Then, the second detector 60
, The movable means 47 and the opening / closing device 33 are operated, the movable portion 42 of the right holding arm 24R is rotated inward in the left-right direction, and the left and right holding arms 24L,
When the cylinder 24 is closed and the cylinder 2 is clamped, and the left and right holding parts 31 hold the cylinder 2, the transfer means 58 is operated, and the left and right holding arms 24L and 24R are moved backward and returned to the original position. Thereby, the cylinder 2 is taken out (conveyed) from the filling machine 13.

Thereafter, the left and right holding arms 24L, 24R
Is opened to release the holding of the cylinder 2 and is transferred to the carry-out port 14 by the carry-out conveyor. In the unloading device 15 having the above-described configuration, the detection target 52B is detected by the first detection body 59, and the rotation table 1 of the holding arms 24L and 24R is detected by the detection signal of the first detection body 59.
2 is started, and the holding arms 24L, 2L are moved.
The movement of the 4R to the turntable 12 side is performed by the transfer means 58.
Therefore, a load for attracting the holding arms 24L and 24R to the rotary table 12 is greater than that of the conventional configuration in which the holding arm is drawn by the rotational force of the rotary table 12. Without this, the rotation of the rotary table 12 becomes smooth, so that the measurement accuracy is not affected by the hiccup and the like, and the durability is improved.

Since the holding arms 24L and 24R are not drawn by the rotational force of the rotary table 12, the unloading operation of the holding arms 24L and 24R can be accelerated, and the unloading operation cycle can be shortened. Further, before the cylinder 2 reaches the carry-out position F, the holding arms 24L, 24L are detected by the detection signal of the first detection body 59.
R is moved to the turntable 12 to be on standby, and when the cylinder 2 comes to the carry-out position F, the cylinder 2 is moved by the detection signal of the second detector 60 to the left and right holding arms 24L, 24R.
And the holding arms 24L and 24R are retracted, so that even if the rotation speed of the turntable 12 is increased, the cylinder 2 can be reliably held without delaying to the rotation speed. Can be removed from the filling machine 13).

In the high-pressure gas filling system 1 having the above-described configuration, by configuring the carry-in device 9 and the carry-out device 15 as described above, the rotary table 12 is enlarged,
3, the speed of the turntable 12 can be further increased, and the operation cycle of the carry-in device 9 and the carry-out device 15 can be sufficiently increased, and the automatic gas filling process of the cylinder 2 can be speeded up. Can be provided. In the present embodiment, the detected portions 52A and 52B are configured by separately provided members, but a part of the members forming the rotary table 12 or the filling machine 13 may be defined as the detected portions 52A and 52B. Good.

In the present embodiment, the detected part 52
A, 52B, with respect to the carry-in device 9 or the carry-out device 15,
Although one is provided, the first detectors 50 and 59 and the second
Corresponding to the detection bodies 51A, 5
2B may be provided for the carry-in device 9 or the carry-out device 15 (that is, the portion to be detected detected by the first detectors 50 and 59 and the portion detected by the second detectors 51 and 60). In this case, as in the present embodiment, the first and second detectors 50 and 50 may be provided.
When the contact sensors 59, 51, and 60 are contact sensors such as limit switches, the first detectors 50 and 59 and the second detectors 51 and 60 are disposed so as to be vertically displaced.

The present invention is not limited to the high pressure gas filling apparatus in the above embodiment, but may be applied to other fluid filling systems for filling a container with a fluid. In the present embodiment, the filling machine 13 is installed on the turntable 12 and is configured to move in the rotation direction B of the turntable 12, but in a direction intersecting the front-back direction. And the cylinder 2 is loaded into the filling machine 13 which moves in a linear direction, or
It may be adopted in a high-pressure gas filling system configured to carry out the cylinder 2.

[0058]

According to the present invention, when the detected portion provided on the filling machine side is detected by the first detection body provided on the loading device side, the detection signal of the first detection body is detected. By
By operating the transfer means and moving the loading and holding means forward by the transfer means, the container can be loaded into the filling machine.Therefore, the load for moving the container forward on the filling machine side does not act. In addition, the moving operation of the filling machine becomes smooth, does not affect the measuring accuracy of the container in the filling machine, and leads to improvement in durability. Further, since the carrying-in holding means is not moved by the rotating force of the rotary table for moving the filling machine as in the related art, the carrying-in operation cycle of the carrying-in / holding means can be shortened, and it is possible to cope with a high-speed system.

[0059] Further, when the detection portion is detected by one detection body, the container is carried into the filling machine.
For example, various conditions such as the capacity of the pump for driving the transfer means, the pressure setting of the driving air for the transfer means, the sliding resistance between the guide surface for guiding the container bottom and the lower surface of the container, and the difference in the weight (size) of the container. Are different, there is a case where the timing of the loading operation of the loading and holding means with respect to the filling machine does not match, and the loading position of the container with respect to the filling machine varies. If the container is not accurately brought into the proper carry-in position, problems such as, for example, the container sliding down from the filling machine occur. In particular, when the moving speed of the filling machine is increased, the filling machine cannot cope with the moving speed.

Therefore, a second detector is provided on the front side of the first detector in the moving direction of the filling machine, and when the detected part is detected by the first detector, the container is properly charged to the filling machine. Is carried forward of the filling machine in the moving direction of the filling machine from the carrying position of the filling machine. Then, when the container coincides with the regular carrying position of the filling machine, the detected part is detected by the second detection body, and the detection signal is used. By configuring so that the holding of the container by the carrying-in holding means is opened, the container can be reliably carried into the regular carrying-in position, and even if the moving speed of the filling machine is increased, the container is not delayed by the speed. Can be carried into the filling machine, and the system can respond to high speed.

