JP3599572B2 - Gas filling equipment - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
TECHNICAL FIELD The present invention relates to a gas filling apparatus that automatically attaches a filling nozzle to a container valve of a gas filling container to fill a gas.
[0002]
[Prior art]
A gas filling device for automatically filling a liquefied gas into a gas filling container is already known. The gas filling apparatus includes a weighing table, and the gas filling container is automatically or manually placed on the weighing table in a predetermined direction. Then, the filling nozzle is automatically attached to the container valve of the gas filling container, and after the handle of the container valve is automatically opened, it is configured to fill the liquefied gas to a predetermined weight while measuring the filling amount. I have.
[0003]
The structure for supporting the filling nozzle of this type of gas filling apparatus was as shown in FIGS.
8 and 9, reference numeral 1 denotes an elevating support table which is supported so as to be movable up and down by an air cylinder (not shown) along two support rods 2. An outer rotating shaft 3 and an inner rotating shaft 4 which are coaxial with each other around a vertical axis z are disposed on the elevating support table 1 so as to be rotatable via bearings 5 in a posture vertically penetrating therethrough. Is rotated by the rotary drive motor 6 via the gears 7 and 8. A handle engagement portion 11 having a plurality of engagement pins 11a engageable with a handle 10 of the container valve 9 is spline-coupled to a lower end of the outer rotary shaft 3. Then, the lifting support base 1 is lowered from a state where the handle engaging portion 11 is located above the container valve 9, and the handle engaging portion 11 is engaged with the handle 10, and then the rotation drive motor 6 is driven. The handle 10 is opened and closed. The handle engagement portion 11 is supported by springs 12 and 13 so as to be able to move up and down, and the detection sensor 15 detects that the holding plate 14 attached to the lower end of the inner rotation shaft 4 abuts on the handle 10. ing.
[0004]
The elevating support base 1 is provided with a hanging part 1 a so as to surround the outer periphery of the outer rotating shaft 3. A support arm 21 for supporting the filling nozzle 20 is rotatably supported around the vertical axis z via a bearing 16 on the hanging portion 1a, and is hung between the lifting support 1 and the support arm 21. The support arm 21 can rotate within the range of expansion and contraction of the spring 17.
[0005]
The support arm 21 extends obliquely downward and supports the filling nozzle 20 via a guide rod 22 and a slide portion 23. The filling nozzle 20 is supported so as to be able to move up and down along a guide rod 22, and as shown in FIGS. 10 to 13, a front-rear direction (approaching / separating) with respect to the container valve 9 along a slide rail 23 a provided on a slide portion 23. Direction). Reference numeral 24 denotes a compression spring provided on the guide rod 22, and reference numeral 23g in FIG. 11 denotes a tension spring that is stretched over the projection 23h of the fixed side plate 23b of the slide portion 23 and the projection 23i of the movable side plate 23c.
[0006]
The filling nozzle 20 has a pair of grips that can be opened and closed in a posture for gripping the container valve 9 as shown by a solid line in FIG. 11 and an open posture for releasing the gripping posture as shown in a virtual line in FIG. Arms 25 are provided, and these gripping arms 25 are opened and closed around a support shaft 27 by a retracting operation of a rod 26 a of an arm opening / closing cylinder 26 attached to the lower surface of the filling nozzle 20. Further, as shown in FIGS. 14A and 14B, a protruding pin 23d is formed on the fixed side plate 23b of the slide portion 23 so as to protrude downward, and the protruded pin 23d is attached to the movable side plate 23c of the slide portion 23. It is engaged with the bending lever 29 through the provided window 23e. The bending lever 29 is swingable about a projection pin 23f provided on the lower surface of the movable side plate 23c as a fulcrum, and the projection 23j at the tip end is in contact with the rear surface of the grip arm 25. When the container valve 9 is gripped by the grip arm 25, the movable side plate 23c of the slide portion 23 or the filling nozzle 20 moves forward against the fixed side plate 23b of the slide portion 23 against the tension spring 23g. The filling port 20a of the filling nozzle 20 is in close contact with the filling port 18 of the container valve 9 (see FIG. 10).
[0007]
12, 25a and 25b are guide pieces provided on the gripping arm 25. When the gripping arm 25 is closed, the guide pieces 25a and 25b contact the body 9a (see FIG. 10) of the container valve 9 to guide the filling nozzle 20. It is supposed to. In FIG. 8, reference numeral 28 denotes a stop detection sensor for stopping the lowering operation of the elevating support table 1. When the elevating support table 1 is lowered, the arm opening / closing cylinder 26 and the like come into contact with the main body of the gas-filled container. Then, when the filling nozzle 20 side moves relatively upward with respect to the support arm 21 side, this is detected, and the lowering operation of the lifting support base 1 is stopped.
