JP3748043B2 - Tool for automatic lubricator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a tool for opening and closing a lid and a cap suitable for an apparatus for automatically refueling a vehicle such as an automobile.
[0002]
[Prior art]
In recent years, in order to save labor in refueling work, a so-called robot that attaches a refueling nozzle connected to an oil feed pump to a robot arm, detects the refueling port of an automobile fuel tank by a sensor, and automatically inserts the refueling nozzle into the refueling port A fueling device is about to be introduced.
In order to smoothly perform fueling by such a robot fueling device, it is necessary that the tip of the fueling nozzle can be reliably positioned and inserted into the fueling port of the automobile fuel tank.
[0003]
[Problems to be solved by the invention]
For this reason, for example, as shown in Japanese Patent Publication No. 10-503994, it has been proposed to attach an adapter to the fuel filler of an existing automobile fuel tank, but not all vehicles are equipped with an adapter. In addition, there is a problem that a marker for guiding the fueling nozzle to a predetermined position is required, and vehicles that can be automatically fueled are limited.
The present invention has been made in view of such problems, and the object of the present invention is to automatically dispose the fuel inlet door and the tank cap without requiring special processing for existing vehicles. It is to provide a tool for an automatic oiling device that can be opened and closed.
[0004]
[Means for Solving the Problems]
In order to solve such a problem, in the automatic fueling device of the present invention, in a tool for an automatic fueling device that performs fueling by inserting a fueling nozzle into a fueling port of a vehicle by a robot, a base that can be mounted on the robot In addition, a suction mechanism that is supplied with negative pressure via a vacuum switch and can be sucked to the fuel inlet door, a suction mechanism provided at one end, and a shaft provided at the base so that the other end is rotatable, A lock means is provided for always abutting the shaft to lock the rotation of the shaft and for releasing the lock when an increase in negative pressure is detected by the vacuum switch.
[0005]
[Action]
It can be reliably opened and closed without adsorbing to the fuel inlet door and applying an excessive force.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Therefore, details of the present invention will be described below based on the illustrated embodiment.
FIG. 1 shows an embodiment of an oil supply apparatus to which the tool of the present invention is applied. An island 1 includes an oil supply unit 2 for controlling an oil supply operation such as a liquid feeding means and a metering means, a nozzle 3, A tool stocker 4 for removably storing a tool such as a filler opening / closing tool, which will be described later, a robot 7 for gripping the tool by the arm 5 and moving it to the filler port 112 of the vehicle 6, and the fueling unit 2 and the robot 7 are integrated. A control unit 8 for controlling the control is arranged.
[0007]
The oil supply nozzle 3 is connected to the liquid feeding means of the oil supply unit 2 and the hoses 9 and 10, and the hoses 9 and 10 are connected to the sliding mechanism 12 accommodated in the top plate 11 of the tool stocker 4 as shown in FIG. It is supported by being connected by a joint 13. The joint 13 is always urged in the direction opposite to the direction of taking out (to the left in the figure) by the urging means (not shown), in this embodiment, the weight, and is movable so as to follow the movement of the nozzle 3. The top plate 11 is supported.
[0008]
FIG. 3 shows an embodiment of the tool stocker 4, which is constructed by supporting the top plate 11, the nozzle 3 and the tool storage portion 14 for storing the tool by the support column 15 so as to be in a vertical relationship. Yes. In this embodiment, the tool storage portion 14 includes nozzle storage holes 16, 17, 18 for storing three nozzles on the center side, and a fuel inlet door opening / closing tool storage portion 19 for storing fuel inlet door opening / closing tools on both sides. The tank cap opening / closing tool storage unit 20 is disposed. In addition, the code | symbol 21 in a figure shows the wire which connects the sliding mechanism 12 and a weight.
[0009]
FIGS. 4 and 5 show an embodiment of the robot 7. The body 23 is fitted to the base 22 so as to be movable up and down, and three arms are attached to the upper end of the body 23. 24, 25, 26 are mounted horizontally. The arm 24 is connected to a rotating mechanism 27 provided on the body 23, the arm 25 is connected to a rotating mechanism 28 attached to the arm 24, and the arm 26 is further connected to a rotating mechanism 29 attached to the arm 25. Each is supported, and is configured to be independently rotatable.