Also, the detected part provided on the filling machine side is
When detection is performed by a first detection object provided on the unloading device side, the transfer means is operated by the detection signal of the first detection object, and the unloading and holding means is moved forward by the transfer means, so that the unloading operation is performed. Since the holding means is configured to be able to advance to the filling machine, a load for moving the container in the forward direction does not act on the filling machine side, the moving operation of the filling machine becomes smooth, and the measuring accuracy of the container in the filling machine is improved. And it also improves durability. Further, since the carrying-out holding means is not moved by the rotating force of the rotary table for moving the filling machine as in the related art, the carrying-out operation cycle of the carrying-out holding means can be shortened, and the system can be responded to a higher speed.

Further, when the detection unit is detected by one detection body, the carrying-out and holding means is advanced with respect to the filling machine, and the container is held and retracted. Due to different conditions such as the capacity of the pump for transfer and the pressure setting of the driving air for the transfer means, the timing of the advance operation of the carry-out holding means with respect to the filling machine does not match. Variation may occur. If the carry-out holding means does not accurately advance to the carry-out position of the container, a problem occurs, for example, that the container cannot be taken out of the filling machine. In particular, when the moving speed of the filling machine is increased, the filling machine cannot cope with the moving speed.

Therefore, a second detector is provided on the front side of the first detector in the moving direction of the filling machine, and when the first detector detects a portion to be detected, the filled container is unloaded. The unloading and holding means is advanced to the filling machine located on the rear side in the moving direction of the filling machine from the position, and then, when the container coincides with the unloading position, the detected part is detected by the second detection body. By detecting and holding the container by the unloading and holding means according to the detection signal, the container can be reliably unloaded from the filling machine, and even if the moving speed of the filling machine is increased, the container is delayed from the speed. Instead, the container can be taken out of the filling machine, and the system can be speeded up.

[Brief description of the drawings]

FIG. 1 is a plan view of a loading device.

FIG. 2 is a configuration diagram of a high-pressure gas filling system to which the present invention is applied.

FIG. 3 is a plan view of a carry-in device and a carry-out device.

FIG. 4 is a plan view of the carrying-in holding means.

FIG. 5 is a side view of the carrying-in holding unit as viewed from the left side.

FIG. 6 is a side view of the carrying-in holding means as viewed from the right side.

FIG. 7 is a front view of the carry-in holding unit.

FIG. 8 is a plan view of a holding arm opening / closing device.

FIG. 9 is a plan view of the carrying-in synchronization means and the like.

FIG. 10 is a side view of a carrying-in synchronization unit and the like.

FIG. 11 is a diagram showing a relationship between a position where a cylinder is carried in by the carrying-in device and a regular position where the filling machine is carried in.

FIG. 12 is a plan view of the unloading device.

FIG. 13 is a diagram showing a relationship between a carry-out position of the cylinder and a position of the cylinder when the holding unit advances to the filling machine.

FIG. 14 is a plan view of a conventional loading device.

FIG. 15 is a side view of a conventional loading device.

[Explanation of symbols]

 2 cylinder (container) 9 carry-in device 13 filling machine 15 carry-out device 21 transfer means 24L holding arm 24R holding arm 50 first detection body 51 second detection body 52A detected part 52B detected part 58 transfer means 59 first Detecting body 60 Second detecting body A Loading direction B Rotation direction (moving direction of filling machine) D Regular loading position F Unloading position

Claims (4)

[Claims] 1. A filling machine for filling a container with a fluid, and a carry-in device for carrying the container into the filling machine, wherein the carry-in device comprises:
By holding the container and moving forward, in a fluid filling system including a loading and holding means for loading the container into the filling machine moving in a direction intersecting in the front-rear direction in the horizontal plane, A container to be detected is provided, a first detector provided on the side of the carry-in device, and a container when the first detector detects the detector, by a detection signal of the first detector. And a transfer means for moving the carry-in holding means forward so as to carry the fluid into the filling machine. 2. The method according to claim 1, further comprising a second detecting member positioned forward of the first detecting member in a moving direction of the filling machine. Is carried in the filling machine moving direction forward side of the carrying position of the filling machine, and then, when the container matches the regular carrying position of the filling machine,
2. The fluid filling system according to claim 1, wherein the detected portion is detected by the second detecting body, and the holding of the container by the carrying-in / holding unit is released based on the detection signal. 3. A filling machine for filling a container with a fluid, and an unloading device for unloading the container from the filling machine, wherein the unloading device moves forward to move in a direction intersecting the front-rear direction in a horizontal plane. A fluid filling device configured to take out the container from the filling machine by holding the container by the carrying / holding device, and then moving the carrying / holding device backward. In the system, a detection target provided on the filling machine side, a first detection target provided on the unloading device side, and a first detection target when the first detection target detects the detection target. And a transfer means for performing an advance operation so that the carry-out holding means advances to the filling machine in response to the detection signal. 4. A method according to claim 1, further comprising the step of: detecting a portion to be detected by the first detecting member when the first detecting member detects a portion to be detected. The unloading and holding means is advanced to the filling machine located on the rear side in the moving direction of the filling machine from the position, and then, when the container coincides with the unloading position, the detected part is detected by the second detection body. 4. The fluid filling system according to claim 3, wherein the container is held by the carry-out holding means based on the detection signal.