JPH04154593A - Automatic fuel feeding device - Google Patents

Abstract

PURPOSE:To recover a remaining fuel liquid in a fuel feeding hose accurately to an underground tank, and prevent fuel mixing at the next fuel feeding time from happening by a method wherein a remaining fuel liquid in a fuel feeding passage is recovered to a fuel liquid storage tank which stores the same type of fuel with the remaining fuel liquid when the completion of fuel feeding to a vehicle's fuel tank is detected. CONSTITUTION:When a fuel feeding control unit 21 detects that a fuel tank is full, the fuel feeding control unit 21 closes a nozzle tip valve 11, and at the same time, stops a motor 23 and a pump 14. In the meantime, when a fuel returning compressor 34 is driven, and at the same time, a nozzle tip air valve 32 is opened, air which is fed from the air compressor 34 is sent in a fuel feeding hose 12. Then, the fuel feeding control unit 21 sets specified time (e.g. 1min) which is sufficient for recovering of a remaining oil, by a built-in timer, and makes the fuel feeding pump 14 reverse by the motor 23, and at the same time, moves a movable part 31 to let the remaining fuel liquid in the fuel feeding hose 12, accompanied with fuel feeding to an applicable vehicle, fall by air pressure by the fuel returning compressor 34, and the remaining fuel liquid is recovered to an under ground tank for the applicable fuel type.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to an automatic refueling device installed at a refueling station, and in particular, it aims to accurately collect residual oil from a refueling hose into an underground tank to prevent oil mixture, and also to reduce the size and weight of the manipulator part and simplify the mechanism. The present invention relates to an automatic refueling device suitable for achieving this.

[Conventional technology]

In recent years, robotic refueling devices that automatically refuel vehicles have been proposed. In this type of robotic refueling system, when a refueling vehicle stops near the refueling system, a camera mounted on the refueling system recognizes the location of the vehicle's fuel tank refueling port, and automatically directs the refueling nozzle to the recognized refueling port. After moving it and inserting it, it is designed to be refueled. In this case, the conventional robotic refueling device has a single refueling hose connected to the manipulator section via piping to an underground tank that stores a single type of oil, and the tip of the manipulator section. A system in which one refueling nozzle is connected to the refueling hose, or a plurality of refueling nozzles each connected to a plurality of underground tanks storing different oil types through branch pipes. A hose is arranged in the manipulator section, and one refueling nozzle communicating with each of the refueling hoses is arranged at the tip of the manipulator section, and one refueling nozzle is connected to each refueling hose depending on the type of oil to be refueled to the vehicle. Method to switch connection to nozzle as appropriate

[Invention or problem to be solved]

By the way, the conventional robot/two-tooth refueling system as described above has the following problems. In the case of the former type of refueling system, only a single type of oil can be refueled, so in order to support the refueling of multiple types of oil such as regular oil, diesel oil, etc., it is necessary to install multiple oils within the filling station. However, it is necessary to install a separate refueling device, which increases the cost and causes problems such as the installation space required. On the other hand,
In the case of the latter type of refueling device, is it possible to refuel with multiple oil types?Since multiple refueling hoses are installed on the manipulator, the mobility of the manipulator during refueling deteriorates and its mechanism Problems such as complication may occur. On the other hand, a single refueling hose is installed in the manipulator section that communicates via branch pipes with underground tanks that store oil liquids of different types of oil, and the single refueling hose is connected depending on the type of oil to be refueled to the vehicle. It is also possible to consider a refueling system in which a hose is shared for supplying multiple types of oil.However, even in such a refueling system, when the vehicle is refueled, there is no oil in the refueling hose of the manipulator section. To prevent contamination (mixed oil) from occurring when refueling the next refueling vehicle, it is necessary to collect the residual oil into an underground tank; Another issue is that there is no control in place to recover residual oil. The present invention solves the above-mentioned problems, and makes it possible to refuel multiple types of oil by simply arranging one refueling hose in the manipulator section.The remaining oil in the refueling hose can be accurately collected into an underground tank for next use. The object of the present invention is to provide an automatic refueling device that prevents oil from being mixed during refueling, has a smaller and lighter manipulator part, and has a simpler mechanism.

