JP2950469B2 - Automatic cylinder transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic cylinder transfer apparatus which is preferably used for loading or unloading a cylinder filled with, for example, liquefied propane gas or natural gas from a carrier such as a truck. About.

[0002]

2. Description of the Related Art In general, a filling plant for filling liquefied gas used as fuel for home and business use into a filling cylinder is provided with a filling station provided with a filling machine for filling the liquefied gas into the cylinder. Liquefied gas comprising: loading means for loading a cylinder to be filled with liquefied gas toward the filling station; and unloading means for unloading the cylinder filled with liquefied gas from the filling station by the filling machine of the filling station. A filling device is provided.

In this type of liquefied gas filling apparatus according to the prior art, a loading yard for stocking a large amount of cylinders before filling in an aligned state is provided upstream of the carrying means, and the receiving yard before filling is provided in the receiving yard. A plurality of receiving conveyors for receiving each cylinder toward the loading means are provided.
Further, a shipping yard for stocking a large number of cylinders filled with liquefied gas in an aligned state is provided downstream of the unloading means, and each of the filled cylinders unloaded by the unloading means is provided in the shipping yard. A shipping conveyor for sequentially shipping from the unloading means is provided.

[0004] Here, when each cylinder to be filled with liquefied gas after being used as fuel for home or business is transported to a filling factory by a delivery truck or the like, these trucks and the like are placed in the receiving yard. , For example, at the upstream end of a receiving conveyor. Then, when each cylinder before filling is received on the receiving yard side, for example, a receiving worker manually loads each cylinder from a delivery truck onto a receiving conveyor.

[0005] Each cylinder received in the receiving yard is carried into the filling station by the carrying means, and is filled with the liquefied gas by the filling machine of the filling station. Then, each cylinder in the filled state is carried out to the shipping yard by the carrying out means.

On the other hand, a platform is provided on the shipping yard side of the filling factory so that a delivery truck or the like is parked and stopped at a predetermined position, and each filled cylinder is sequentially shipped from the unloading means on this platform. The downstream end of the shipping conveyor to be extended extends. When shipping the filled cylinders, the shipping operators manually load the cylinders sequentially transported onto the platform by the shipping conveyor in a predetermined order on a delivery truck or the like.

[0007]

In the prior art described above, when each filled cylinder is loaded on a delivery truck or the like, each cylinder is manually loaded from the shipping conveyor to the loading platform of the delivery truck. Since the loading operation is performed, a great deal of labor and time is required for the loading operation, and a large amount of filled cylinders may stay in the shipping yard side of the filling factory in a waiting state for shipping.

[0008] For this reason, in the prior art, it is necessary to secure a large space (land area) on the shipping yard side of the filling factory, and for example, it is very difficult to build the filling factory in an urban area with a high land price. There is. On the other hand, if the shipping yard side is kept in a limited space, the filling work at the filling station will be temporarily stopped when the amount of filled Therefore, it is necessary to take measures such as resuming the filling operation after the product is shipped, and there is a problem that the capacity of the filling device cannot be sufficiently exhibited.

Also, on the receiving yard side of the filling factory, receiving workers and the like manually load each cylinder from the delivery truck to the receiving conveyor. There is a problem that a great deal of labor and time are required for the work, and the workability cannot be improved.

The present invention has been made in view of the above-described problems of the prior art, and the present invention can automate a transfer operation for loading a cylinder from a carrier such as a truck or loading a cylinder on a carrier, and To provide an automatic cylinder transfer device that can efficiently perform the filling in a short time, and can effectively utilize the site area of, for example, a filling factory and can save the space of the entire factory. And

[0011]

In order to solve the above-mentioned problems, the invention according to claim 1 relates to a method in which a designated position at which a cylinder is arranged and a carriage stopped within a predetermined area. Up the cylinder to transfer it between
Gripping means for detachably gripping the gripping means,
Lifting means for raising and lowering up and down, and
In the automatic cylinder transfer device comprising horizontal moving means for moving in a direction,
Position detecting means for detecting the position, and identifying the length and width of the carrier based on the detection result of the position detecting means ,
A pattern calculating means for calculating a layout pattern of each cylinder on the carriage, wherein the horizontal movement means is driven and controlled with the temperature descending means and the gripping means, by the pattern calculation means between the carriage and the specified position It is characterized in that it has a transfer control means for transferring the cylinder along the computed arrangement pattern and Bei obtain configuration <br/> forming a.

According to the above configuration, the predetermined area is determined.
The position of the carriage stopped inside can be detected by position detection means , and based on the position detection result, the length and width of the carriage can be identified by the pattern calculation means , and the carriage can be identified. > The arrangement pattern of each cylinder above can be calculated. Then, by controlling the driving of the horizontal moving means, the elevating means and the gripping means by the transfer control means, the cylinder can be automatically transferred along the arrangement pattern between the designated position and the carrier, and the carrier such as a truck is provided. It is possible to automate the work of unloading cylinders and loading cylinders on carriers.

According to a second aspect of the present invention, the vehicle stops at a designated position where the cylinder is arranged and within a predetermined area.
Collectively transferring multiple cylinders between in the carriage and
Therefore, the plurality of cylinders are put together from above each cylinder.
Gripping means for detachably gripping and holding the gripping means up and down
Elevating means for elevating and lowering the gripping means, front, rear, left,
In an automatic transfer device for a cylinder , which comprises a horizontal moving means for moving horizontally to the right , a stop in the area
Position detecting means for detecting the position of the carriage that is present, and tilting of the carriage within the area based on the detection result of the position detection means.
Can, together with identifying the carriage length and width, and rotating means for rotating a pattern calculating means for calculating a layout pattern of each cylinder on the carriage, the front Symbol gripping means in the horizontal plane, the rotating Transfer control for driving the means together with the horizontal moving means, the elevating means, and the gripping means, and collectively transferring each cylinder between the designated position and the carrier along the arrangement pattern calculated by the pattern calculating means. It is characterized in that the Bei obtain configuration and means.