At the distal end of the distal arm 26, an imaging means 30 and a chuck mechanism 31 for gripping the various tools described above are provided so as to be vertically rotatable via a rotating mechanism 32 so as to be in a vertical relationship. Furthermore, in this embodiment, a distance measuring means 100 such as a laser distance measuring device is provided at a position that does not interfere with the distance measuring operation.
[0010]
FIGS. 6 (a), 6 (b), and 6 (c) each show one embodiment of a fuel inlet door opening / closing tool characterized by the present invention, and the base 40 is chucked at the lower part of the rear end thereof. An engaging portion 40 a that engages with the mechanism 31 is formed, and a suction mechanism 42 is attached to a vertical rotation shaft 41 provided on the upper surface. The suction mechanism 42 is configured by attaching a rear end of a bellows 43 made of an elastic material such as rubber having an open front end to a shaft 44 via a rotation shaft 44a so as to be rotatable in the horizontal direction. The shaft 44 is constantly urged toward the distal end side by an elastic body 45 such as a coil spring, and is supplied with negative pressure via a hose 46.
[0011]
The adsorption mechanism 42 is attached to the vertical rotation shaft 41 via a rotation base 47, and inclined surfaces 47 a and 47 a that are symmetrical with respect to the shaft 44 are formed at the rear end of the rotation base 47. Two rollers 48, 48 are arranged to be able to advance and retreat by an air cylinder 49 so as to abut against the inclined surfaces 47 a, 47 a. Reference numeral 50 in the figure denotes a vacuum switch, and 51 and 52 denote connectors that receive vacuum supply by engaging with a plug on the chuck mechanism side.
[0012]
FIGS. 7 (a), (b), and FIGS. 8 (a), (b) show one embodiment of a tank cap opening / closing tool characterized by the present invention. Similarly, the base 60 is formed with an engaging portion 60a that engages with the chuck mechanism 31 at the lower portion of the rear end thereof, and is provided with a rotating means on the upper surface, in this embodiment, an air motor 61. A drive shaft 64 having a tapered engaging portion 63 that is tapered on the motor 61 side is connected to a rotating shaft 61 a of the air motor 61 via a coupling 62.
[0013]
The engaging portion 63 is provided with a shaft 65 that is orthogonal to the axial direction. A grip 67 having a bifurcated tip at the shaft 65 through a long hole 66 is an elastic member, and in this embodiment a coil spring. It is attached in a state where it is constantly urged by a tip 68 (left side in the figure). The shaft 67, the long hole 66, and the spring 68 enable the grip 67 to rotate in a swingable state.
[0014]
Openings 69, 69 are provided at the tip of the grip 67, and vacuum is supplied via a hose 70. Reference numeral 69 in the figure denotes a vacuum switch, 70 and 71 engage with a plug on the chuck mechanism side to receive the supply of vacuum, and 72 and 73 engage with a plug on the chuck mechanism side. The connector which receives supply of air is shown.
[0015]
FIGS. 9 to 11 each show an embodiment of the oiling nozzle. The base 80 has a rear end lower portion and a rear end upper portion formed with engaging portions 80a that engage with the chuck mechanism 31. An oil supply nozzle body 81 having a full tank detection function is attached to the upper surface. This oil supply nozzle body 81 has a well-known structure as disclosed in Japanese Patent Laid-Open No. 3-29796, etc., and opens automatically when the oil supply oil supply lever 82 is pulled up, and also operates automatically when liquid or bubbles enter an opening 86a described later. The main valve 83 that is closed by the valve mechanism 97 is configured as a required member. The automatic valve closing mechanism 97 includes a check valve 84 and a flow path 86 having an opening 86a at the tip of the nozzle cylinder tip 85.
[0016]
For the purpose of automatic refueling, an air cylinder 87 is provided at a position opposite to the tip of the refueling lever 82, and the refueling lever 82 is pulled up by supplying air, and the lifted state is detected by the switch 88. It is configured as follows. In the figure, reference numeral 89 denotes a vapor suction pipe that communicates with an opening 89a provided at the tip of the tube tip.
