JPH0212839B2 - - Google Patents
Info
- Publication number
- JPH0212839B2 JPH0212839B2 JP700882A JP700882A JPH0212839B2 JP H0212839 B2 JPH0212839 B2 JP H0212839B2 JP 700882 A JP700882 A JP 700882A JP 700882 A JP700882 A JP 700882A JP H0212839 B2 JPH0212839 B2 JP H0212839B2
- Authority
- JP
- Japan
- Prior art keywords
- refueling
- arm
- vehicle type
- direction rotation
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000005452 bending Methods 0.000 claims description 4
- 210000003254 palate Anatomy 0.000 claims description 2
- 239000000945 filler Substances 0.000 description 7
- 239000000446 fuel Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
Description
【発明の詳細な説明】
この発明の給油装置は、被給油車の車種を判別
して注油口へノズルを挿入して自動的に給油する
から、人手を要しないもので、すなわち多数本の
腕杆をＸ方向回動関節およびＹ方向回動関節を介
して連結してその根本を固定し、先端へＺ方向回
動関節を介して給油ノズルおよび給油口蓋開閉装
置を設けた屈曲腕と、給油位置付近に設けた車種
を判別する車種判別装置と、車種判別装置よりの
出力により、車種毎の腕杆駆動および給油操作を
記憶している記憶装置の該当データーにもとづい
て腕杆駆動および給油操作用の出力装置を制御す
る制御装置とを設け、先端に給油ノズルおよび給
油口蓋開閉装置を有する屈曲腕を、給油車の車種
に応じて自動的に制御するものである。[Detailed Description of the Invention] The refueling device of the present invention identifies the type of vehicle to be refueled and automatically refuels by inserting the nozzle into the refueling port, so it does not require human labor, that is, it does not require many hands. The rod is connected via an X-direction rotation joint and a Y-direction rotation joint, and its base is fixed, and a bending arm is provided with a refueling nozzle and a refueling palate opening/closing device at the tip via a Z-direction rotation joint, and a refueling arm. The arm lever drive and refueling operations are performed based on the vehicle type discrimination device installed near the location and the corresponding data of the storage device that stores the arm lever drive and refueling operations for each vehicle type using the output from the vehicle type discrimination device. The system is equipped with a control device for controlling an output device for the vehicle, and automatically controls a bending arm having a refueling nozzle and a refueling port opening/closing device at the tip depending on the type of refueling vehicle.
つぎに、第１実施例を第１〜３図について説明
すれば、多数本の腕杆１，１′……１″をＸ方向回
動関節２，２′……２″およびＹ方向回動関節３，
３′……３″を介して連結して腕杆の先端が空間の
どの位置へも届くように構成し、腕杆の根本を地
上の給油機ケース４に固定し、先端へＺ方向回動
関節１５を介して給油ノズル５および給油口蓋開
閉装置６を取付け、給油位置付近に車種判別装置
７を設ける。 Next, to explain the first embodiment with reference to FIGS. 1 to 3, a large number of arm rods 1, 1'...1" are rotated in Joint 3,
3'...3'' so that the tip of the arm rod can reach any position in the space, the base of the arm rod is fixed to the refueling machine case 4 on the ground, and the arm rod is rotated in the Z direction to the tip. A refueling nozzle 5 and a refueling port opening/closing device 6 are attached via a joint 15, and a vehicle type discrimination device 7 is provided near the refueling position.
前記給油ノズル５と給油口蓋開閉装置６はＺ方
向回動関節１５に対し、その軸方向と直交する向
きで、かつ相互に異なる違う向き、例えば約180゜
反対の向きに設けられるものである。 The refueling nozzle 5 and the refueling cap opening/closing device 6 are provided in a direction perpendicular to the axial direction of the Z-direction rotary joint 15, and in different directions, for example, about 180 degrees opposite to each other.
給油口蓋開閉装置６としては、マジツクハンド
を使用して自動車の給油口の蓋をつかんで開いて
も良く、又は、真空吸着盤を使用して蓋を吸着し
て開いても良い。 The fuel filler cap opening/closing device 6 may be opened by grasping the fuel filler cap of the automobile using a magic hand, or may be opened by suctioning the cap using a vacuum suction cup.