According to the above construction, substantially the same operation as that of the first aspect of the present invention can be obtained. In addition, a plurality of cylinders can be collectively loaded from a carrier such as a truck, or a plurality of cylinders can be provided on the carrier. Can be automatically carried out, such as loading all cylinders at once. In addition, by appropriately rotating the gripping means by the rotating means, for example, the gripping means can be oriented along the direction of each cylinder arranged in a line, or each cylinder gripped by the gripping means can be oriented in an arbitrary direction. Or you can.

Furthermore, in the invention according to claim 3, at least two corners of the four corners located at both ends in the length direction and the width direction of the carriage are provided on the carrier. each label is provided, said position detecting means, the respective label the carriage of position within the area detects <br/> by detecting said pattern computing means detecting of the position detector
Based on the result , the configuration is such that the inclination of the carrier and the arrangement pattern of the cylinders along the length and width directions of the carrier are calculated.

[0016] Thus, the position detecting means of the four corners of the carriage to detect the carriage of position in the area from the label provided respectively in at least two corners
The direction (tilt) of the carriage in the area, the length of the carriage
And it is possible to identify the width, the pattern operation means based on the position and direction of the carriage by the position detecting means, calculating an arrangement pattern of the respective cylinder along the length direction and the width direction of the carriage can do.

On the other hand, in the invention described in claim 4, the horizontal moving means is located at least on the area, is separated in the X-axis direction of the area, and moves between the designated position and the area in the Y-axis direction. An extended pair of Y-axis guides, an X-axis guide extending in the X-axis direction between the respective Y-axis guides, and both ends being movably attached to the respective Y-axis guides; An X-axis-side motor for moving the elevating means along the X-axis guide, and a Y-axis-side motor for moving the elevating means along each of the Y-axis guides together with the X-axis guide. The holding means of each cylinder is moved up and down via the rotating means.

According to the above construction, the horizontal moving means can drive the X-axis side motor to move the lifting / lowering means along the X-axis guide. The means can be moved along each Y-axis guide along with the X-axis guide. The elevating means raises and lowers the gripping means of each of the cylinders via rotating means, so that, for example, the gripping means is oriented above the cylinders arranged in a line, and Each cylinder can be automatically grasped by descending downward.

According to a fifth aspect of the present invention, the gripping means includes a suspending body suspended by the elevating means via a rotating means so as to be vertically movable and rotatable in a horizontal direction. A plurality of gripping holders fixed to the body and having a lower end side serving as a gripping part for detachably gripping the upper end side of each of the cylinders, wherein the position detecting means is located between the respective gripping holders and is attached to the suspension body. Mounted and X with the suspension
It is constituted by a sign search device that searches for each sign position of the carriage by moving in the axis and Y-axis directions.

According to the above construction, the marker retrieval device provided on the suspension of the holding means is moved (scanned) in the X-axis and Y-axis directions by the horizontal movement means, so that each marker position on the carriage is easily located. Can be searched. Then, while suspending the hanging body of the holding means vertically and rotatably in the horizontal direction via the rotating means by the lifting means, the upper end side of each cylinder is held by the holding portion of each holding holder provided on the hanging body. In addition to being able to be detachably gripped, it is possible to automatically carry out a transfer operation in which the cylinders gripped by the gripping portions are collectively loaded from the carrier or loaded collectively into the carrier.

Furthermore, in the invention according to claim 6, each of the gripping portions of the gripping means is a cup-shaped suction head having a lower end serving as an open end and expanding radially outward and an upper end serving as a closed end. The vacuum head is supplied with vacuum pressure from the closed end side in a state where the opening end side is in contact with the upper end side of each of the cylinders, so that the upper end of each cylinder is opened at the opening end of the suction head. The side is gripped in a suction state.

According to the above construction, the vacuum pressure is supplied into the suction head in a state where the opening end side of each suction head is in contact with the upper end side of each of the cylinders. The upper end side of each cylinder can be gripped while being reliably sucked.

[0023]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIGS. 1 to 11 show a case where the automatic cylinder transfer apparatus according to the embodiment of the present invention is applied to a liquefied gas filling factory.

In the figures, 1, 1,... Denote cylinders for charging liquefied gas, and each cylinder 1 has a cylindrical shape having a weight of 50 kg before and after, for example, as shown in FIGS. A valve (not shown) that opens and closes a filling port and the like is formed as a closed container at the upper end, and a protective cap 2 (see FIG. 6).

Reference numeral 3 denotes a filling station for filling each cylinder 1 with a liquefied gas. As shown in FIG. 1, the filling station 3 has a large diameter which rotates around the rotation center O at a constant speed, for example, in the direction of arrow A. Rotary table 4 and the rotary table 4
, For example, eight filling machines 5, 5,..., Which are suspended vertically from above through a chain (not shown) or the like and move around the rotation center O in synchronization with the turntable 4. , A so-called rotary automatic filling machine.

Here, each of the filling machines 5 is first described by the present applicant.
For example, JP-A-6-50496 (Japanese Patent Publication No. 7-81678)
No. 2) A liquefied gas automatic filling device proposed in the official gazette is used, which is provided with a valve opening / closing head for opening and closing the valve of the cylinder 1 and a filling nozzle (neither is shown) fitted to the filling port. .

Each time each cylinder 1 is conveyed onto the rotary table 4 from the side of the conveyer 6 described later, each filling machine 5 fits a filling nozzle into the filling port of each cylinder 1.
In this state, each cylinder 1 is automatically filled with liquefied gas while the valve of the cylinder 1 is opened by the valve opening / closing head.
When the automatic filling of the liquefied gas is completed, the valve is closed by the valve opening / closing head, then the filling nozzle is separated from the filling port of the cylinder 1, and each filled cylinder 1 is placed on the rotary table 4 as described later. It is carried out to the carry-out conveyor 8 by a carry-out robot (not shown).

Reference numeral 6 denotes a carry-in conveyor as carry-in means for carrying each cylinder 1 before filling into the filling station 3.
The carry-in conveyor 6 is configured by combining a plurality of chain conveyors and the like, and sequentially transports the cylinders 1 to be filled with the liquefied gas in an upright state in the direction of arrow B.