[0017]
A cylindrical space 91 having an opening at the tip is formed at the boundary between the body 90 and the tube tip 85, and a tapered guide member 92 is formed at the tip of the tube 90 by an elastic member, in this embodiment, a spring 93. It is attached so as to be able to advance and retreat in a state where it is always urged to the side. In addition, a plurality of contact sensors for detecting that the guide member 92 has moved toward the body 90, two contact sensors in this embodiment, and a liquid sensor for detecting the rise of the liquid are provided at the tip of the body 90. ing. In this embodiment, the contact sensor is constituted by a reed switch 94 that opens and closes by the magnetic flux of a magnet 93 provided on the guide member 92, and the liquid sensor is constituted by a prism 95 provided at the lower part.
[0018]
In this embodiment, in order to facilitate the insertion of the oiling nozzle, the tip of the tube tip 85 is passed through the center by a material such as a polymer, which is softer than metal and rich in moldability, such as a polymer material. A hemispherical protection member 98 provided with a hole 98a is attached, and as shown in FIG. 10, the nozzle 81 is an elastic member between the body 90 and the base 80 gripped by the chuck mechanism 31. In the example, it is attached via a rubber material 96.
[0019]
As a result, when the protective member 98 of the nozzle cylinder tip 85 passes smoothly through the oil filler port 112 due to its spherical surface during the insertion process, and an external force acts on the cylinder tip 85 during the process of the cylinder tip 85 moving the oil supply pipe 114. However, the elastic member 96 is elastically deformed so that it can be moved following.
[0020]
FIG. 12 shows an embodiment of a control device that controls the operation of the apparatus. The control means 102 of the oil supply unit 2 includes an oil type determination means 103 and a metering mechanism control means 104, and includes a plurality of insertions. The signal from the switches 94, 94 constituting the sensor is passed through an AND gate, the signal from the plurality of sensors 95, 95 is received as an OR gate, and the signal from the switch 88 that detects the lifting of the nozzle is further received. The air cylinder 87 is controlled.
[0021]
The position coordinate calculation means 105 receives signals from the image pickup means 30 and the distance measurement means 100 and stores the calculation results in the storage means 106 so as to be accessible from the robot 7 control means 107. In the figure, reference numeral 108 denotes an air / negative pressure for supplying air or negative pressure according to signals from the fuel filler / fuel inlet door opening / closing tool, the tank cap opening / closing tool vacuum switches 59 and 69, and the control means 102 of the fueling unit. A supply means is shown.
[0022]
Next, the operation of the apparatus configured as described above will be described.
When the vehicle to be refueled stops at a predetermined position on the island 1, the tip arm 26 of the robot 7 moves in the front-rear direction of the vehicle and measures the distance between at least two locations of the vehicle 6 by the distance measuring means 100 (FIG. 15 step). B) The inclination of the vehicle 6 with respect to the island 1 is determined and stored in the storage means 106 (step B in FIG. 15).
[0023]
The user can specify the rough specifications of the vehicle 6, that is, the oil type, the position of the fuel filler port 112 (left side or right side), the opening / closing direction of the fuel inlet door 111 (forward direction or rear direction), and the fuel pipe 114 extending. The direction (left, right, bottom) etc. is input from the control unit 8 or the keyboard of the fueling unit 2. In addition, it is also possible to input by a card reader by storing such information in advance in a refueling card distributed to customers.
[0024]
Based on these pieces of information, the imaging means 30 attached to the tip arm 26 of the robot 7 images the fuel inlet door 111 of the fuel filler port 112. The position coordinate calculation means 105 calculates the center coordinates of the fuel supply port 110 based on the coordinate data of the plurality of corners A, B, C, D of the photographed fuel inlet door 111 and stores them in the storage means 106. (Fig. 15 Step C).
[0025]
The robot 7 moves to the storage portion 19 of the fuel inlet door opening / closing tool of the stocker 4 (step D, FIG. 15), and attaches the chuck mechanism 31 to the fuel inlet door opening / closing tool. Thus, the storage unit 19 of the stocker 4 and the fuel inlet door opening / closing tool are unlocked and can be taken out (step F in FIG. 15). The robot 7 moves the bellows 43 at the tip to the fuel inlet door 111 based on the coordinate data stored in the storage means 106, and presses it (step in FIG. 15).