[Means to solve the problem]

In order to achieve the above object, the present invention provides an automatic refueling device configured to automatically refuel by inserting a refueling nozzle into the refueling port of a detected vehicle. A manipulator including an oil type detection means for detecting the oil type in a vehicle fuel tank in the refueling nozzle; One side communicates with the upstream side of the oil supply path, and the other side branches into a plurality of pipes and each branch end communicates with an oil liquid storage tank of a different type of oil, and the oil liquid is transferred from each oil liquid storage tank. a refueling robot equipped with a refueling pump for pumping up oil; and a refueling robot that uses the refueling pump to pump up oil from an oil storage tank that stores oil of the type of oil in the vehicle fuel tank detected by the oil type detection means, and the refueling path. a fuel supply control means for supplying fuel to the fuel nozzle through the fuel supply nozzle and detecting the end of fuel supply to the vehicle fuel tank; The present invention is characterized by comprising a residual oil liquid recovery means for recovering the liquid into an oil liquid storage tank that stores an oil liquid of the same type as the residual oil liquid. Further, the residual oil liquid recovery means of the present invention includes a ventilation pipe communicating with the downstream side of the oil supply path, a ventilation section that sends air from the downstream side to the upstream side of the oil supply path, and a blower section that sends air from the downstream side to the upstream side of the oil supply path, and when detecting the end of refueling. and a control section that drives the air blowing section to send air from the downstream side to the upstream side of the oil supply path through the air blowing pipe to cause residual oil inside the oil supply path to fall into the oil storage tank. It is characterized by being done. Further, the residual oil liquid recovery means of the present invention includes a control unit that drives the tip of the manipulator upward when the end of refueling is detected, and causes the residual oil inside the oil supply path to drop into the oil storage tank. It is characterized by becoming.

[Effect]

According to the present invention, when the refueling of the refueling vehicle ends,
The residual oil liquid recovery means collects the residual oil liquid inside the oil supply path by dropping it into the corresponding oil liquid storage tank.