また、車種判別装置７としては例えばビデオカ
メラと記憶装置とで構成し、記憶装置に車種毎の
映像イメージを予め記憶しておき、ビデオカメラ
でとらえた当該自動車の映像イメージと記憶装置
に記憶してある車種毎の映像イメージとを照合し
て車種を判別するものとする。 Further, the vehicle type discrimination device 7 is configured with, for example, a video camera and a storage device, in which a video image of each vehicle type is stored in advance in the storage device, and a video image of the car in question captured by the video camera is stored in the storage device. The vehicle type is determined by comparing the video image of each vehicle type.
車種判別装置７の出力を制御装置８を介して腕
杆駆動および給油操作用の出力装置９に導入し、
車種毎の腕杆駆動および給油操作等を記憶してい
る記憶装置１０と制御装置８の出力を相互に導入
する。 The output of the vehicle type discrimination device 7 is introduced via the control device 8 to an output device 9 for arm rod driving and refueling operation,
The outputs of the storage device 10, which stores arm lever drive and refueling operations, etc. for each vehicle type, and the control device 8 are mutually introduced.
給油装置１１の流出管を腕杆または、腕杆に沿
わせたホース（図示せず）を介して給油ノズル５
に連結する。 The outflow pipe of the refueling device 11 is connected to the refueling nozzle 5 through the arm rod or a hose (not shown) running along the arm rod.
Connect to.
つぎに使用法を説明すれば、給油を受ける自動
車１２を給油装置に駐車すれば、車種判別装置７
では、ビデオカメラでとらえた当該自動車１２の
映像イメージを、記憶装置に予め記憶してある車
種毎の映像イメージと照合して、その自動車の車
種を判別し、その出力が制御装置８を経て記憶装
置１０に導入されると、あらかじめ記憶されてい
るその車種の給油口の位置および蓋の開閉構造の
信号が、制御装置８を介して出力装置９に導入さ
れ、Ｘ方向回動関節２，２′……２″、Ｙ方向回動
関節３，３′……３″、Ｚ方向回動関節１５は、回
動し、腕杆１，１′……１″はＸ方向またはＹ方向
に回動し、先端の蓋開閉装置６が自動車１２の給
油口に臨む。 Next, to explain how to use it, if the car 12 to be refueled is parked at the refueling device, the vehicle type discriminator 7
Then, the video image of the vehicle 12 captured by the video camera is compared with the video image of each vehicle type stored in advance in the storage device to determine the vehicle type of the vehicle, and the output is sent to the controller 8 and stored. When introduced into the device 10, signals for the position of the fuel filler port and the opening/closing structure of the lid for the vehicle type, which are stored in advance, are introduced into the output device 9 via the control device 8, and the X-direction rotation joints 2, 2 '...2'', Y-direction rotation joints 3, 3'...3'', and Z-direction rotation joint 15 rotate, and arm rods 1, 1'...1'' rotate in the X or Y direction. The lid opening/closing device 6 at the tip faces the fuel filler opening of the automobile 12.
つぎに蓋開閉装置６が動作し、給油口の蓋を開
く。 Next, the lid opening/closing device 6 operates to open the fuel filler lid.
つぎにＺ方向回動関節１５が約半回転（180゜）
して、蓋開閉装置６があつた位置に給油ノズル５
がきて、この給油ノズル５が給油口に挿入され、
給油装置１１が駆動され、給油が行われ、給油量
は表示計１３に表示される。 Next, the Z direction rotation joint 15 rotates about half a turn (180°)
Then, place the refueling nozzle 5 in the position where the lid opening/closing device 6 was.
Then, this refueling nozzle 5 is inserted into the refueling port,
The refueling device 11 is driven, refueling is performed, and the amount of refueling is displayed on the display meter 13.
給油が終ると、給油ノズル５は抜出され、再度
Ｚ方向回動関節１５が半回転して、給油ノズル５
があつた位置に蓋開閉装置６がきて、蓋開閉装置
６が給油口に臨み、蓋を施す。 When refueling is finished, the refueling nozzle 5 is pulled out, the Z-direction rotation joint 15 rotates half a turn again, and the refueling nozzle 5
The lid opening/closing device 6 comes to the position where the fuel filler is heated, and the lid opening/closing device 6 faces the fuel filler port to cover it.