[0026]
When the predetermined time has passed (step 15 in FIG. 15), vacuum is supplied from the air / negative pressure supply means 108 and the bellows 43 adsorbs the fuel inlet door 111 (step 15 in FIG. 15). Since the negative pressure of the hose 46 is increased by this adsorption, the vacuum switch 50 is turned on (step 15 in FIG. 15), and it is detected that the bellows 43 is reliably adsorbed to the fuel inlet door 111, and air is supplied to the air cylinder 49. The bellows 43 that has been supplied and moved backward and locked by the roller 48, more specifically, the shaft 44 is unlocked (step 15 in FIG. 15). As a result, the bellows 43 is in a state where it can be advanced and retracted and rotated in the horizontal direction.
[0027]
Based on the input data of the opening / closing direction of the fuel inlet door 111, the robot 7 moves backward by a predetermined distance while adsorbing the fuel inlet door 111 in the direction of opening the fuel inlet door 111 (FIG. 15 Step E). In this process, the bellows 43 rotates in the horizontal direction around the rotation shaft 44 a and the vertical shaft 41 and moves in the axial direction against the spring 45. Accordingly, the bellows 43 rotates in the horizontal direction corresponding to the angle of the fuel inlet door 111, and is pulled so as to be opened without applying an excessive force to the lid 11, and the fuel inlet door 111, the vehicle, Release the lock and pull away from the vehicle body.
[0028]
When the fuel inlet door 111 is retreated by a predetermined distance (step 15 in FIG. 15), the vacuum supply to the bellows 43 is stopped (step 15 in FIG. 15), and then the front side of the fuel inlet door 111 is opened. Is moved to the back side of the fuel inlet door 111 (FIG. 15 step yo), and the fuel inlet door 111 is moved in the opening direction (step 15 in FIG. 15). When the entrance door 111 is moved to the extent that does not interfere with the next operation (step 15 in FIG. 15), it stops, and the air cylinder 49 is returned to the original position so that the bellows 43 is aligned with the axial direction of the arm 26. (See step 15 in FIG. 15).
[0029]
Next, based on the trajectory data moved from the stocker 4 to the fuel filler 112, it moves to the storage part 16 of the stocker 4 (FIG. 15 step), and the fuel inlet door opening / closing tool is inserted into a predetermined position (step 15 in FIG. 15). . When the fuel inlet door opening / closing tool is inserted to a predetermined position, the storage section 16 and the fuel inlet door opening / closing tool are locked, and the gripping with the chuck mechanism 31 is released (step 15 in FIG. 15).
[0030]
When the opening of the fuel inlet door 111 is confirmed (FIG. 16 step A), the robot 7 moves to a predetermined distance from the fuel filler port 112 based on the trajectory data stored in the storage means 106 (step FIG. 16). B). As a result, the fuel filler 112 and the tank cap 113 can be photographed by the imaging means 30.
[0031]
In this case, as shown in FIG. 14, when there is an inclination θ between the optical axes L1 and L2 of the image pickup means 30 and the formation surface of the tank cap 113 or the oil filler port 112, the tank cap 113 or the oil filler The port 112 moves to a position P2 at which it becomes a perfect circle, and based on the coordinates of this position, the direction in which the fuel filler port 112 extends, that is, the inclination θ is calculated and stored in the storage means 106 (step C in FIG. 16).
[0032]
In order to reliably detect the surrounding illumination and the color of the fuel filler port 112, as shown in FIG. It is desirable to put it on and mark it. Of course, such a mark can be easily provided by a method such as sticking a seal.