【Example】

DESCRIPTION OF THE PREFERRED EMBODIMENTS Automatic oil supply devices according to embodiments of the present invention will be described below with reference to the drawings. First Embodiment The first embodiment controls the recovery of residual oil in the refueling hose of a robot refueling machine to an underground tank by utilizing air pressure. FIG. 1 is a schematic diagram of a refueling station common to the first and second embodiments, and a robot refueling machine 1 is installed near a refueling position P within the premises of the refueling station. The robot refueling machine 1
1 is a vehicle detection system consisting of a robot stand 2 equipped with a known robot mechanism (as shown) inside, and a beam sensor, etc. disposed at the bottom of the robot stand 2 to detect a vehicle S stopped at a refueling position P. A sensor 3, a manipulator 4 disposed on the top of the robot stand 2, a refueling nozzle 5 disposed at the tip of the manipulator 4, and a refueling port of the vehicle S disposed on the side of the refueling position P. A CCD camera 6 scans from the side, a CCD camera 7 disposed above the refueling position P and scans the refueling port of the vehicle S diagonally from above, and an underground cable (when shown) connected to the robot mechanism section of the robot stand 2. ), and a robot control section 8 which is connected to the robot control section 8 and controls each section of the robot refueling machine 1. Further, an external operating device 9 equipped with a card reader/keyboard/printer, etc. is installed near the robot refueling machine 1, and the printer issues a refueling slip corresponding to refueling the vehicle. It is now possible to do so. In the figure, C is the fuel filler port cover, and K is the fuel filler cap. Further, the block configuration of the robot refueling machine 1 is as shown in FIG. That is, at the tip of the refueling nozzle 5, there is a refueling port insertion detection sensor 10, which detects insertion of the refueling nozzle into the vehicle's refueling port, and is comprised of, for example, a photo sensor/ultrasonic sensor. A flexible refueling hose 12 is connected to the refueling nozzle 5 through the nozzle end valve 11, and its base end is connected to the liquid detection pipe 13. has been done. Further, on the upstream side of the liquid detection pipe 13, a flow meter as shown in the figure and a refueling pump 14 which can be driven in forward and reverse directions are provided. Tank pipes 16A, 116B and 16C are connected to each other. The refueling pump 14 is connected to each underground tank pipe 1.
From each underground tank (as shown) that 6A-16C communicated with,
For example, regular gasoline, high-octane gasoline, and diesel oil are pumped separately. In this embodiment, the robot refueling machine 1 is configured to supply three types of oil, but the number is not limited to three types. Further, the tip of a vapor suction air tube 17 extends and opens at the tip of the oil supply nozzle 5, and the base end of the protection tube 17 is connected to an oil type detection pump 18 that can be driven in forward and reverse directions. (motor shown). With the forward rotation of the pump 18, oil vapor sucked from the tip of the fuel supply nozzle via the vapor suction air pipe 17 is taken into the oil type sensor 19, and the oil type sensor 19 detects vehicle fuel based on the oil vapor. The type of oil in the tank is now detected. Thereafter, the oil vapor/air is released into the atmosphere from the atmosphere release port 20. In addition, the refueling hose 12
An oil return air pipe 33 is connected to the downstream side of the oil return air pipe 33 via a nozzle tip air valve 32.
The base end portion of No. 3 is connected to an oil return air compressor 34. The refueling control unit 21 that controls each part of the robot refueling@1 determines the presence or absence of a vehicle at the refueling position P based on the detection signal from the vehicle detection sensor 3, and also determines the presence or absence of a vehicle at the refueling position P based on the detection signal from the refueling port insertion detection sensor 10. Based on this, it is determined whether or not the refueling nozzle 5 is inserted into the vehicle fuel tank, and the amount of refueling is measured based on the output of a flow rate transmitter attached to a flow meter on the indicated path, and the opening/closing control of the nozzle tip valve 11 is controlled. The oil vapor in the vehicle fuel tank is sucked toward the oil type sensor 19 through the vapor suction air pipe 17, and the oil vapor is sucked from the liquid detection sensor 22 connected to the liquid detection sensor 13. The liquid detection sensor 13 is based on the presence or absence of a detection signal.
