JPH09178095A - Gas charging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately connect a charging nozzle to a charging port so as to quickly charge LP gas or the like by detecting the position of the charging port even when there is a little error for centering of a gas vessel, and making the positioning error between the charging port and the charging nozzle smaller than that in the past. SOLUTION: After detecting a range θ1 in which a charging nozzle 1 can be connected to a charging port D2, by means of optical sensors 21-23 provided in a cover body 20 surrounding an opening/closing valve D, the range θ1 is compared with a error absorbable range by a clamp 18, whether the former is larger than the latter or not. When it is larger, the half of the range θ1 is computed, and the charging nozzle 1 is reversely rotated by the computed value θ2 so as to position it to the charging port D2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gas filling device for automating the work of filling a gas container with LP gas or the like,
More specifically, the present invention relates to an improvement in valve direction detection means for detecting the position of the filling port of an opening / closing valve in a gas container and aligning the filling nozzle with the filling port.

[0002]

2. Description of the Related Art Today, various proposals have been made for automating the work of filling a gas container with LP gas or the like.
For example, in Japanese Unexamined Patent Publication No. 172300/1993, after centering a gas container conveyed to a filling station, the direction of the opening / closing valve of the container (the position of the filling port) is detected by a detector and the filling port becomes a filling nozzle. An apparatus is disclosed in which a gas container is rotated so as to face it, and then a filling nozzle advances to connect to a filling port and fill a predetermined amount of gas. As shown in FIG. 17, the detection body has a cylindrical shape surrounding the opening / closing valve D. Inside the detection body 100, both sides of the opening / closing valve D are projected to project the axis P1 of the filling port D2 and the filling nozzle. The first and second optical sensors 101 and 102 for detecting that the axis P2 of the 110 substantially coincides with the third optical sensor 101, and the third for detecting that the filling port D2 is on the filling nozzle 110 side by projecting in the direction crossing the opening / closing valve D. An optical sensor 103 is provided, and the state where the projection of each of the optical sensors is not blocked is set to detection ON, and when all of the three optical sensors 101 to 103 are set to detection ON, the normal direction is set, while each optical sensor 101 to When at least one of the 103's is in the detection OFF state, it is regarded as an illegal direction, and when it is in the illegal direction, the gas container is rotated so as to be in the normal direction.

[0003]

In the above-mentioned conventional apparatus, the filling port axis P1 and the nozzle axis P2 are substantially coincident with each other and the filling port D2 is on the filling nozzle 110 side, in other words, with respect to the filling port D2. Thus, the state in which the filling nozzle 110 faces directly is detected as a normal direction. Therefore, when the container axis C ′ matches the reference axis B ′ as shown in FIG. 17, the normal direction can be detected, but as shown in FIG. 18, the container axis C ′ is changed to the reference axis B ′. When the gas container is deviated, even if the gas container is rotated, either one of the first and second optical sensors 101 and 102 (the first optical sensor 101 in the illustrated example) opens / closes the valve D.
Projection is blocked by three sensors 101
Since all of the detections up to 103 are not turned on and it is almost impossible to match the container axis C ′ with the reference axis B ′, there is a possibility that it cannot be put to practical use.

On the other hand, the applicant of the present application, as shown in FIG.
The first and second optical sensors 201 and 202 for projecting both sides of the opening / closing valve D and the third optical sensor 203 for projecting in a direction crossing the opening / closing valve D are arranged in a cylindrical cover 200 surrounding the One of the first and second optical sensors 201 and 202 and the third optical sensor 203 is configured to be in the normal direction when the detection is ON, and the container axis C'is displaced from the reference axis B '. A valve that can detect the normal direction and position the filling nozzle 210 and the filling port D2 even if only one of the second optical sensors 201 and 202 (the second optical sensor 202 in the illustrated example) is ON. A device provided with a direction detecting means was proposed and filed previously (Japanese Patent Application No. 7-285659). In this proposal, as shown in FIG. 15, when the normal direction is detected, in other words, when the filling nozzle 210 and the filling port D2 are aligned,
The filling nozzle 210 and the filling port D2 do not necessarily face each other completely, but some error s may occur between the axes P1 and P2 of the two.
Occurs, but there are clamps 220 on both the left and right sides of the filling nozzle 210.
Is provided, and the rotation of the filling nozzle 210 about the reference core B ′ is in a neutral state when the alignment is performed. Then, the filling nozzle 21
The clamp 220 closes as the 0 moves forward, and the valve body D1
, The filling nozzle 210 is freely rotated to directly face the filling port D2 and absorb the error s.
It is configured so that the connection of the filling nozzle 210 with respect to 2 is not hindered. However, according to the proposal, as shown in FIG. 16, when the deviation of the container axis C'with respect to the reference axis B'is large and the error s between the filling port D2 and the filling nozzle 210 when the normal direction is detected is large, the clamp is performed. Since it is difficult to absorb the error due to 220 or the like, the connection accuracy of the filling nozzle 210 with respect to the filling port D2 may decrease, leaving room for improvement in that respect.