[0033]
The robot 7 moves to the storage section 20 of the tank cap opening / closing tool of the stocker 4 (FIG. 16, Step D, E), and attaches the tank cap opening / closing tool to the chuck mechanism 31. Thereby, the lock | rock of the accommodating part 20 and a tank cap opening / closing tool is cancelled | released, and it becomes possible to take out (FIG. 16 step F). The robot 7 moves the tank cap opening / closing tool to the tank cap 113 of the vehicle based on the coordinate data stored in the storage means 106 (step H in FIG. 16). When the grip 67 comes into elastic contact with the tank cap 113, air is supplied to the air motor 61 from the air / negative pressure supply means 108 to rotate the grip 67 forward by a predetermined angle (step in FIG. 16). Since the grip 67 and the air motor 61 are connected in a swingable manner by a universal joint composed of a shaft 65, a long hole 66, and a spring 68, the grip 67 has the gripping portion of the tank cap 113 at its fork 67a. Let it enter.
[0034]
At the point of rotation by a predetermined angle (step 16 in FIG. 16), the rotation is stopped and then retracted to remove the twist of the grip 67 (step 17 in FIG. 17). At the time of retreating to a predetermined position (step S in FIG. 16), the grip 67 is advanced again, vacuum is supplied from the air / negative pressure supply means 108, and the tank cap 113 is attracted to the opening 69 (step S in FIG. 16).
[0035]
Since the negative pressure of the opening 69 rises due to this suction, the vacuum switch 69 is turned on, and it is detected that the grip 67 has reliably sucked the tank cap 113. Therefore, air is supplied to the air motor 61 and the tank cap 113 is The grip 67 is rotated in the opening direction, and at the same time, the tank cap 113 is removed from the vehicle 6 by moving backward in accordance with the screw pitch of the tank cap 113 (step 16 in FIG. 16).
[0036]
At the stage where it has rotated by a predetermined number of revolutions (step 16 in FIG. 16), the rotation is stopped and further retracted (step 16 in FIG. 16). When retracted to a position where it does not contact the fuel inlet door 111 (step 16 in FIG. 16), it moves to the storage unit 20 of the stocker 4 based on the trajectory data moved from the stocker 4 to the fuel filler port 112 (step 16 in FIG. 16). ) With the tank cap 113 adsorbed and held, the tank cap opening / closing tool is inserted into a predetermined position (FIG. 16 Steps).
[0037]
When the tank cap opening / closing tool is inserted to a predetermined position, the storage unit 20 and the tank cap opening / closing tool are locked, and the gripping with the chuck mechanism 31 is released (step 16 in FIG. 16). In this state, the tank cap 113 is stored in a state in which the tank cap 113 is positioned at a predetermined position in the storage unit 20 and maintains a predetermined positional relationship with the grip 67.
[0038]
When the opening of the tank cap 113 is confirmed (FIG. 17 Step A), the robot 7 moves to the storage part of the stocker 4 in which the nozzle of the compatible oil type is stored, for example, the storage part 16, and is input at the start of refueling. Move to the oil supply nozzle corresponding to the oil type (steps c and c in FIG. 17), and attach the chuck mechanism 31 to the oil supply nozzle 3. As a result, the stocker 4 and the oil supply nozzle 3 are unlocked and can be taken out (step D in FIG. 17).
[0039]
Based on the coordinates of the oil filler port 112 and the inclination data of the oil filler pipe 114 stored in the storage means 106, the robot 7 can move the cylinder tip 85 of the oil filler nozzle 3 to the oil filler port 112 in the direction in which the detected oil filler port extends. Insert as parallel as possible (Step 17 in FIG. 17). In this process, the hose 10 connected to the nozzle 3 advances the joint 13 connected to the hose 9 of the fuel supply unit 2, and the upper end of the hose 10 moves to a position as far as possible from the storage part of the stocker 4. (State of hose 10 'in FIG. 2).
[0040]
Thereby, the robot 7 can move the nozzle freely without being obstructed by other hoses 10 regardless of the position of the vehicle. In order to smoothly advance the hose 10, it is desirable to provide driving means such as an air cylinder 115 on the top plate 11 and forcibly move the joint 13.
[0041]
When the insertion into the fuel filler port 112 is started, the nozzle cylinder tip 85 slides on the fuel filler port 112 by the spherical surface of the protective member 98 and enters the fuel filler pipe 114. When the cylinder tip 85 comes into contact with the vehicle oil supply pipe 114 and an external force acts during the approach, the elastic member 96 is elastically deformed and guided so as to follow the oil supply port 112 and the oil supply pipe 114. Accordingly, the oil supply nozzle can be reliably inserted into the oil supply pipe 114 from the oil supply port 112 without requiring a precise operation with respect to the robot 7.