It is designed to determine the presence or absence of liquid inside. Further, the oil supply control section 21 drives and controls the oil type detection pump 18, drives and controls the oil supply pump 14 with the motor 23, drives and controls the manipulator 4 via the manipulator control section 24, and also controls the drive of the manipulator 4 via the manipulator control section 24. Return air compressor 34
The oil supply hose 1 is driven and controlled via the oil return air piping 33.
The residual oil in the tank 2 is collected into an underground tank of the corresponding oil type, and a sounding device 26 consisting of, for example, a speaker or the like is used to notify the end of refueling. Here, to explain the forward rotation control/reverse rotation control of the oil supply pump 14 when refueling is performed by the oil supply nozzle 5 or when the residual oil liquid in the oil supply hose 12 is recovered, the third
In the figure, by moving the movable part 31, which is capable of reciprocating horizontally with respect to the fixed part 30, in the direction of the arrow, the branch hose 12A of the refueling hose 12 is switched to the pipe 14A and connected to the underground tank. If the piping TB is switched to the piping 14B and the oil supply pump 14 is driven to rotate normally, the oil stored in the underground tank will flow in the direction of the arrow, making it possible to refuel. Also, in Fig. 4, the fixed part 3
By moving the movable part 31 in the direction of arrow 0 relative to 0, the branch hose 12B of the fuel supply hose 12 is connected to the pipe 14B
At the same time, the pipe TA communicating with the underground tank is switched and connected to the pipe 14A, and the refueling pump 14 is driven in reverse, so that the residual oil in the refueling hose 12 is collected into the underground tank of the corresponding oil type. It has become. Next, the oil supply and residual oil recovery process of the first embodiment with the above configuration will be explained based on FIGS. 5(a) and 5(b). When the vehicle detection sensor 3 detects that the vehicle S that entered the refueling station has stopped at the refueling position P near the robot refueling machine 1 (step 5AI), the refueling control unit 21 drives the hydraulic compressor 25 based on the detection signal, Set the pressure inside the robot refueling machine 1 to be higher than atmospheric pressure (Step 5A2)
. In addition, at gas stations equipped with internal pressure explosion-proof electric robot refueling machines, the internal pressure compressors will be kept running at all times during business hours. Next, the refueling control unit 21 determines whether or not input data associated with the customer card reading operation/cow port' operation has been sent from the external operating device 9 (Step 5A3).
If it is determined that there is no input data, it is determined whether the vehicle S has left the gas station based on the detection signal of the vehicle detection sensor 3 (step 5A4). If the vehicle is leaving, the hydraulic compressor 25 is stopped (step 5A5), while if the vehicle is not leaving, the process returns to step SA3. If the control unit 21 determines in step SA3 that there is input data, it takes in the customer NO'/lubricating oil type/lubricating amount (at the time of preset lubrication), etc. sent from the external operating device 9, and stores it in the memory. (Step 5A6). Note that when a PO3 (point of sale information management) device is used at this gas station, a PO8 external operating device is used in place of the external operating device 9. Next, the refueling control unit 21 verifies the customer number, determines whether or not the oil type is compatible, and determines whether or not the refueling amount can be restricted during preset refueling (Step 5AT). After displaying an error (step 5A8), the process returns to step SA3, and if yes, the vehicle driver (during self-service refueling) or refueling operator (during general refueling) presses the fuel filler port power bar of vehicle S. To open C, open the fuel filler cap K (step 5A9). still,
In the case of a vehicle equipped with a Bu Nosh valve type fuel filler port, when the tip of the fuel filler nozzle is inserted into the fuel filler port,
The above operation becomes unnecessary because the lubricant is opened and the fuel filler port is automatically opened. Next, based on the scanning of the vehicle S by the CCD camera 6.7, the refueling control unit 21 causes the manipulator control unit 24 to drive the manipulator 4 of the robot refueling machine 1 to bring the refueling nozzle 5 close to the vehicle refueling port. Step 5 AIO