[0008]
In such a configuration, when the gas-filled container is placed in a predetermined direction on the weighing table below the elevating support base 1 in a state where the elevating support base 1 is previously arranged above, the elevating support base 1 is lowered. Is done. At this time, the grip arm 25 is open. When the lifting support 1 is lowered, the holding plate 14 at the lower end of the inner rotating shaft 4 comes into contact with the handle 10 of the container valve 9, and when this is detected by the detection sensor 15, the lowering operation of the lifting support 1 is performed. Is stopped.
[0009]
Next, the gripping arm 25 is closed and the filling nozzle 20 is mounted on the container valve 9. That is, by closing the grip arm 25, the bending lever 29 swings from the position shown in FIG. 14A to the position shown in FIG. 14B, whereby the movable side plate 23c is moved relative to the fixed side plate 23b. It moves forward, and as a result, the filling nozzle 20 moves forward. At the same time, the tip of the gripping arm 25 and the guide pieces 25a and 25b engage with the body 9a of the container valve 9 and the like, so that the guide pieces 25a and 25b come into contact with each other. Is brought into close contact with the filling port 18 of the container valve 9.
[0010]
In this case, also in this gas filling device, the filling nozzle 20 is supported so as to be able to swing about the vertical axis z and to be able to move back and forth by the slide portion 23. The filling nozzle 20 is designed to be able to be connected to the container valve 9 even if the position 18 is slightly shifted.
[0011]
[Problems to be solved by the invention]
However, the container valve 9 may be attached to the main body A of the gas-filled container so as to be shifted from the center position B within a range of about 10 mm. In some cases, the nozzle 20 could not be properly connected to the container valve 9. In this case, the attendant has to stop the automatic filling operation, and the operation efficiency is reduced.
[0012]
The present invention is to solve the above-mentioned problem, and to provide a gas filling device capable of satisfactorily connecting a filling nozzle to a container valve even when the container valve is attached to a gas filling container body from a central position. The purpose is.
[0013]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, a gas filling apparatus according to claim 1 of the present invention is configured such that an elevating support pedestal that can move up and down above a place where a gas filling container is transferred , and penetrates vertically through the elevating support. A rotating body attached to the elevating support base in a posture rotatable via a bearing about a vertical axis located at a center, and a parallel link mechanism in which the upper end of each link is connected to the rotating body. A nozzle support connected to the lower end of each link in the parallel link mechanism, and opened and closed in a holding posture for holding the container valve and an opening posture for releasing the holding posture while being supported by the nozzle support. It has a pair of gripping arms freely, and an injection port for injecting a gas, by gripping the container valve by the gripping arms, filling nozzles for mounting the inlet to the filling port of the container valve The provided, the spherical portion is attached to the connecting portion of each link of the parallel link mechanism in the rotating member, the connecting portion between the rotating member at each link of the parallel link mechanism receives the spherical portion of the rotary body A spherical receiving portion is provided, and a spherical portion is attached to a connection portion of the nozzle support base with each link of the parallel link mechanism. The nozzle portion is provided at a connection portion of each link of the parallel link mechanism with the nozzle support base. A spherical receiving portion for receiving a spherical portion of a support base is provided, and the parallel link mechanism causes the nozzle support base supporting the filling nozzle to move in a direction in which the filling nozzle approaches and separates from a container valve of the gas filling container. The nozzle is swingably supported by the spherical link portion provided at each connection portion of the parallel link mechanism and the spherical receiving portion receiving the spherical portion. In a direction lifting platform comprises a vertical and transverse directions along the spherical surface is movable, and configured to permit movement of directions including vertical and lateral directions along the spherical surface with respect to the container valve of the filling nozzle Things.
[0014]
With this configuration, the filling nozzle is rotatable about the longitudinal axis of the elevating support table, and is swingable in the direction of approaching and separating from the container valve by the parallel link mechanism. This allows vertical and horizontal movements with respect to the container valve, so that the filling nozzle can be satisfactorily connected to the container valve even when the container valve is attached to the gas-filled container body at a position deviated from the center position.
[0015]
The gas filling device according to a second aspect of the present invention is the gas filling device according to the first aspect, wherein a link forming a parallel link mechanism is extended downward to provide an extension portion , and when the grip arm is opened, the grip is held. When the protrusion provided on the arm abuts on the extension of the link , the link is tilted so that the filling nozzle separates from the container valve, while the protrusion provided on the grip arm when the grip arm is closed. Is configured to separate from the extended portion of the link so that the filling nozzle approaches the container valve side .