Reference numeral 7 denotes an inspection device provided at an intermediate position of the carry-in conveyor 6, and the inspection device 7 detects each of the cylinders 1 from a bar code label (not shown) attached to each of the cylinders 1.
, Read information unique to the cylinder (eg, effective filling period, unique weight, store name, and various identification information).
Is determined as non-defective. In addition, the inspection device 7 measures the weight of the cylinder 1 before filling, and calculates the filling amount of the liquefied gas to be filled by the filling machine 5 into the cylinder 1 and the like.

Reference numeral 8 denotes an unloading conveyor as an unloading means for unloading the filled cylinder 1 from the filling station 3. The unloading conveyor 8 is constituted by combining a plurality of chain conveyors and the like almost in the same manner as the unloading conveyor 6. The cylinders 1 after being filled with the liquefied gas are sequentially transported in an upright state in the direction of arrow C.

Reference numeral 9 denotes a loading yard-side platform provided on the site of the filling factory adjacent to the loading conveyor 6.
The platform 9 is formed along the carry-in conveyor 6, and has a plurality of receiving areas 10, 10,.
Are arranged at an interval from each other. Each receiving area 10 extends in a rectangular shape from the platform 9 to the outside, and each is set as an area of a predetermined size in the site of the filling factory.

Here, each receiving area 10 has a length dimension,
For example, it is about 10 to 14 m (meter), and its width dimension is about 3 to 4 m (meter). In each of the receiving areas 10, as shown in FIG. 9, a delivery truck 15 described below is parked and stopped near the platform 9, and each cylinder 1 to be filled with the liquefied gas loaded on the delivery truck 15 is Are automatically unloaded to the receiving conveyor 11 by the unloading device 44 described later.

Reference numerals 11, 11,... Denote receiving conveyors provided for each receiving area 10, and each receiving conveyor 11 is provided between the receiving conveyor 6 and the platform 9 on the receiving yard side to supply liquefied gas. The cylinders 1 to be filled are sequentially sent from the receiving area 10 toward the carry-in conveyor 6.

Reference numeral 12 denotes a shipping yard-side platform provided on the site of the filling factory adjacent to the unloading conveyor 8, and the platform 12 is formed along the unloading conveyor 8 and has a plurality of Area 13, 1
Are arranged at an interval from each other. And
Each shipping area 13 extends in a rectangular shape from the platform 12 to the outside, and each is set as an area of a predetermined size in the site of the filling factory.

Here, each shipping area 13 has a length dimension,
For example, it is about 10 to 14 m (meter), and its width dimension is about 3 to 4 m (meter). In each shipping area 13, as shown in FIGS. 2 and 3, etc., a delivery truck 15 for shipping is parked and stopped near the platform 12, and each delivery truck 15 is filled with liquefied gas. The cylinder 1 is automatically loaded from the shipping conveyor 14 by a loading device 18 described later.

Reference numerals 14, 14,... Denote shipping conveyors provided for each shipping area 13. Each of the shipping conveyors 14 extends between the unloading conveyor 8 and the platform 12 on the shipping yard side. Liquefied gas-filled cylinders 1 are sequentially sent out toward the shipping area 13 side.

Reference numeral 15 denotes a delivery truck serving as a carrier for delivering the cylinders 1. The delivery truck 15 is used to transport each filled cylinder 1 from a filling factory as shown in FIGS. The vehicle is parked and stopped in the shipping area 13 with the rear end side approaching the platform 12 on the shipping yard side. Further, for example, when each cylinder 1 to be filled with liquefied gas is received from a store or the like to the filling factory, the delivery truck is placed with the rear end side of the loading platform 16 approaching the platform 9 on the receiving yard side as shown in FIG. 15 is parked in the receiving area 10.

Reference numerals 17, 17,... Are provided on the loading platform 16 side of the delivery truck 15, and each of the markings 17 is located at both ends in the length direction and the width direction of the rectangular loading platform 16 as shown in FIG. Of the four corners to be formed, for example, it is constituted by a light reflection plate or the like attached at the positions of the three corners. Then, the position of each of the markers 17 is detected by a later-described marker searcher 42, so that the position and direction of the carrier 16 are identified on the controller 52, which will be described later. That is,
By detecting the position of each sign 17 by the sign search unit 42, the length L and the vehicle width W of the carrier 16 are determined on the controller 52 side.
And the inclination α of the delivery truck 15 in the shipping area 13 and the position of the carrier 16 are identified.

Reference numeral 18 denotes a loading device which constitutes an automatic transfer device for the cylinders 1 provided for each shipping area 13. The loading device 18 comprises a horizontal moving mechanism 19, a lifting mechanism 27,
It comprises a turning mechanism 31, a gripping mechanism 33, a sign search unit 42, a controller 52 and the like.

Reference numeral 19 denotes a gripping mechanism 3 above the shipping area 13.
3 shows a horizontal moving mechanism which constitutes a horizontal moving means for moving the camera 3 horizontally.
, Columns 20, 20,... Disposed at intervals in the X-axis direction (left-right direction) and Y-axis direction (front-rear direction) at the corners of the shipping area 13 and the upper end of each column 20 Left and right guide rails 21 and 21 as Y-axis guides extending in the Y-axis direction in parallel with each other, and a traveling machine in the Y-axis direction movably disposed on each of the guide rails 21. 2
X-axis guides extending in the X-axis direction between the traveling units 22 and 22 and having both ends fixed to the traveling units 22 so as to be movable in the Y-axis direction via the traveling units 22. Guide rails 23, 23 and the like.

The horizontal moving mechanism 19 includes a traveling unit 24 on the X-axis side which is movable in the X-axis direction along each guide rail 23. The traveling unit 24 is driven to travel by an X-axis motor 25. Configuration. On the other hand, each traveling machine 22 in the Y-axis direction is driven to travel by a Y-axis side motor 26, and the traveling machine 24 on the X-axis side is moved together with each guide rail 23 by Y
Move in the axial direction. The traveling machine 24 scans or positions the gripping mechanism 33 over the entire area of the shipping area 13 by moving the gripping mechanism 33 in the X-axis direction while moving on the shipping area 13 in the Y-axis direction. It is configured to be able to.