The present invention has been made in view of the above-mentioned conventional circumstances, and an object thereof is to fill a filling nozzle and a filling nozzle even if the axis of the container is deviated from the reference core set in the filling field. The purpose is to improve the connection accuracy of the filling nozzle to the filling port by making the alignment with the filling port possible and making the error between the filling nozzle and the filling port smaller when compared with the conventional case.

[0006]

In order to achieve the above object, in claim 1, both sides of the on-off valve are provided in a cover body which surrounds the on-off valve of the gas container held upright in the filling field. First and second arranged in parallel to project
An optical sensor and a third optical sensor for projecting in a direction traversing the open / close valve to detect that the filling port is on the filling nozzle side are arranged to constitute valve direction detecting means. It is located between the optical axes of the second optical sensor and on the side of the third optical sensor, and is rotated integrally with the cover body around the reference core at a position separated from the filling port, based on the detection signals of the respective sensors. Is arranged so that it can be brought into contact with and separated from the filling port, and clamps are attached to the left and right sides of the filling nozzle so as to open and close freely.
As the filling nozzle advances, the opening / closing valve is held by both clamps to absorb the error between the filling nozzle and the filling port that occurs when the alignment is performed, and the cover body and the filling nozzle are integrated. A rotation drive mechanism that rotates in the forward and reverse directions and a control unit that controls the operation of the rotation drive mechanism based on a detection signal of the valve direction detection means are provided, and the control unit rotates the cover body in the forward direction to cause the third light to rotate. From the time when the detection by either the first or second optical sensor is turned on after the detection by the sensor is turned on until the detection by either one of the first or second optical sensor is turned off. The range is measured, and when the measured value is larger than the error absorbable range by the clamp, 1 / of the measured value
The gist is that the filling nozzle and the filling port are aligned by reversing the filling nozzle by only 2.

According to a second aspect of the present invention, in the above-mentioned first aspect, the filling nozzle is arranged at a position which is offset in advance by the nozzle reverse rotation amount, and the control by the control section is performed by the forward rotation of the cover body. Until detection by either the first or second photosensor is turned on after detection by the third photosensor is turned on, and then detection by either one of the first or second photosensor is turned off. The gist is that the filling nozzle is configured to rotate in the forward direction to align the filling nozzle with the filling port.

Further, according to a third aspect of the present invention, in the first or second aspect, the cover unit and the filling nozzle are non-rotatably fixed, and the control unit is provided with respect to the cover body and the filling nozzle arranged at the fixing positions. The gist is that the gas container is rotated by the control of 1) to align the filling nozzle with the filling port.

According to the structure of the first aspect, the cover body surrounding the open / close valve is rotated in the forward direction, and the first or second light is detected after the detection by the third optical sensor is turned on. Range from the time when the detection by one of the sensors is turned on to the time when the detection by one of the first or second optical sensors is turned off, that is, for the filling port judged by the valve direction detection means The range in which the filling nozzle can be connected is measured, and whether or not the measured value is larger than the error absorbable range by the clamp is compared.
The filling nozzle is reversed by ½ of the measured value, and the filling nozzle is reliably positioned within the error-absorbable range by the clamp. Therefore, even if the container axis is displaced from the reference axis and only one of the first and second optical sensors is in the detection state, it is possible to detect the filling port position and align the filling nozzle and the filling port, In addition, the error between the filling nozzle and the filling port when the alignment is performed can be made smaller than before, and the error can be reliably absorbed by the clamp, so that the connection accuracy of the filling nozzle to the filling port can be improved.