[0016]
With this configuration, when the gripping arm is closed from the open state, the filling nozzle approaches the container valve, so that the filling nozzle can be brought into close contact with the container valve.
A gas filling device according to a third aspect of the present invention is the gas filling device according to the first or second aspect, wherein the lifting support base is engaged with a handle of the container valve to rotate the handle in the opening and closing direction. An opening / closing device is provided.
[0017]
With this configuration, the container valve opening / closing device can automatically open and close the handle of the container valve.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the same reference numerals are given to those having the same functions as those of the conventional gas filling apparatus.
[0019]
1 to 3, reference numeral 1 denotes an elevating support table which is raised and lowered by an air cylinder (not shown) along two support rods 2. An outer rotating shaft 3 and an inner rotating shaft 4 that are coaxial with each other around a vertical axis z are arranged on the elevating support base 1 so as to be rotatable via bearings 5 in a posture penetrating vertically. It is rotated via a rack 31 and gears 32, 33, 34 by a horizontally arranged air cylinder 30. A handle engaging portion 11 having a plurality of engaging pins 11a engageable with the handle 10 of the container valve 9 is spline-coupled to the lower end of the outer rotary shaft 3, and the handle is engaged above the container valve 9. After the lifting support 1 is lowered from the position where the portion 11 is located to engage the handle engaging portion 11 with the handle 10, the handle 10 is rotated by driving the air cylinder 30 to open and close. I have. The handle engagement portion 11 is supported by springs 12 and 13 so as to be able to move up and down, and the detection sensor 15 detects that the holding plate 14 attached to the lower end of the inner rotation shaft 4 abuts on the handle 10. ing.
[0020]
The elevating support base 1 is provided with a hanging part 1 a so as to surround the outer periphery of the outer rotating shaft 3. A rotating body 35 is supported by the hanging portion 1a via a bearing 16 so as to be freely rotatable about a vertical axis z, and the rotating body 35 extends and contracts within a range of expansion and contraction of a spring 17 stretched between the lifting support 1 and the rotating body 35. 35 can rotate.
[0021]
As shown in FIGS. 3 and 4, the rotating body 35 extends laterally, and the upper ends of the three links 41, 42, 43 of the parallel link mechanism 40 are connected to the extending portion 35 a of the rotating body 35. Have been. The parallel link mechanism 40 has one central link 41 disposed closer to the upper side, and two side links 42 and 43 disposed diagonally below both sides of the central link 41. The lower ends of the links 41, 42, and 43 are attached to a nozzle support 51 that supports the filling nozzle 20 so as to be able to move up and down.
[0022]
As shown in FIG. 4, the extended portions 35 a of the rotating body 35 connected to the links 41, 42, 43 and the connection portions of the nozzle support 51 are connected to the spherical portions 35 b via connecting pins 53, 54, 55. The spherical support portions 41a, 42a, and 43a for receiving the spherical portions 35b and 51a are formed at connection portions of the links 41, 42, and 43, respectively. It is swingable in the direction a (see FIG. 3, front and rear and up and down directions with respect to the container valve 9) around the connecting portion of the links 41, 42 and 43 provided on the extending portion 35 a of the rotating body 35. It is also movable in the direction b (see FIG. 4, left and right with respect to the container valve 9). Further, the central link 41 is integrally extended from the spherical receiving portion 41a further downward, and a pusher roller 52 is attached to a lower end of the extended portion 41b. Further, a tension spring 44 is stretched between the central portions of the side links 42 and 43 and the nozzle support base 51, and when no external force is applied, the posture shown in FIG. 3 is maintained. It has become.
[0023]
The filling nozzle 20 is supported by the nozzle support 51 along the guide rod 22. Reference numeral 24 denotes a compression spring provided on the guide rod 22. As shown in FIGS. 5 to 7, the filling nozzle 20 has a posture for gripping the container valve 9 (see the solid line in FIG. 6) and an open posture for releasing the gripping posture (see the phantom line in FIG. 6). A pair of gripping arms 25 is provided which can be opened and closed over the support nozzle 27. The gripping arms 25 are opened and closed around a support shaft 27 by a rod retracting operation of an arm opening / closing cylinder 26 attached to the lower surface of the filling nozzle 20. A protruding pin 25c is formed on the upper surface of one gripping arm 25 as a protruding portion, and as shown in FIG. 3, the protruding pin 25c can be brought into contact with the pusher roller 52 of the center link 41. It is facing. Then, when the gripping arm 25 is opened, as shown by the phantom line in FIG. 3, the protruding pin 25c contacts the pusher roller 52 and pushes it backward to incline the center link 41, thereby moving the filling nozzle 20 backward. It is designed to be moved.