つぎに、腕杆１，１′……１″が回動して先端が
車体から離間する。 Next, the arm rods 1, 1', . . . 1'' are rotated and their tips are separated from the vehicle body.
第４図は給油機ケースが上部にあり、腕杆１，
１′……１″が垂下している実施例を示すもので、
同一符号は同一部分を表わし、動作は第１実施例
と同じである。 In Figure 4, the refueling machine case is at the top, and the arm rod 1,
This shows an example in which 1'...1'' is hanging down,
The same reference numerals represent the same parts, and the operation is the same as in the first embodiment.
この発明の給油装置は、被給油車の車種に応じ
て屈曲腕が移動して給油ノズルを給油口へ押入す
る動作を自動的に行うから、給油作業に人手を要
しないものである。 In the refueling device of the present invention, the bending arm moves according to the type of vehicle to be refueled and automatically pushes the refueling nozzle into the refueling port, so that no human labor is required for the refueling operation.
第１図は本発明の給油装置を有する給油所の側
面図、第２図は腕杆の拡大側面図、第３図はブロ
ツク図、第４図は給油所の他の実施例である。
１，１′，１″……腕杆、２，２′，２″……Ｘ方
向回動関節、３，３′，３″……Ｙ方向回動関節、
５……給油ノズル、Ｓ……制御装置、９……出力
装置、１０……記憶装置。
FIG. 1 is a side view of a fueling station having a fueling device of the present invention, FIG. 2 is an enlarged side view of an armrest, FIG. 3 is a block diagram, and FIG. 4 is another embodiment of the fueling station. 1, 1', 1''...arm rod, 2, 2', 2''...X direction rotation joint, 3, 3', 3''...Y direction rotation joint,
5...Refueling nozzle, S...Control device, 9...Output device, 10...Storage device.
Claims (1)
回動関節を介して連結してその根本を固定し、先
端へＺ方向回動関節を介して給油ノズルおよび給
油口蓋開閉装置を設けた屈曲腕と、給油位置付近
に設けた車種を判別する車種判別装置と、車種判
別装置よりの出力により、車種毎の腕杆駆動およ
び給油操作を記憶している記憶装置の該当データ
ーにもとづいて腕杆駆動および給油操作用の出力
装置を制御する制御装置とを設け、先端に給油ノ
ズルおよび給油口蓋開閉装置を有する屈曲腕を、
給油車の車種に応じて自動的に制御することを特
徴とする給油装置。1. A large number of arm rods are connected via an X-direction rotation joint and a Y-direction rotation joint, and the base thereof is fixed, and a refueling nozzle and a refueling palate opening/closing device are provided at the tip via a Z-direction rotation joint. A bent arm, a vehicle type identification device installed near the refueling position to determine the vehicle type, and an output from the vehicle type identification device, the arm is adjusted based on the corresponding data in the storage device that stores arm lever drive and refueling operations for each vehicle type. A bending arm is provided with a control device for controlling an output device for rod drive and refueling operation, and has a refueling nozzle and a refueling cap opening/closing device at the tip.
A refueling device characterized by automatic control according to the type of vehicle being refueled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP700882A JPS58125498A (en) | 1982-01-20 | 1982-01-20 | Lubricating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP700882A JPS58125498A (en) | 1982-01-20 | 1982-01-20 | Lubricating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58125498A JPS58125498A (en) | 1983-07-26 |
| JPH0212839B2 true JPH0212839B2 (en) | 1990-03-28 |
Family
ID=11654027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP700882A Granted JPS58125498A (en) | 1982-01-20 | 1982-01-20 | Lubricating device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58125498A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016223584A (en) * | 2015-06-02 | 2016-12-28 | Ｊｘエネルギー株式会社 | Hydrogen filling device and hydrogen filling method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60148496A (en) * | 1983-12-29 | 1985-08-05 | 日産自動車株式会社 | Powder fluid feeding gun |
| JP3362887B2 (en) * | 1992-12-10 | 2003-01-07 | 日産自動車株式会社 | Robot and liquid supply method using the same |
-
1982
- 1982-01-20 JP JP700882A patent/JPS58125498A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016223584A (en) * | 2015-06-02 | 2016-12-28 | Ｊｘエネルギー株式会社 | Hydrogen filling device and hydrogen filling method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58125498A (en) | 1983-07-26 |
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