), and further detects the fuel filler port based on three-dimensional image processing of the vehicle fuel filler port scanned by the CCD camera 6.7 (step S A 11). It is also possible to install a transmitter in advance near the vehicle fuel filler port and detect the fuel filler port based on the radio waves transmitted from the transmitter. Next, the refueling control unit 21 drives the manipulator 4 to insert the refueling nozzle 5 into the refueling port, and receives a detection signal from a refueling port insertion detection sensor (photo sensor/ultrasonic sensor, etc.) at the tip of the refueling nozzle from 1°. Actual insertion is detected based on the actual insertion (step 5A12). Furthermore, when the refueling control unit 21 rotates the oil type detection pump 18 in the forward direction, the oil vapor of the remaining oil in the fuel tank flows through the vapor suction air pipe 17 as the refueling nozzle 5 is inserted into the fuel tank. As a result of being sucked into the oil type detection sensor 19 (step 5A13), the refueling control unit 21 determines the oil type in the fuel tank based on the detection signal (step 5AI4), and the fuel tank oil type and nozzle oil type are different. In this case, the oil type detection pump 18 is stopped and then reversed for a predetermined period of time to exhaust the residual oil vapor in the vapor suction air pipe 17 (step 5A15), and then the oil type phase is displayed on the display of the external operating device 9. The abnormality is displayed and notified from the voice device 26 (step 5A).
16), after returning the manipulator 4 to the standby state (
Step 5A17), the process returns to step SA3. On the other hand, if the fuel tank oil type and nozzle oil type match in step 5A14 above, the oil type detection pump 14 is temporarily stopped and then reversed to exhaust residual oil vapor in the vapor suction air pipe 17. After that (Step 5A18), open the fuel tank oil type and the underground tank valve of the corresponding oil type (Step 5AI9) and open the nozzle tip valve 11 (Step S A 20) to drive the motor 23 and refuel pump 14.
is rotated in the normal direction (step S A 21). Furthermore, at this time,
By simultaneously moving the movable 31 in the direction of the right arrow,
The flow of oil is as shown in Figure 3. Thereby, refueling from the refueling nozzle 5 to the fuel tank is started. Next, the fuel supply control unit 21 detects whether the fuel tank is full (Step 5A22), and if it detects fullness, closes the nozzle tip valve 11 (Step 5A23) and stops the motor 23 and pump 14. (Step SA
24). If the full tank is not detected, it is determined whether the refueling amount has reached the preset value (step 5A25), and if it has reached the value corresponding to the preset value, the step 5A2 is performed.
On the other hand, if the value corresponding to the preset value has not been reached, the current amount of refueling is displayed on the display section of the external operating device 9 and refueling is continued (step 5A).
26), the process returns to step 5A22. After the processing in step 5A24, the refueling control unit 21 drives the manipulator 4 to remove the refueling nozzle 5 from the refueling port (step S A 27). In addition, in the case of a vehicle equipped with a push two-valve fuel filler port, the fuel filler port closes automatically. Furthermore, the refueling control unit 21 returns the manipulator 4 to the standby state (step SA2g), stops the oil type detection pump 18 (step 5A29), displays the completion of refueling on the display unit of the external operating device 9, and sends a message from the voice device 26. Notify (Step 5A3)
0), output the refueling slip from the printer (step S
A31). After this, the vehicle driver (or refueling worker) closes the fuel filler cap K and the fuel filler cover 〇 (Step 5A32), and if the vehicle driver is a credit customer, receives a fuel bill, or if the vehicle driver is a cash customer, the gas station After paying cash and receiving the refueling slip (step SA33), the vehicle S
is made to leave the gas station (step S A 34). When the vehicle detection sensor 3 of the robot refueling machine 1 detects the exit of the vehicle S (step 5A35), the refueling control unit 21 stops the hydraulic compressor 24 (step S A 36).
). On the other hand, after the processing in step 5A27 above, the oil supply control unit 2]
drives the oil return air compressor 34 (step 5A37), and opens the nozzle tip air valve 32 (step 5A3B>), the oil return air compressor 34
Air supplied from the fuel supply hose 12 is sent into the fuel supply hose 12. In step 5B37, in the case of an internal pressure explosion-proof robot refueling machine, the oil return compressor may also be used as an internal pressure (air) compressor. Next, the oil supply control unit 21 sets a predetermined time (for example, 1 minute) sufficient for recovering the residual oil liquid using the built-in timer (Step 5A39), and causes the motor 23 to rotate the oil supply pump 14 in the reverse direction.