Numeral 27 denotes an elevating mechanism as an elevating means provided on the traveling machine 24 of the horizontal moving mechanism 19.
As shown in FIG. 5, as shown in FIG. 5, a lifting / lowering electric block 29 for raising / lowering a gripping mechanism 33 via a hanging member 28 such as a chain, and a turning mechanism 3 with respect to the lifting / lowering electric block 29.
In order to prevent relative rotation of the motor 1, a parallel link 30 is connected at the upper end to the lifting electric block 29 with a pin and the lower end is connected to the turning mechanism 31 with a pin. The parallel link 30 bends and expands in a “<” shape in accordance with the length of the suspender 28 suspended from the lifting electric block 29, and holds the gripping mechanism 33 on the ground or the like in the shipping area 13. Etc. are always kept horizontal.

[0044] 31 in the pivot mechanism as a rotating means for rotating along the gripping mechanism 33 in a horizontal plane, orbiting mechanism 31 on the lower side of the traveling machine 24 via the hanger 28 and the parallel link 30 of the lifting mechanism 27 A suspended body 34 to be described later is integrally attached to the suspended portion 31A on the lower side. The swing motor 32 is provided in the turning mechanism 31, revolving motor 32 is horizontal plane turning portion 31A with suspension member 34
It is configured to be turned (rotated) above .

Reference numeral 33 denotes a gripping mechanism as gripping means for gripping the cylinder 1. The gripping mechanism 33 includes a hanger-shaped suspension 34 fixed to a revolving portion 31 A of the revolving mechanism 31, and a lower surface of the suspension 34. A total of five head holders 36, 36,..., Which constitute gripping holders, which are arranged at regular intervals and which are connected to respective vacuum pipes 35 at the upper end thereof, are shown in FIG. As shown in the figure, suction heads 38, 38,... As gripping parts are connected so as to be relatively movable upward and downward via respective connection pipes 37.

Here, each suction head 38 is formed in a cup shape having a diameter larger than that of the cap 2 of the cylinder 1, and its lower end is an open end 38A which expands radially outward.
A ring-shaped elastic seal 39 is adhered to the lower end of the opening end 38A of each suction head 38. The elastic seal 39 attaches each suction head 38 to the upper end side of the cylinder 1 as shown in FIG. The opening end 38 of the suction head 38
A hermetic seal is provided between A and the cylinder 1.

A lid 38B as a closed end is integrally formed on the upper end of each suction head 38, and the lower end of the connecting pipe 37 is fixed to the lid 38B via a lock nut 40. On the other hand, an annular flange 37A is integrally provided on the upper end side of the connecting pipe 37, and the flange 37A regulates the maximum stroke when the connecting pipe 37 expands and contracts from the lower end side of the head holder 36. Is to be stopped. When a vacuum pressure is supplied from the vacuum pipes 35 into the head holders 36, the vacuum pressure is supplied to the suction heads 38 via the connection pipes 37, so that the suction heads 38 have an open end. At 38A, the upper end side of each cylinder 1 is gripped in a suction state.

Further, a spring 41 composed of a coil spring or the like is disposed between the head holder 36 and the suction head 38 on the outer peripheral side of the connecting pipe 37. The spring 41 connects the connecting pipe 37 to the head holder 36. The suction head 38 is constantly urged downward so as to extend from the lower end side of the cylinder 1, and the open end 38A of the suction head 38 is placed on the upper end side of the cylinder 1.
The side is elastically pressed. Further, the suction heads 38 of the gripping mechanism 33 are moved by the lifting mechanism 27 to the cylinders 1.
When descending upward, the spring 41 is
A shock-absorbing action is applied to the cylinder 8 to prevent the opening end 38A of the suction head 38 from strongly colliding with the upper end of the cylinder 1.

Reference numeral 42 denotes a marker searcher as a position detecting means provided on the suspension body 34 of the gripping mechanism 33. The marker searcher 42 is constituted by an optical sensor or the like comprising a light emitting device and a light receiving device, and has a horizontal moving mechanism. 19 scans the entire area of the shipping area 13 in the X-axis and Y-axis directions together with the gripping mechanism 33. During this scanning, the marker searcher 42 receives the reflected light on the light receiver side while reflecting the light emitted downward from the light emitter in, for example, the direction of arrow A in FIG. Thus, the position of each marker 17 is detected.

Reference numeral 43 denotes a roof provided in a liquefied gas filling factory. The roof 43 covers the filling station 3, the carry-in conveyor 6, the carry-out conveyor 8 and the like from above, and also has a platform 9 on the receiving yard side and a platform 12 on the shipping yard side. Is covered from above as shown in FIGS. Then, the loading device 18 of each cylinder 1 is arranged such that each guide rail 21 has a platform 1 under the roof 43.
2 and the platform 12 on the shipping yard side
Each cylinder 1 from the side toward the loading platform 16 of the delivery truck 15
Do the loading work.

Reference numeral 44 denotes an unloading device which constitutes an automatic transfer device for the cylinders 1 provided for each of the receiving areas 10. The unloading device 44 also includes the lifting mechanism 27 shown in FIG. It comprises a mechanism 31, a gripping mechanism 33, a horizontal moving mechanism 45 described later, and the like.

Reference numeral 45 denotes a horizontal moving mechanism as horizontal moving means for moving the gripping mechanism 33 on the loading device 44 side above the receiving area 10 in the horizontal direction.
As shown in FIG. 9, as shown in FIG. 9, columns (not shown) arranged in the corners of the receiving area 10 in the X-axis direction (left-right direction) and the Y-axis direction (front-back direction) are separated from each other. Left and right guide rails 46, 46 are provided on the upper end of the support column and extend in the Y-axis direction in parallel with each other, and the Y-axis guides movably disposed on the respective guide rails 46. The traveling machines 47, 47 extend in the X-axis direction between the traveling machines 47, and both ends are fixed on the traveling machines 47, and the traveling machines 47 are provided.
And guide rails 48, 48, etc., as X-axis guides movable in the Y-axis direction via the.