According to a second aspect of the present invention, the location of the filling nozzle in the first aspect is based on an intermediate point between both optical axes of the first and second optical sensors, and the nozzle is used with respect to the reference. If the amount of reverse rotation is offset in advance, the detection by either the first or second optical sensor will be turned on after the detection by the third optical sensor is turned on, even if the filling nozzle is not reversed as described above. Then, when the detection by either the first or the second optical sensor is turned off thereafter, that is, at the limit position where the filling nozzle can be connected to the filling port judged by the valve direction detecting means, the filling nozzle And the filling port are aligned in the same manner as in claim 1, and the error between the filling nozzle and the filling port when the alignment is made can be made smaller than the conventional one (about the same as in claim 1). Clamp the error Reliably absorbed to be able to improve the connection accuracy of the filling nozzle for filling port.

Further, as described in claim 3, in claim 1 or claim 2, instead of rotating the cover body and the filling nozzle, the gas container is rotated with respect to the fixed cover body and the filling nozzle. Even when the rotation is controlled by the control unit as described above and the filling nozzle and the filling port are aligned with each other, the same effect as that of the first or second aspect can be obtained.

[0012]

Embodiments of the present invention will be described below. First, FIG. 1 to FIG. 11 regarding the device according to claim 1.
Referring to FIG. 1, A shown in FIG. 1 indicates that the container C conveyed to the filling field B by a conveying path constituted by a chain conveyor, a roller conveyor or the like is held upright at the filling field B, and It is a fully automatic gas filling device configured to automatically fill the container C with LP gas or the like.

The container C is a well-known LP gas container having an opening / closing valve D on the top of the container body C1 and usually has a capacity of 50 k.
There are several kinds from about g to about 10 kg. The on-off valve D is provided with a filling port D2 and a safety valve D3 projecting in a backward direction on the front side and the back side of the circumferential surface of the valve body D1 having a substantially cylindrical shape, and the filling port is provided at the upper end of the valve body D1. An open / close handle D4 for opening / closing D2 is screwed so as to be able to move back and forth.
The valve body D1 and the opening / closing handle D4 are the core C'of the container.
Are arranged concentrically with respect to.

The gas filling device A is centering for holding the container C carried into the filling place B in an upright state with its axis C'matching with the reference core B'set in the filling place B. A plurality of optical sensors 21 provided in the cover body 20 for supporting the means a and the cover body 20 surrounding the opening / closing valve D of the container C so as to be vertically movable and rotatable along the reference core B ′.
23 to 23, the valve direction detecting means b for detecting the position of the filling port D2 is rotated integrally with the cover body 20 around the reference core B'at a position separated from the filling port D2 to be aligned with the filling port D2. And a filling nozzle 1 of a gas filling device c that is arranged to move forward and backward so as to be able to come into contact with and separate from the filling port D2, and is attached to both left and right sides of the filling nozzle 1 so as to be openable and closable, and closes as the filling nozzle 1 advances. The filling nozzle 1 and the filling port D which are generated when the above-mentioned alignment is performed by embracing the open / close valve D
Clamps 18, 18 for absorbing the positioning error s between the two
Then, the cover body 20 and the filling nozzle 1 are instructed by the controller.
A rotary drive mechanism d for rotating the (gas filling device c) integrally in the forward and reverse directions to align the filling nozzle 1 with the filling port D2;
The valve opening / closing means e for opening / closing the filling port D2 by rotating the opening / closing handle D4 of the container C in the forward and reverse directions, the valve direction detecting means b, the gas filling device c, the valve opening / closing means e, etc. are adjusted to the height of the container C. An elevating drive mechanism f for integrally elevating and lowering,
An elevating and lowering drive part g for elevating and lowering the cover body 20, an advancing and retracting drive part h for advancing and retreating the gas filling device c to bring the filling nozzle 1 into and out of contact with the filling port D2, and elevating and rotating the opening / closing head 25 of the valve opening / closing means e. A head drive section i for controlling the operation and a control section (not shown) that electrically communicates with each of the components a to i to control the operation thereof are provided in the machine frame j. .