[0042]
Further, the nozzle moves, the guide member 92 moves backward against the force of the spring 93, and a signal is output from each of the switches 94 constituting the two insertion sensors, and it is detected that the guide member 92 has been inserted to the specified position (FIG. 17 Step f). In response to this signal, the control unit 8 operates the fuel supply unit 2. If even one of the switches 94 constituting the insertion sensor does not output a signal, the tip arm 26 is moved slightly to reliably insert the nozzle into the fuel filler port.
[0043]
Next, the vapor is sucked from the opening 89a of the nozzle tube tip 85 and the oil type is confirmed by the oil type determining means 103 (FIG. 17 step). If a match cannot be confirmed, an alarm is issued (FIG. 17 step h). If the oil type matches, the oil supply pump of the oil supply unit 2 is operated, air is supplied from the air / negative pressure supply means 108 and the air cylinder 87 is operated to open the main valve 83 (see FIG. 18 Step a).
[0044]
When refueling is started, the insertion sensor is further monitored while constantly monitoring whether the refueling amount has reached the set refueling amount (step 18 in Fig. 18) or whether the refueling has progressed to full tank (step 18 in Fig. 18). The signal from the switch 94 is also monitored (step D in FIG. 18). When the oil supply amount reaches the set amount, the oil supply pump and the air cylinder 87 are stopped, the main valve 83 is closed, and the oil supply is completed (FIG. 18).
Step e).
[0045]
When full tank is detected (FIG. 18 Step C), the automatic valve closing mechanism 97 is operated to close the main valve 83, and the refueling operation is completed through the process of Step (E) described above.
[0046]
When the refueling operation is completed, based on the trajectory data moved from the storage unit 16 of the stocker 4 to the refueling port 112, it moves to the storage unit 16 of the stocker 4 (step F in FIG. 18) and inserts the refueling nozzle 3 into a predetermined position ( FIG. 18 Step). Further, the hose 10 receives the force of the weight acting on the joint 13 and the displacement from the air cylinder 115 and moves backward to the back side, and is returned to a position where it does not become an obstacle to taking out other oil supply nozzles and tools. When the nozzle is inserted to a predetermined position, the storage portion 16 and the oil supply nozzle are locked, and the gripping with the chuck mechanism 31 is released (step 18 in FIG. 18).
[0047]
On the other hand, if the signal is interrupted even from one of the switch 94 of the insertion sensor in the middle of refueling (step D in FIG. 18), the oil pump and the air cylinder 87 are stopped to forcibly stop the liquid supply and simultaneously issue an alarm. (FIG. 18 Step). Thereby, it is possible to detect in advance that the fuel nozzle 3 comes out of the fuel port 112.
[0048]
In addition, when the fuel rises to the point where it overflows from the fuel tank of the vehicle due to malfunction or failure of the automatic valve closing mechanism 97, if a liquid detection signal is output from one of the liquid sensors 95, the above-described steps (re- ) Stop the refueling operation through the process of).
[0049]
When the refueling operation is completed (FIG. 19 Step A), the robot 7 moves to the storage part 20 of the tank cap opening / closing tool of the stocker 4 (Steps C and C in FIG. 19) in the same manner as the tank cap opening / closing operation described above. The chuck mechanism 31 is attached to the opening / closing tool. As a result, the storage unit 20 of the stocker 4 and the tank cap opening / closing tool are unlocked (step D in FIG. 19), and the grip 67 can be taken out while the tank cap 113 is held by the vacuum of the opening 69.
[0050]
The robot 7 moves the tank cap opening / closing tool on the basis of the coordinate data of the fuel filler port 112 stored in the storage means 106 (steps E and F in FIG. 19), and the tank cap 113 held by the grip 67 is moved to the fuel filler port. 112, and the grip 67 is rotated a predetermined number of times in the direction in which the tank cap 113 is screwed by supplying air from the air / negative pressure supply means 108 to the air motor 61 (step 19 in FIG. 19). ). When the screwing is completed after the rotation by the predetermined number of rotations, the rotation is stopped, the supply of the vacuum is stopped, and the grip 67 is moved backward (step in FIG. 19).