The horizontal moving mechanism 45 includes an X-axis traveling unit 49 that is movable in the X-axis direction along each guide rail 48. The traveling unit 49 is driven by an X-axis motor 50 to travel. Configuration. On the other hand, each traveling machine 47 in the Y-axis direction is driven to travel by a Y-axis side motor 51, and the traveling machine 49 on the X-axis side is moved together with each guide rail 48 by Y
Move in the axial direction. The traveling machine 49 scans or positions the gripping mechanism 33 over the entire area of the receiving area 10 by moving the gripping mechanism 33 in the X-axis direction while moving on the receiving area 10 in the Y-axis direction. It is configured to be able to. The loading device 44 is provided with an elevating mechanism 27 as an elevating means on the traveling machine 49 of the horizontal moving mechanism 45, and the elevating mechanism 27 is
As described on the side, the gripping mechanism 33 via the turning mechanism 31 and the like
Is moved up and down.

Further, 52 is a loading device 1 for each cylinder 1.
8 and a controller as transfer control means for controlling the operation of the unloading device 44.
The input side is an X-axis sensor 53 and a Y-axis sensor 5 as shown in FIG.
4. Connected to the turning angle sensor 55 and the sign search unit 42, etc., the output side is the X-axis side motors 25, 50, the Y-axis side motor 2
6, 51, the lifting electric block 29, the swing motor 32, the vacuum pressure control valve 56 and the like. The controller 52 stores the program and the like shown in FIG. 11 in its storage circuit, and performs loading control processing and unloading control processing of each cylinder 1.

Here, the X-axis sensor 53 is connected to the X-axis side motors 25, 50 of the loading device 18 and the loading device 44.
And the like, and based on the rotation amount of the X-axis side motors 25, 50, the traveling machine 2 with respect to the X-axis side guide rails 23, 48
4, 49 X-axis direction positions are detected. The Y-axis sensor 54 is provided on the Y-axis side motors 26, 51 and the like. Detect axial position.

The turning angle sensor 55 is connected to the turning motor 3.
2 and the like, and detects the turning angle (rotation angle) of the gripping mechanism 33 with respect to each of the guide rails 23 and 48 from the rotation position of the turning motor 32. On the other hand, the vacuum pressure control valve 56 is provided in the middle of each vacuum pipe 35 of the gripping mechanism 33, and is provided from a vacuum pressure source (not shown) such as a vacuum pump to each suction head 38.
It is configured to control whether or not to supply a vacuum pressure to the switch.

The liquefied gas filling apparatus and the automatic transfer apparatus for each cylinder 1 according to the present embodiment have the above-described configurations. Next, the loading control processing of each cylinder 1 by the controller 52 will be described with reference to FIG. I do.

First, as shown in FIG. 2, the processing operation is started in a state where the delivery truck 15 is parked and stopped in the shipping area 13 by approaching the platform 12 on the shipping yard side. By driving the X-axis side motor 25 and the Y-axis side motor 26 of the
3 is scanned in the X-axis and Y-axis directions over the entire area.

Then, during this scanning, light is emitted from the light emitter of the marker searcher 42 in the direction of arrow A in FIG.
When light is reflected in the direction opposite to the direction indicated by the arrow A on each sign 17 provided on the loading platform 16 of the delivery truck 15, the position of each sign 17 is detected by receiving the reflected light on the light receiver side. . In this case, by driving the X-axis side motor 25 and the Y-axis side motor 26 at high speed until the amount of the reflected light reaches a certain level, the sign search unit 42 is moved to the X-axis and Y-axis directions.
When the light amount exceeds a certain level, the X-axis side motor 25 and the Y-axis side motor 26 are driven at a low speed so that the marker search device 42 is densely scanned in the X-axis and Y-axis directions. Then, the position where the amount of reflected light has the highest peak value is detected.

Next, in step 2, it is determined whether or not the search for each marker 17 has been completed, and the process of step 1 is repeatedly executed while determining "NO". When it is determined "YES" in step 2, the sign search unit 4
2, the length L and the vehicle width W of the carrier 16 are identified as shown in FIG. 2, and the inclination α of the delivery truck 15 in the shipping area 13 and the position of the carrier 16 are identified.

Next, in step 3, the inclination α of the delivery truck 15 in the shipping area 13 and the position (length L
And the vehicle width W), the loading pattern of each cylinder 1 on the loading platform 16 is determined by a pattern corresponding to the inclination α of the delivery truck 15 and the length L of the loading platform 16 and the vehicle width W (for example, an N-row, 5-column layout pattern). ).

Next, in step 4, of the cylinders 1 filled with the liquefied gas carried out by the shipping conveyor 14, the total amount arranged at a predetermined designated position on the leading end (downstream end) side of the shipping conveyor 14. A gripping mechanism 3 for each of the five cylinders 1
In order to grip by the gripping mechanism 3, the X-axis side motor 25 and the Y-axis side motor 26 of the horizontal moving mechanism 19 are drive-controlled, and the gripping mechanism 3
3 is horizontally moved toward the front end side of the shipping conveyor 14, and the turning mechanism 31 controls the turning of the holding mechanism 33 to dispose the holding mechanism 33 on each cylinder 1 at the designated position.

By operating the elevating mechanism 27 in this state, the suction heads 38 of the gripping mechanism 33 are attached to the upper ends of the cylinders 1 as shown in FIG. By supplying a vacuum pressure through each vacuum pipe 35 and the like, the opening end 38 of each suction head 38
A holds the upper end side of each cylinder 1 in a suction state. Thereafter, the gripping mechanism 33 is moved upward by the elevating mechanism 27 from the state of FIG. 3, and each cylinder 1 is lifted from the designated position.