First and second optical sensors 21 and 22 and a third optical sensor 23 are arranged in the cover body 20, and are rotationally driven by a command from a control unit based on detection signals of the sensors 21 to 23. The operation of the mechanism d is controlled, and the cover body 20
And the filling nozzle 1 of the gas filling device c rotates in the forward and reverse directions,
The filling nozzle 1 and the filling port D2 are aligned with each other (see FIGS. 2 and 3).

Further, each of the above-mentioned constituent elements a to i operates according to a command from the control section, holds the container C carried into the filling place B by the centering means a, and then the opening / closing valve D covers the cover body 20.
And the position of the filling port D2 is detected and the positions of the filling nozzle 1 and the filling port D2 are aligned.
Rises, the gas filling device c advances and the filling nozzle 1
Is connected to the filling port D2, then the valve opening / closing means e opens the filling port D2 to perform gas filling by the gas filling device c, and after the quantitative filling, the valve opening / closing means e closes the filling port D2 and the gas filling device c retracts. Then, the filling nozzle 1 is separated from the filling port D2, and thereafter the work until the holding of the container C by the centering means a is released is automatically performed.

The machine frame j is erected on the rear side of the filling field B, and an elevating drive mechanism f is immovably installed on the upper edge portion thereof, while
Guide rails 2a and 2b are vertically provided on the surface directly facing the filling field B, and a rotary drive mechanism d is supported so as to be vertically slidable. The rotation drive mechanism d is supported by an up-and-down drive mechanism f so as to be vertically movable above the machine frame j. The support substrate 3 is supported on the lower surface side of the rotation drive mechanism d, and the valve detection means b, the gas filler c, the valve opening / closing means e, the elevating drive portion g, the forward / backward drive portion h, the head are supported on the lower surface side of the support substrate 3. The drive unit i is equipped. Centering means a is arranged below the machine frame j.

The lifting drive mechanism f is provided with a plurality of pulleys 4 which rotate in forward and reverse directions by driving a motor (not shown), and the feeding amount of the chain 5 wound around each pulley 4 is appropriately adjusted by driving the motors. As a result, the rotary drive mechanism d and the upper clamp 7 to be described later move up and down, and the valve direction detecting means b, the gas filling device c, the valve opening / closing means e, and the upper clamp 7 are brought to predetermined positions corresponding to the height of the container C. Configured to be supported.

The centering means a is composed of upper and lower clamps 6 and 7 provided with a pair of arms 9a and 9b which approach each other by driving a driving unit 8 such as a cylinder and sandwich the outer peripheral surface of the container C from both sides. 6 is fixed to the lower end of the machine frame j, and the upper clamp 7 corresponds to the height of the container C.
Drive to move up and down. Then, the container C installed in the filling field B is clamped by the arms 9a and 9b, and the container C is erected while the axis C'of the container is aligned with the reference axis B'set in the filling field B. It is configured to be held in a shape.

The rotary drive mechanism d has a rotary shaft 11 that rotates around a reference core B ′ and a motor 12 that rotates the rotary shaft 11 on the lower surface of the casing 10 that moves up and down by the drive of the vertical drive mechanism f. The support substrate 3 is fixed to the lower end of the rotating shaft 11, and the rotating shaft 11 and the supporting substrate 3 are driven 360 degrees around the reference core B ′ by driving the motor 12 in the forward and reverse directions according to a command from the control unit. In the above range, the cover body 20 rotates in the forward and reverse directions, and accordingly, the cover body 20 rotates concentrically with the reference core B ′ in the forward and reverse directions, and the filling nozzle 1 (gas filling device c).
Is configured to rotate in the forward and reverse directions integrally with the cover body 20 around the reference core B ′. Further, the rotation driving mechanism d is configured such that the rotation of the filling nozzle 1 (gas filling device c) is in a neutral state when the driving is stopped.