[0051]
When the grip 67 is retracted to a position where it does not contact the fuel inlet door 111 (step 19 in FIG. 19), the retract is stopped and moved to the storage section of the stocker 4 based on the trajectory data moved from the stocker 4 to the fuel filler 112. (Step 19 in FIG. 19) Insert the tank cap opening / closing tool into place. When the tank cap opening / closing tool is inserted to a predetermined position (step S in FIG. 19), the storage unit 20 and the tank cap opening / closing tool are locked, and the gripping with the chuck mechanism 31 is released (step S in FIG. 19).
[0052]
When the installation of the tank cap 113 is completed (FIG. 20 Step A), the robot 7 moves to the storage 16 of the fuel inlet door opening / closing tool of the stocker 4 (FIG. 20 Steps C and C), and the fuel inlet door. The chuck mechanism 31 is mounted on the opening / closing tool, and the stocker 4 and the fuel inlet door opening / closing tool are unlocked and removed (step D in FIG. 20). The robot 7 moves to a position facing the front side of the fuel inlet door 111 based on the coordinate data stored in the storage means 106 (FIG. 20, steps e and f).
[0053]
From there, the fuel inlet door 111 is moved horizontally in the closing direction, and the fuel inlet door 111 is pressed by the bellows 43 (step in FIG. 20). It stops after moving a predetermined distance, and this time advances in the direction of the vehicle (step H in FIG. 20). As a result, the fuel inlet door 111 that has been largely opened is closed to a certain extent, finally pushed in and completely closed, and simultaneously locked to the vehicle (step 20 in FIG. 20).
[0054]
When the vehicle has advanced by a predetermined distance (step 20 in FIG. 20), the vehicle stops moving forward and moves to the storage unit 19 of the stocker 4 based on the trajectory data from the stocker 4 to the fuel filler 112 (FIG. 20 step). When the fuel inlet door opening / closing tool is inserted into the predetermined position (step 20 in FIG. 20), the storage unit 19 and the fuel inlet door opening / closing tool are locked, and the gripping with the chuck mechanism 31 is released (FIG. 20). Step W)
[0055]
In the above-described embodiment, the fuel inlet door opening / closing tool, the tank cap opening / closing tool, and the fueling nozzle are separately configured. However, the fuel inlet door opening / closing tool and the fuel supply nozzle are separately provided. 7 may be switched according to a required work. According to this, the movement between the stocker and the vehicle can be reduced as much as possible, and the operation speed can be increased.
[0056]
Further, in the above-described embodiment, the case where the positioning of the tool is controlled by the image of the fuel inlet door and the fuel filler obtained by the imaging means has been described. However, the fuel supply lid of the vehicle provided with the position display means such as a transponder Obviously, it can be applied to opening and closing of tank caps.
Furthermore, in the above-described embodiment, the suction mechanism of the fuel inlet door is constituted by a bellows, but it can also be constituted by a suction cup made of an elastic material such as rubber.
[0057]
【The invention's effect】
As described above, according to the present invention, according to the present invention, in a tool for an automatic fueling device that performs fueling by inserting a fueling nozzle into a fueling port of a vehicle, a base that can be attached to the robot is connected via a vacuum switch. An adsorbing mechanism that can receive negative pressure and adsorb to the fuel inlet door, an adsorbing mechanism provided at one end and a shaft provided at the base so that the other end can rotate freely, and is always in contact with the axis. The vehicle is provided with a lock means for locking the rotation of the shaft and releasing the lock when an increase in negative pressure is detected by the vacuum switch. In addition, the fuel inlet door can be reliably opened and closed by being held by suction.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment of an automatic oiling apparatus to which a tool of the present invention is applied.
FIG. 2 is a cross-sectional view showing an embodiment of a tool stocker.
FIG. 3 is a front view showing an embodiment of a tool stocker.
FIG. 4 is a diagram illustrating an example of a robot.
FIG. 5 is a top view showing an embodiment of a robot.
FIGS. 6A to 6C are a top view, a front view, and a side view, respectively, showing one embodiment of a fuel inlet door opening / closing tool characterized by the present invention.