Next, in step 5, the X-axis motor 25 and the Y-axis motor 26 of the horizontal moving mechanism 19 are drive-controlled, so that each cylinder 1 lifted from the specified position on the shipping conveyor 14 is gripped by the gripping mechanism 33. At the same time, it is horizontally moved to a position on the carrier 16. At this time, the turning mechanism 3
The gripping mechanism 33 is moved 90 from the position shown in FIGS.
The cylinder is turned by a close angle and the turning is controlled by the inclination α of the delivery truck 15 so that each cylinder 1 gripped by the gripping mechanism 33 can be arranged on the bed 16 in the vehicle width W direction.

Then, in this state, the lifting mechanism 27 is lowered, whereby the cylinders 1 gripped by the suction heads 38 of the gripping mechanism 33 are loaded onto the loading platform 1 of the delivery truck 15.
6 and the cylinders 1 are sequentially loaded on the carrier 16 along the loading pattern as illustrated in FIG.
Next, in step 6, it is determined whether or not the loading operation of each cylinder 1 on the carrier 16 of the delivery truck 15 has been completed, and the processing from step 4 onward is repeated while the determination is "NO". If "YES" is determined in step 6, the cylinders 1 are loaded on the loading platform 16 along the loading pattern so that the loading platform 16 of the delivery truck 15 is almost filled. The control processing ends.

On the other hand, when carrying out the unloading control processing of each cylinder 1 on the receiving area 10 side, the loading control processing shown in FIG. By retrieving the position, a loading pattern as an arrangement pattern of each cylinder 1 on the loading platform 16 is calculated, and based on the loading pattern, each cylinder 1 is moved from the loading platform 16 to the leading end of the receiving conveyor 11 at a designated position ( Automatically unload to the upstream end) side.

Thus, according to the present embodiment, each receiving area 10 and each shipping area 13 where the delivery truck 15 and the like are parked and stopped are provided at the liquefied gas filling factory, and these receiving and shipping areas 10 and 13 are provided. Has a horizontal moving mechanism 19,4
5, the loading device 18 and the loading device 44 of each cylinder 1 including the elevating mechanism 27, the turning mechanism 31, the gripping mechanism 33, the sign search device 42, the controller 52, and the like are arranged. The carrier 16
Since each mark 17 made of a light reflecting plate or the like is provided at three corners among the corners, the following operation and effect can be obtained.

That is, when each cylinder 1 filled with liquefied gas, which is transported to the platform 12 of the shipping yard by the shipping conveyor 14, is loaded on the loading platform 16 of the delivery truck 15 parked and stopped in the shipping area 13. In the shipping area 13, the sign search device 4 is moved by the horizontal moving mechanism 19.
2 by scanning each sign 17 on the loading platform 16 with the marker searching device 42, the inclination α of the delivery truck 15 in the shipping area 13 and the position of the loading platform 16 (length L
And the vehicle width W), and based on the detection result at this time, the loading pattern of each cylinder 1 on the loading platform 16 corresponds to the inclination α of the delivery truck 15, the length L of the loading platform 16 and the vehicle width W. It can be accurately calculated as a pattern (for example, an arrangement pattern of N rows and 5 columns).

When each cylinder 1 filled with liquefied gas is actually loaded on the loading platform 16 of the delivery truck 15 in the shipping area 13, the horizontal moving mechanism 19 and the turning mechanism 31 are operated based on the loading pattern. While controlling the drive,
By controlling the drive of the elevating mechanism 27 and the gripping mechanism 33, each cylinder 1 gripped by each suction head 38 of the gripping mechanism 33 is placed on the loading platform 16 of the delivery truck 15 from the designated position of the shipping conveyor 14 along the loading pattern. Can be automatically loaded.

Also, by retrieving the position of each marker 17 from the loading platform 16 of the delivery truck 15 shown in FIG. 9 on the receiving area 10 side, the loading pattern as the arrangement pattern of each cylinder 1 on the loading platform 16 is automatically determined. Based on this loading pattern, each cylinder 1 before filling can be automatically loaded from the loading platform 16 to the leading end (upstream end) of the receiving conveyor 11 at the designated position.

Therefore, according to the present embodiment, on the receiving area 10 side of the filling factory, each cylinder 1 before liquefied gas filling can be automatically unloaded from the loading platform 16 of the delivery truck 15 to the receiving conveyor 11 side. The cylinders 1 can be sequentially carried into the filling station 3 from the receiving conveyor 11 via the carrying-in conveyor 6, and the filling station 3 can smoothly and automatically fill each of these cylinders 1 with the liquefied gas by each filling machine 5. Can be sequentially carried out by the carry-out conveyor 8 toward the shipping conveyor 14 on the shipping yard side.

Then, on the shipping area 13 side of the filling factory, each filled cylinder 1 carried out by the shipping conveyor 14 can be automatically loaded on the loading platform 16 side of the delivery truck 15,
Cylinder 1 for loading and unloading each cylinder 1
Can be automated. As a result, it is possible to efficiently transfer the cylinders 1 in a short time, and as described in the related art, a large amount of the filled cylinders 1 stay in the shipping yard side of the filling factory in a waiting state for shipment. It is possible to eliminate such a situation.

As a result, it is not necessary to secure a large space (site area) on the shipping yard side of the filling factory, so that the site area of the filling factory and the like can be effectively utilized, and the space of the entire factory can be reduced. And filling station 3
Can be substantially operated at full capacity, the capacity of the filling device can be sufficiently exhibited, and the liquefied gas filling operation can be performed efficiently.

In the above-mentioned embodiment, in the program shown in FIG. 11, step 3 shows a specific example of the pattern calculation means which is a constituent element of the present invention, and steps 4 and 5 show specific examples of the transfer control means. Is shown.

Further, in the above-described embodiment, the case where a total of five suction heads 38 are provided on the suspension body 34 of the gripping mechanism 33 has been described as an example. However, the present invention is not limited to this. May be four or less, or six or more.

Further, in the above embodiment, the delivery truck 1
Each of the markers 17 is provided on the loading platform 16 of the No. 5 and each marker 17 is searched for by the marker searcher 42 provided on the gripping mechanism 33 side, so that the position (including the direction) of the delivery truck 15 in the receiving / shipping areas 10 and 13 is included. ), But instead of this, the position of the delivery truck 15 in the receiving / shipping areas 10 and 13 is detected using position detecting means such as an ultrasonic sensor, an infrared sensor or a television camera. The position (including the direction) may be detected.