By moving the oil in the direction of the left arrow, the flow of oil becomes as shown in FIG.
4, and is collected into the underground tank of the oil type (step 5A40). In this case, the flow meter should be reversed or, for example, the flow rate transmitter may be configured so that it does not output a flow signal during this reverse rotation, so that the amount of refueling can be prevented from being erroneously measured. do not have. Next, based on the detection signal from the liquid detection sensor 22, the refueling control unit 21 determines whether or not the recovery of the residual oil in the refueling hose 12 has been completed (step 5A4I), and if it has not been completed, the step 5A40 is performed. On the other hand, when the process returns to completion, the motor 23 is stopped and the oil supply pump 14 is stopped (step S A 42). After this, the refueling control unit 21 stops the oil return air compressor nozzle 34 (Step 5A43), closes the oil return air valve 32 (Step 5A44), and then installs the underground tank corresponding to the underground tank from which the residual oil was collected. After closing the valve (step 5A45), the manipulator 4 is returned to the standby position (step SA46). ■Second Embodiment The second embodiment controls the recovery of residual oil in the refueling hose of a robot refueling machine to an underground tank by utilizing gravity. The schematic configuration inside the gas station in the second embodiment and the flow of oil when the fuel pump is in the forward and reverse directions are shown in FIGS. 1 and 3 of the first embodiment.
Also, the block diagram of the robot refueling machine of the second embodiment is as shown in FIG. 6, which is omitted because it is common to FIG.
In the figure, the same components as those in FIG. The difference between the part shown in FIG. 6 and the part shown in FIG.
The difference is that the oil return air piping 33/oil return air compressor 34 is not provided. That is, in the second embodiment, after refueling the vehicle, the remaining oil in the refueling hose 12 is removed by driving the tip of the manipulator 4 of the robot refueling machine 1 upward from the standby position (the broken line in the figure). The liquid is allowed to fall by gravity and collected into an underground tank for the relevant oil type. Next, the oil supply and residual oil recovery process of the second embodiment with the above configuration will be explained with reference to FIG. 7. Roho of the second embodiment 2) Among the refueling and residual oil recovery processing by the refueling machine, from the detection of the refueled vehicle by the vehicle detection sensor 3 to the full tank detection or the closing operation of the nozzle tip valve 11 accompanying the refueling detection and The processing up to the stop of the oil supply pump 14 is the same as that shown in FIG. 5(a) of the first embodiment, and will therefore be omitted. Further, the processes from step SBI to step 5BIO in FIG. 7 are also omitted because they are similar. After outputting the refueling slip for the vehicle driver from the printer of the external operating device 9 in step SB5 of FIG. 7, the refueling control unit 21 drives the manipulator control unit 24 to drive the tip of the manipulator 4 upward (step 5B11).
, when the nozzle tip valve 11 is opened (step SB]2),
The inside of the refueling hose 12 is in communication with the atmosphere. Next, the oil supply control unit 21 sets a predetermined time (for example, 1 minute) sufficient for recovering the residual oil liquid using the built-in timer (Step 5B13), and when the oil supply pump 14 is reversely rotated by the motor 23, the flow of the oil liquid is adjusted as shown in FIG. It will be as shown below. In this case, since the manipulator 4 is in an upwardly raised state (see Fig. 6),
When the vehicle is refueled, the oil remaining in the refueling hose 12 is dropped by gravity and collected into the underground tank of the relevant oil type (step S B 14). Next, based on the detection signal from the liquid detection sensor 22, the refueling control unit 21 determines whether or not the recovery of the residual oil in the refueling hose 12 is completed (step 5B15), and if it is not completed, the step described above is performed. Returning to the process of 5B14, if completed, close the nozzle tip valve 11 (step 5B16),
The motor 23 is stopped and the oil supply pump 14 is stopped (Step SB17). After that, the oil supply control unit 21 closes the underground tank valve corresponding to the underground tank in which the residual oil was collected (Step SB1g), and then the manipulator 4 is returned to the standby position (step 5B19).