FIGS. 7A and 7B are a top view and a front view, respectively, showing one embodiment of a tank cap opening / closing tool characterized by the present invention.
FIGS. 8A and 8B are side views showing an embodiment of the same tank cap opening / closing tool.
FIG. 9 is a cross-sectional view showing an embodiment of a fueling nozzle.
FIGS. 10A and 10B are a front view and a cross-sectional view, respectively, showing the structure of the boundary between the cylinder tip portion and the body portion of the oiling nozzle.
FIG. 11 is a view showing another embodiment of the mounting structure of the oiling nozzle and the base.
FIG. 12 is a block diagram showing control means of the apparatus.
FIG. 13 is a diagram illustrating a process of determining the center of the fuel inlet door.
FIGS. 14A and 14B are diagrams showing the relationship between the angle of the imaging means with respect to the fuel filler port and the shape of the photographed fuel filler port, respectively.
FIG. 15 is a flowchart showing the operation of opening the fuel inlet door by the apparatus.
FIG. 16 is a flowchart showing the operation of opening the tank cap by the apparatus.
FIG. 17 is a flowchart showing a process of inserting a fueling nozzle by the apparatus.
FIG. 18 is a flowchart showing an oil supply operation by an inserted oil supply nozzle and a storage operation of the oil supply nozzle.
FIG. 19 is a flowchart showing an operation of attaching a tank cap by the apparatus.
FIG. 20 is a flowchart showing the operation of closing the fuel inlet door by the apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Island 2 Oil supply unit 3 Oil supply nozzle 4 Tool stocker 5 Arm 6 Vehicle 7 Robot 8 Control unit 9, 10 Hose 30 Imaging means 31 Chuck mechanism 43 Bellows 49 Air cylinder 50 Vacuum switch 61 Air motor 67 Grip 69 Vacuum switch 81 Oil supply nozzle main body 82 Oil supply lever 83 Main valve 84 Check valve 85 Nozzle tube tip 85 Tube tip 87 Air cylinder 88 Switch 93 Magnet 94 Reed switch 97 Automatic valve closing mechanism 98 Protection member 100 Distance measuring means 112 Oil supply port 113 Tank cap 114 Oil supply tube 115 Air cylinder

Claims (7)

In a tool for an automatic refueling device that performs refueling by inserting a refueling nozzle by a robot into a refueling port of a vehicle,
The base that can be mounted on the robot is supplied with negative pressure via a vacuum switch, and is provided with an adsorption mechanism that can be adsorbed to the fuel inlet door, an adsorption mechanism at one end, and the other end being rotatable. There is provided a shaft provided on the base, and a locking means for locking the rotation of the shaft by always contacting the shaft, and for releasing the lock when an increase in negative pressure is detected by the vacuum switch. A tool for an automatic refueling device that opens and closes a fuel inlet door configured as described above.   The tool for an automatic fueling apparatus according to claim 1, wherein the shaft is biased by the suction mechanism by biasing means and is connected to the suction mechanism via a joint that can be rotated in a horizontal direction.   The tool for an automatic refueling apparatus according to claim 1, wherein the suction mechanism is made of an elastic body and has a bellows whose tip is open to the atmosphere.   The tool for an automatic fueling apparatus according to claim 1, wherein the shaft is regulated in a predetermined direction when locked by the locking means.   2. The automatic oil filler tool according to claim 1, wherein the lock unit includes an air cylinder and a plurality of rollers in contact with the shaft. In a tool for an automatic refueling device that performs refueling by inserting a refueling nozzle by a robot into a refueling port of a vehicle,
The base can be mounted on the robot, comprising a grip for holding the tank cap rotatably supplied with negative pressure, and drive means for rotating said grip in a state where the grip is adsorbed tank cap ,
A tool for an automatic refueling device that opens and closes a tank cap in which the grip has a fork for accommodating a holding portion of the tank cap and an opening for receiving the negative pressure is formed at a tip .   The tool for an automatic fueling apparatus for opening and closing a tank cap according to claim 6, wherein the grip is attached so as to be able to advance and retreat and swing so as to receive a rotational driving force from the driving means.

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