A support shaft 13 is provided on one end side of the support substrate 3 in the longitudinal direction.
The support frame 16 is swingably supported by the support frame 16
The gas filling device c is arranged at the lower end of the gas filling device c, and the filling nozzle 1 of the gas filling device c is rotated as described above as the support frame 16 is rotated by the rotation drive mechanism d. Accordingly, the gas filling device c is moved back and forth to connect and disconnect the filling nozzle 1 with respect to the filling port D2. An upper mounting plate 14 is supported below the support substrate 3, and an advancing / retreating drive unit h is installed on the mounting plate 14. A lower mounting plate 15 is supported below the upper mounting plate 14, and the mounting plate 15
An elevating and lowering drive unit g for elevating and lowering the valve direction detecting means b.
And a head drive unit i for vertically moving and rotating the valve opening / closing head 25.

The valve opening / closing means e is a cover-shaped valve opening / closing head 25 which is engageable with the opening / closing handle D4 from above.
And a head drive unit i for vertically moving and rotating the opening / closing head 25, and the axis thereof is a reference core B ′ at a position directly above the opening / closing valve D of the container C held by the centering means a.
The valve opening / closing head 25 is movably supported by the lifting / lowering drive mechanism 26 of the head driving unit i so that the opening / closing head 25 is engaged with the opening / closing handle D4 at the lowered position. Further, the valve opening / closing head 25 is driven and rotated in the forward and reverse directions about the reference core B'by the rotation drive mechanism 27 of the head drive section i, and the opening / closing handle D4 is rotated in the opening / closing direction.

The part relating to the positioning of the filling nozzle 1 with respect to the filling port D2, which is the gist of the present invention, will be described in detail below. The valve direction detection means b is arranged so that the cover body 20 surrounding the on-off valve D projects in the direction crossing the first and second optical sensors 21 and 22 projecting both sides of the on-off valve D and the on-off valve D. It is configured by incorporating the arranged third optical sensor 23. The cover body 20 is formed of a cylindrical body that can surround the side circumference of the on-off valve D and has upper and lower surfaces opened. The rod 24a of the drive cylinder 24 that constitutes the elevating drive section g is fixed to the upper edge portion of the cover body 20 for centering. At a position directly above the opening / closing valve D of the container C held by the means a, it is supported by the drive cylinder 24 so that its axis coincides with the reference core B ′, and the opening / closing valve D is surrounded at the lowered position. It has become. The cover body 20 includes a drive cylinder 24,
It is supported by the support substrate 3 via the lower mounting plate 15 and the upper mounting plate 14, and is rotated concentrically with the reference core B ′ in the forward and reverse directions within a range of 360 ° or more by the driving of the rotary drive mechanism d. Has become. Each of the above optical sensors 21, 22, 23
Are the light projecting portions 21a, 22a, 2 which are installed to face each other.
It is composed of a known optical sensor including 3a and light receiving portions 21b, 22b and 23b.

The first and second optical sensors 21 and 22 project both sides of the on-off valve D and fill the filling port D2 or the safety valve D.
Install in parallel at a height that can block projection at 3. In addition, the first and second optical sensors 21 and 22 include the light projecting units 21a and 22.
A state in which the projection from a is detected by the light receiving portions 21b and 22b without being blocked by the filling port D2 or the safety valve D3 is an ON state,
The projection is blocked by the filling port D2 or the safety valve D3, and the light receiving unit 2
The states in which 1b and 22b do not receive light are set to the detection OFF state and are sent to the control unit, respectively. Here, when the detection of each of the first and second optical sensors 21 and 22 is ON, the deviation (error s) of the nozzle axis P2 with respect to the filling port axis P1 is clamped.
Filling nozzle 1 for filling port D2
Is set to detect a state in which the connection can be reliably performed (θ described later) or slightly outside the range θ, and the detection OFF is set to detect a state outside the range θ. . The first and second optical sensors 21, 22
If both of them are simultaneously in the detection ON state, one of the detection signals is prioritized.

In order to detect that the filling port D2 is on the filling nozzle 1 side, the third optical sensor 23 crosses the optical axis of the first and second optical sensors 21 and 22 at a substantially right angle to open and close the opening / closing valve D. The projection is made in a transverse direction, and the projection is not blocked by the safety valve D3, but is arranged at a height at which the projection is blocked by the filling port D2. Further, the third optical sensor 23 detects a state in which the projection from the light projecting portion 23a is blocked by the filling port D2 and the light receiving portion 23b does not receive light (a state in which the filling port D2 is on the filling nozzle 1 side) O
The N state, the state in which the projection from the light projecting unit 23a is received by the light receiving unit 23b without being blocked by the filling port D2 (the state in which the filling port D2 is not on the filling nozzle 1 side) is sent to the control unit as the detection OFF state. .