【Effect of the invention】

As explained above, according to the present invention, in the automatic refueling device configured to automatically refuel by inserting the refueling nozzle into the refueling port of a detected vehicle, the refueling nozzle is disposed at the tip and A manipulator including an oil type detection means for detecting the oil type in a vehicle fuel tank in the refueling nozzle; One side communicates with the upstream side of the oil supply path, and the other side branches into a plurality of pipes and each branch end communicates with an oil liquid storage tank of a different type of oil, and the oil liquid is pumped from each of the 7I113 liquid storage tanks. a refueling robot equipped with a refueling pump that raises the oil type; and a refueling robot that pumps up oil liquid from an oil storage tank that stores oil type of the vehicle fuel tank detected by the oil type detection means, and pumps up the oil liquid with the refueling pump and flows the oil supply path. a fuel supply control means for supplying fuel to the fuel nozzle through the fuel supply nozzle and detecting the end of fuel supply to the vehicle fuel tank; Since the residual oil liquid is configured to include a residual oil liquid recovery means for collecting the oil liquid of the same type as the residual oil liquid into an oil liquid storage tank, the following effects are achieved. ■The remaining oil from the current refueling in the refueling channel installed inside the manipulator can be accurately collected into the underground tank, so the next time you refuel, you can refuel with a different type of oil from the one used this time. In some cases, it is possible to prevent oil mixture and to perform proper oil supply. ■Since it is only necessary to install a negative oil supply path inside the manipulator, the load can be reduced, making it easier to control the position of the manipulator, and the degree of damage to the oil supply path can be suppressed, improving reliability. It becomes possible. Furthermore, as in the past, there are multiple oil supply hoses inside the manipulator (
This makes it possible to make the manipulator smaller and lighter and to improve its design compared to the case where a fuel supply channel is provided. ■Also, in the event of an abnormality such as an earthquake, if the valves installed in the pipes communicating with each underground tank are emergency closed, it is possible to improve disaster prevention measures. Furthermore, by opening each valve corresponding to each underground tank that stores oil liquid of a desired oil type, it is also possible to perform oil type blending.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of a refueling station common to the first and second embodiments of the present invention, FIG. 2 is a block diagram of the robot refueling machine of the first embodiment, and FIG. 3 is a diagram of the first and second embodiments. A sectional view showing the flow of oil when the oil supply pump rotates in the normal direction, which is common to the second embodiment; FIG. 4 is a sectional view showing the flow of oil when the oil supply pump rotates in the reverse direction, which is common to the first and second embodiments; FIG. 5(A) is a flowchart showing the operation common to the first embodiment and the second embodiment; FIG.
B) is a flowchart showing the operation of the first embodiment, FIG. 6 is a block diagram of the robot refueling machine of the second embodiment, and FIG. 7 is a flowchart showing the operation of the second embodiment. 1...Robot refueling machine (refueling robot), 2
......Robot stand, 3...Vehicle detection sensor, 4...Manipulator, 5...Refueling nozzle, 6...CCD camera, 7・・・・・・
・CCD camera, 8...Robot control unit, 9.
...External operating device, 12...Refueling hose (oil supply path), 14...Refueling pump, 1.6A to 16
C...Underground tank piping (piping), 17...
... Vapor suction air pipe, 18 ... Oil type detection pump, 21 ... Oil supply control section (oil supply control means,
residual oil liquid recovery means, control unit), 24...manipulator control unit, 25...hydraulic compressor,
30...Fixed part, 31...Movable part, 3
2... Nozzle tip air valve, 33...
Oil return air piping (ventilation piping), 34...Oil return air compressor (residual oil liquid recovery means, ventilation section),
P...Refueling position.

Claims (3)

[Claims] (1) In an automatic refueling device configured to automatically refuel by inserting a refueling nozzle into the refueling port of a detected vehicle, the refueling nozzle is disposed at the tip and the refueling nozzle is connected to the vehicle fuel tank. a manipulator equipped with an oil type detection means for detecting the oil type; an oil supply path that communicates with the proximal end of the oil supply nozzle of the manipulator and is disposed along the manipulator; and one side facing upstream of the oil supply path. For refueling, the pipe is connected to a plurality of pipes and is branched on the other side, and each branch end is connected to an oil storage tank of a different type of oil, and an oil supply pump that pumps up oil from each oil storage tank. a robot; and a robot that uses the oil supply pump to suck up oil from an oil storage tank that stores oil of the type of oil in the vehicle fuel tank detected by the oil type detection means and supplies it to the oil supply nozzle via the oil supply path. a refueling control means for detecting the end of refueling to the vehicle fuel tank; and when the refueling control means detects the end of refueling to the vehicle fuel tank, the residual oil in the refueling passage is replaced with the same oil as the residual oil. An automatic oil supply device comprising: residual oil recovery means for collecting residual oil into an oil storage tank that stores seed oil. (2) The residual oil liquid recovery means includes a ventilation pipe communicating with the downstream side of the oil supply path, a ventilation section that sends air from the downstream side to the upstream side of the oil supply path, and the air blower when the end of refueling is detected. and a control section that sends air from the downstream side to the upstream side of the oil supply passage through the ventilation piping to cause residual oil inside the oil supply passage to drop into the oil storage tank. An automatic oil supply device according to claim 1, characterized in that: (3) The residual oil liquid recovery means is constituted by a control unit that drives the tip of the manipulator upward when the end of refueling is detected, and causes the residual oil inside the oil supply path to drop into the oil storage tank. Claim 1 characterized by
Automatic lubrication device as described in section.