[0024]
Reference numerals 25a and 25b denote guide pieces provided on the gripping arm 25. When the gripping arm 25 is closed, it contacts the body of the container valve 9 to guide the filling nozzle 20. Reference numeral 28 denotes a stop detection sensor for stopping the lowering operation of the elevating support table 1. When the elevating support table 1 is lowered, the arm opening / closing cylinder 26 and the like come into contact with the main body of the gas-filled container. When the filling nozzle 20 moves upward relative to the rotating body 35, this is detected, and the lowering operation of the lifting support 1 is stopped.
[0025]
In the above-described configuration, when the gas-filled container is placed in a predetermined direction on the weighing platform below the lifting / lowering support 1 in a state where the lifting / lowering support 1 is previously arranged above, the lifting / lowering support 1 is lowered, At this time, the grip arm 25 is open. By the lowering operation of the lifting support 1, the holding plate 14 at the lower end of the inner rotary shaft 4 comes into contact with the handle 10 of the container valve 9, and when this is detected by the detection sensor 15, the lowering operation of the lifting support 1 is stopped. You.
[0026]
Next, the arm opening / closing cylinder 26 is driven, the gripping arm 25 is closed, and the filling nozzle 20 is mounted on the container valve 9. At this time, as shown in FIG. 3, when the gripping arm 25 is closed, the protruding pin 25 c of the gripping arm 25 is separated from the pusher roller 52. 20 moves forward. At the same time, the tip of the gripping arm 25 and the guide pieces 25a and 25b engage with the body of the container valve 9 and the like, and the guide pieces 25a and 25b are brought into contact with each other. It is in close contact with the filling port 18 of the container valve 9.
[0027]
In this case, since the filling nozzle 20 is supported by the elevating support base 1 via the rotating body 35, the filling nozzle 20 is rotatable about the vertical axis z, and also via the parallel link mechanism 40. Because it is supported in the direction of a (forward and backward and up and down with respect to the container valve 9), even if the position of the filling port 18 of the container valve 9 is slightly shifted, the filling nozzle 20 is Can be connected to container valve 9. Further, since the connecting portions of the respective links 41, 42, 43 of the parallel link mechanism 40 are connected via the spherical receiving portions 41a, 42a, 43a and the spherical portions 35b, 51a, the direction b with respect to the container valve 9, In other words, even if the container valve 9 is attached to the main body of the gas-filled container so as to be displaced within a range of about 10 mm from the center position, The filling nozzle 20 moves following the container valve 9, and the inlet 20 a of the filling nozzle 20 can be brought into close contact with the filling port 18 of the container valve 9.
[0028]
Thereafter, when the gas-filled container reaches a predetermined weight, the gripping arm 25 is opened, and the injection port 20a of the filling nozzle 20 is separated from the filling port 18 of the container valve 9, and then the elevating support table 1 is raised, Be prepared for the next filling operation.
[0029]
As described above, the filling nozzle 20 is rotatable about the vertical axis z of the elevating support table 1 and can swing back and forth and up and down with respect to the container valve 9 by the parallel link mechanism 40. Since the spherical parts 35b and 51a and the spherical receiving parts 41a, 42a and 43a also allow the left and right movements with respect to the container valve 9, the degree of freedom of the movable range of the filling nozzle 20 is increased, and the container valve 9 becomes gaseous. The filling nozzle 20 can be connected to the container valve 9 satisfactorily even when the filling nozzle is attached to the main body of the filling container at a position deviated from the center position. Since the filling operation is prevented from being interrupted, work efficiency is improved. Further, even in the event that the mounting failure of the filling nozzle 20 occurs, it is possible to easily shift the filling nozzle 20 manually by the spherical portions 35b, 51a and the spherical receiving portions 41a, 42a, 43a. Corrections can also be made easily.
[0030]
Further, the filling nozzle 20 can be advanced and closely adhered to the container valve 9 by using the link 41 of the parallel link mechanism 40 with a simpler structure than in the related art, in conjunction with the closing operation of the grip arm 25. Therefore, the structure is simplified.