On the other hand, in the above embodiment, the delivery truck 15
Each of the markers 17 provided on the carrier 16 is described as being arranged at three corners of the four corners of the carrier 16, but at least two markers 17 on the carrier 16 may be used instead. Of the delivery truck 15 and the vehicle width W (or length) of the carrier 16 by retrieving each of the markers 17 at the corners of the delivery truck 15 using a marker searcher 42 provided on the gripping mechanism 33 side. L) is detected. For example, when the vehicle width W is detected, the luggage carrier 1 is determined based on the type of the delivery truck 15 registered in advance.
The length L of 6 may be obtained by calculation or the like.

Further, in the above-described embodiment, the case where each cylinder 1 is loaded or unloaded on the carrier 16 of the delivery truck 15 as a carrier has been described as an example, but the present invention is not limited to this. For example, the present invention may be applied to a transfer operation of loading each cylinder 1 on a carrier such as a pallet,
In this case, each cylinder 1 may be loaded on the delivery truck 15 or the like by a transport means such as a forklift for each pallet.

Further, in the above embodiment, the carry-in conveyor 6
And the case where the carry-out conveyor 8 is extended in a straight line, respectively. However, the present invention is not limited to this. For example, the carry-in conveyor and the carry-out conveyor are appropriately used so as to effectively utilize the site area of the filling factory. It may be configured to be curved in a curved shape.

Further, in the above embodiment, the rotary automatic filling machine in which the filling station 3 is provided with a total of eight filling machines 5 has been described as an example, but the present invention is not limited to this.
For example, a configuration in which a plurality of filling machines such as 4, 6, 10, 12, and 14 are provided may be provided. In addition, the present invention is not limited to the rotary automatic filling machine, and may be applied to various filling machines such as a stationary filling machine.

[0081]

As described above in detail, according to the first aspect of the present invention, the transportation stopped at a predetermined area.
Out RIKEN by the position detection means the position of the table, identifies the carriage length and width in pattern calculation means based on the detection result
With another to calculates the arrangement pattern of each cylinder on the carriage, the horizontal movement means in the transport control unit, because the lifting means and the gripping means is configured to control drive, the carriage
How many cylinders can be loaded on a carrier based on length and width
In such a state, the cylinder can be automatically transferred between the designated position and the carrier along the arrangement pattern, and the cylinder is loaded from the carrier such as a truck, or the cylinder is loaded on the carrier. Work can be automated. Therefore, the cylinder transfer operation can be automated, the transfer operation can be performed efficiently in a short time, and the site area of, for example, a filling factory can be effectively used, and the space of the entire factory can be reduced.

According to the second aspect of the present invention, the position detection
Pattern calculation means based on the detection result of the output means.
Know the inclination of the carriage in the rear, the length and width of the carriage.
Separately, the arrangement pattern of each cylinder on the carrier
Is calculated by the transfer control means,
Drive control of the step, lifting / lowering means and gripping means,
Arrangement pattern by means of pattern calculation between carrier
Since the configuration is such that the cylinders are transported all at once, substantially the same effects as those of the invention described in claim 1 can be obtained. In addition, by appropriately rotating the gripping means with the rotating means, for example, The gripping means can be oriented along the direction of the plurality of cylinders arranged in a line, and each cylinder gripped by the gripping means can be oriented in an arbitrary direction. It is possible to automatically carry out a transfer operation such as collectively loading cylinders or loading a plurality of cylinders collectively on a carrier.

[0083] Further, in the invention according to claim 3, by detecting the position detection means each label provided respectively in at least two corners of the four corners of the carriage, et rear can detect the carriage of the position of the inner, the detection binding
Carriage direction of the pattern calculation unit in the area in accordance with fruit (gradient), to identify the carriage length and width
Can be. As a result, how many cylinders can be loaded on the carrier
In addition to being able to easily recognize this, the arrangement pattern of each cylinder along the length direction and width direction of the carrier can be calculated more accurately.

On the other hand, in the invention according to the fourth aspect, the lifting / lowering means is moved along the X-axis guide by driving the X-axis motor of the horizontal moving means, and the lifting / lowering means is driven by driving the Y-axis motor. Are moved along the Y-axis guides together with the X-axis guides, and the holding means of each cylinder is raised and lowered by the lifting / lowering means via the rotating means. For example, they are arranged in a line. While orienting the gripping means above each cylinder, the gripping means can be lowered and the cylinders can be automatically gripped, and in this state, the gripping means can be lifted and the cylinders can be lifted collectively. At the same time, the transfer operation of loading or loading each cylinder together with the gripping means to another position by the horizontal moving means can be automatically performed.

[0085] Further, in the invention described in claim 5, by moving the indicator searcher provided in suspension of the gripping means in the X-axis and Y-axis direction in the horizontal moving means (scanning), the luck搬台the marker position can be easily searched, while accurately detecting the carriage position in the d rear by this, it is possible to calculate the arrangement pattern of each cylinder on the carriage in a pattern calculation means. Then, while suspending the hanging body of the holding means vertically and rotatably in the horizontal direction via the rotating means by the lifting means, the upper end side of each cylinder is held by the holding portion of each holding holder provided on the hanging body. In addition to being able to be detachably gripped, the transfer work of loading and unloading the cylinders held by each holding portion from the carrier at once or loading the carriers onto the carrier at the same time is automatically performed according to the arrangement pattern. It can be carried out.

Further, in the invention according to claim 6, each of the gripping portions of the gripping means is expanded in a radially outward direction with the lower end side being an open end, and the upper end side is a closed end. By supplying a vacuum pressure from the closed end side in a state where the open end side of each suction head is in contact with the upper end side of each cylinder, the upper end side of each cylinder is opened at the open end of the suction head. Since it is configured to be held in the suction state, it is possible to use the vacuum pressure generated in each suction head to securely hold each cylinder while sucking it, and to release the vacuum pressure after transferring each cylinder. Thus, the holding of each cylinder by suction can be immediately released.