[0031]
【The invention's effect】
As described above, according to the present invention, a parallel link mechanism is provided between a rotating body rotatable around a vertical axis of a vertically movable support base and a filling nozzle mounted on a filling port of a container valve. The filling nozzle is rotatable around the vertical axis of the elevating support base by providing a spherical part and a spherical receiving part at each mounting point of the parallel link mechanism, It can swing back and forth and up and down, and since the spherical portion and the spherical receiving portion allow the left and right movement with respect to the container valve, the container valve is attached to the gas-filled container main body so as to be shifted from the center position. Even in this case, the filling nozzle can be connected well to the container valve. Therefore, it is possible to reduce the defective mounting rate of the filling nozzle to the container valve, prevent the automatic filling operation from being stopped, and improve the work efficiency.
[Brief description of the drawings]
FIG. 1 is a partially cutaway front view of a filling nozzle support portion of a gas filling device according to an embodiment of the present invention.
FIG. 2 is a plan sectional view of a lifting support of the gas filling apparatus.
FIG. 3 is a partially cutaway front view of a parallel link mechanism of the gas filling apparatus and a portion near the parallel link mechanism.
FIG. 4 is a partially cutaway side view of a parallel link mechanism of the gas filling device.
FIG. 5 is a front view of a filling nozzle of the gas filling device.
FIG. 6 is a plan view of a filling nozzle of the gas filling device.
FIG. 7 is a side view of a filling nozzle of the gas filling device.
FIG. 8 is a partially cutaway front view of a filling nozzle support portion of a conventional gas filling device.
FIG. 9 is a plan sectional view of an elevating support table of the conventional gas filling apparatus.
FIG. 10 is a front view of a filling nozzle of the conventional gas filling apparatus.
FIG. 11 is a plan view of a filling nozzle of the conventional gas filling device.
FIG. 12 is a side view of a filling nozzle of the conventional gas filling device.
FIG. 13 is a bottom view of a filling nozzle of the conventional gas filling apparatus.
FIG. 14 is a schematic plan view showing the opening / closing of the gripping arm and the positional relationship between the filling nozzles in the conventional gas filling apparatus, where (a) shows when the gripping arm is open, and (b) shows when the gripping arm is closed. Indicates the status.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 lifting support 9 container valve 10 handle 11 handle engagement part 20 filling nozzle 25 gripping arm 25c protruding pin 26 arm opening and closing cylinder 35 rotating body 40 parallel link mechanism 41, 42, 43 link 41b extension part 51 nozzle support 35b, 51a Spherical portions 41a, 42a, 43a Spherical receiving portion 52 Pusher roller z Vertical axis center

Claims (3)

An elevating support pedestal that can move up and down above the location where the gas-filled container is transferred ,
A rotating body attached to the lifting support in a position rotatable via a bearing about a vertical axis positioned to penetrate the lifting support vertically,
A parallel link mechanism in which the upper end of each link is connected to the rotating body,
A nozzle support connected to the lower end of each link in the parallel link mechanism;
Along with being supported by the nozzle support, a pair of gripping arms that can be opened and closed freely to a gripping position for gripping the container valve and an open position for releasing the gripping position, and an injection port for injecting gas, by gripping the container valve by grasping arm, a filling nozzle for mounting the inlet to the filling port of the container valve
Equipped with a,
A spherical portion is attached to a connecting portion of the rotating body with each link of the parallel link mechanism,
A connection portion between each link of the parallel link mechanism and the rotating body is provided with a spherical receiving portion that receives a spherical portion of the rotating body,
A spherical portion is attached to a connection portion between the parallel link mechanism and the link in the nozzle support base,
A connection portion between each link of the parallel link mechanism and the nozzle support is provided with a spherical receiving portion that receives a spherical portion of the nozzle support,
By the parallel link mechanism, the nozzle support supporting the filling nozzle is swingably supported in a direction in which the filling nozzle approaches and separates from a container valve of the gas filling container,
With the spherical portion provided at each connection portion of the parallel link mechanism and the spherical receiving portion receiving the spherical portion, the nozzle support can be moved in directions including up and down and lateral directions along the spherical surface. A gas filling device configured to allow the filling nozzle to move in directions including up and down and lateral directions along the spherical surface with respect to the container valve . The link forming the parallel link mechanism is extended downward to provide an extension , and when the gripping arm is opened, the projection provided on the gripping arm comes into contact with the extension of the link, so that the filling nozzle is connected to the container valve. The link is tilted so as to separate from the container , and when the gripping arm is closed, the protrusion provided on the gripping arm is separated from the extension of the link so that the filling nozzle approaches the container valve. Item 2. The gas filling device according to Item 1. The gas filling apparatus according to claim 1, wherein the lifting support base is provided with a container valve opening / closing device that engages with a handle of the container valve and rotates the handle in the opening / closing direction.

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