[Brief description of the drawings]

FIG. 1 is an overall view showing a liquefied gas filling factory to which an automatic cylinder transfer apparatus according to an embodiment of the present invention is applied.

FIG. 2 is an enlarged plan view showing a cylinder loading device and the like provided in a shipping area in FIG. 1;

FIG. 3 is a sectional view taken in the direction of arrows III-III in FIG. 2;

FIG. 4 is an enlarged sectional view taken in the direction of arrows IV-IV in FIG. 2;

FIG. 5 is an enlarged sectional view showing a main part in FIG. 3;

FIG. 6 is a cross-sectional view showing a main part of the suction head and the like in FIG. 5 in a further enlarged manner.

FIG. 7 is a plan view substantially similar to FIG. 2, showing a state where a cylinder is being loaded on a carrier of a delivery truck.

FIG. 8 is a sectional view taken in the direction of arrows VIII-VIII in FIG.

FIG. 9 is an enlarged plan view showing a cylinder loading device and the like provided in the receiving area in FIG. 1;

FIG. 10 is a control block diagram illustrating an automatic cylinder transfer device according to an embodiment of the present invention.

FIG. 11 is a flowchart showing a cylinder loading control process by the controller.

[Explanation of symbols]

 Reference Signs List 1 cylinder 3 filling station 4 rotary table 5 filling machine 6 carry-in conveyor 8 carry-out conveyor 9,12 platform 10 receiving area 11 receiving conveyor (designated position) 13 shipping area 14 shipping conveyor (designated position) 15 delivery truck (carrier) 16 loading platform 17 sign 18 loading device (transfer device) 19, 45 horizontal moving mechanism (horizontal moving means) 21, 46 guide rail (Y axis guide) 22, 24, 47, 49 traveling machine 23, 48 guide rail (X axis guide) 25 , 50 X-axis side motor 26, 51 Y-axis side motor 27 Elevating mechanism (elevating means) 31 Revolving mechanism (rotating means) 33 Gripping mechanism (gripping means) 34 Suspended body 35 Vacuum piping 36 Head holder (gripping holder) 38 Suction head (Gripping part) 42 Sign search device (position detecting means) 44 Loading device Transfer device) 52 Controller (transport control means)

Continuation of front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B66C 13/22 B66C 1/62 B65G 67/00-67/56

Claims (6)

(57) [Claims] 1. A cylinder for transferring said cylinder between a designated position where the cylinder is arranged and a carriage stopped within a predetermined area, so that the cylinder is detachably gripped from above.
Gripping means to be held, and a lift for raising and lowering the gripping means.
Lowering means, and a horizontal moving means for moving the gripping means in a horizontal direction.
In automatic transport device cylinder consisting of a motion means, a position detecting means for detecting a position of the carriage stopped at the said area, and wherein the carriage length based on a detection result of said position detecting means
With identifying width, said a pattern calculating means for calculating a layout pattern of each cylinder on the carriage, the water flat moving means is driven and controlled with the temperature descending means and the gripping means, the carriage and the specified position The pattern performance between
JP that has a structure and a transport control means for transporting the cylinder along the computed arrangement pattern by calculation means
Automatic transfer device of the bomb and butterflies. 2. The method according to claim 1 , wherein the plurality of cylinders are collectively transported between a designated position where the cylinders are arranged and a carriage stopped within a predetermined area.
Gripping means for detachably grasping from above the cylinder
Lifting means for raising and lowering the gripping means,
Water that moves the gripping means forward, backward, left and right in the horizontal direction
In automatic transport device cylinder comprising a flat moving means, position detecting means for detecting the position of the carriage stopped at the said area, luck in the area based on a detection result of said position detecting means
Identification of the carrier tilt, the length and width of the carrier and identification
In a pattern calculating means for calculating an arrangement pattern of each cylinder on the carriage, a rotation means for rotating the pre-Symbol gripping means in a horizontal plane, said horizontal moving means said rotation means, with the lifting means and the gripping means drives and controls, characterized by being configured to include a transfer control means for transferring collectively the respective cylinders along the arrangement pattern which is calculated by the pattern calculation means between the carriage and the specified position cylinder Automatic transfer equipment. 3. A sign is provided on at least two corners of the carriage at four corners located at both ends in the length direction and the width direction of the carriage, respectively. detecting means detected a carriage position in said area by detecting the respective label, said pattern computing means,
Inclination of the carriage based on the detection result of the position detection means ,
3. The automatic cylinder transfer device according to claim 2, wherein an arrangement pattern of each of the cylinders along a length direction and a width direction of the carrier is calculated. 4. A pair of Y-axis guides which are located at least on the area, are separated in the X-axis direction of the area, and extend between the designated position and the area in the Y-axis direction; An X-axis guide extending between the Y-axis guides in the X-axis direction and having both ends movably attached to the respective Y-axis guides; and the lifting / lowering means being movably attached to the X-axis guides. An X-axis side motor that moves along the Y-axis guide, and a Y-axis side motor that moves the lifting / lowering means along with the X-axis guide along each of the Y-axis guides. The automatic cylinder transfer device according to claim 2 or 3, wherein the gripping means is moved up and down. 5. The hanging means is suspended by the lifting means via a rotating means so as to be vertically movable and rotatable in a horizontal direction, and an upper end is fixed to the hanging body and a lower end is each cylinder. And a plurality of gripping holders serving as gripping portions for detachably gripping an upper end side of the X-axis. The position detecting means is attached to the suspension body between the gripping holders, and the X-axis together with the suspension body. 5. The automatic cylinder transfer apparatus according to claim 3, wherein the apparatus is configured by a marker searcher that searches for each marker position on the carriage by moving in the Y-axis direction. 6. Each of the gripping portions of the gripping means comprises a cup-shaped suction head having a lower end serving as an open end and expanding radially outwardly and an upper end serving as a closed end. A vacuum pressure is supplied from the closed end side in a state where the end side is in contact with the upper end side of each of the cylinders, so that the upper end side of each of the cylinders is gripped in the suction state at the open end of the suction head. The automatic cylinder transfer device according to claim 5.