The gas filling device c is installed at the lower end portion of a support frame 16 supported by the support shaft 13 so as to be swingable back and forth so that the filling nozzle 1 faces the reference core B'direction. The support frame 16 rotatably connects the tip of the rod 17 of the advancing / retreating drive unit (driving cylinder in this example) h to the middle and high portion thereof, and swings backward by the extension of the advancing / retreating drive unit h so that the gas filling device c is released. A retracted position in which the filler nozzle 1 retracts and the filler nozzle 1 separates from the filler port D2;
When the advancing / retreating drive part h contracts, it swings forward and the gas filling device c
Are moved forward and forward, and the filling nozzle 1 is moved forward and backward (oscillated back and forth) over the forward position where it is connected to the filling port D2.

Further, the gas filling device c is provided with clamps 18, 18 for holding the lower portion of the filling port D2 of the valve body D1 on the left and right sides of the filling nozzle 1 so as to be openable and closable, and the filling port D2 has an inner peripheral edge thereof. Is a taper surface D2-1, and the rotation driving mechanism d allows the rotation shaft 11 to freely rotate so that the rotation of the gas filling device c is in the neutral state when the driving is stopped. Then, when the filling valve 1 is aligned with the filling port D2, even if there is some error s between the axis P2 of the filling nozzle and the axis P1 of the filling port, the error s is previously set. Within the set range (angle θ about the reference core B ′), the clamps 18 and 18 are closed as the gas filler c is moved forward to embrace the open / close valve D, and the tapered surface is formed. Using the D2-1 as a guide, the gas filling device c is rotated so that the filling nozzle 1 and the filling port D2 substantially face each other to absorb the error s, so that the filling nozzle 1 can be reliably connected to the filling port D2. Configure.

The gas filling device c is the filling nozzle 1
Is arranged so as to be substantially parallel to both optical axes of the first and second optical sensors 21, 22 and located between both optical axes and on the side where the third optical sensor 23 is provided. .

According to the above construction, when one of the first and second optical sensors 21 and 22 is in the detection ON state and the third optical sensor 23 is in the detection ON state, the filling nozzle 1 is filled with the filling port D2. Is within a range connectable to the gas filling device and the filling port D2 is located on the filling nozzle 1 side.
When is moved forward, the above-mentioned alignment error s is absorbed by the operation of the clamps 18 and 18, and the filling nozzle 1 is connected to the filling port D2. However, as shown in FIG. 7, when the deviation of the container axis C ′ from the reference axis B ′ is large and the error s between the filling port axis P1 and the nozzle axis P2 is large, it is difficult to absorb the error due to the clamp 18 or the like. There is a possibility that the connection accuracy of the filling nozzle 1 with respect to the mouth D2 may be reduced.

Therefore, in the present invention, the rotation drive mechanism d is operated by the command of the control section, and the cover body 20 and the filling nozzle 1 are rotated in the forward direction (clockwise direction in FIGS. 3 to 9), Either the first or second optical sensor 21, 22 is turned ON after the third optical sensor 23 is turned ON, and then either the first or second optical sensor 21, 22 is turned ON. The rotation is stopped when the detection is turned off. Further, in the control unit, from the time when either the first or second optical sensor 21, 22 is turned on after the third optical sensor 23 is turned on, the first or second optical sensor 21 is turned on. , 22
Range θ until the detection by either of them becomes OFF
1, in other words, the range θ1 in which the filling nozzle 1 can be connected to the filling port D2 judged by the valve direction detecting means b is converted into the rotation amount of the filling nozzle 1 and measured, and the measured value (nozzle rotation amount) ) Compare whether θ1 is larger or smaller than the error absorbable range θ due to the clamps 18, 18, etc.,
If it is larger, 1/2 of the measured value θ1 is calculated, and the filling nozzle 1 is rotated in the reverse direction (counterclockwise direction in FIGS. 3 to 9) by the calculated value (nozzle reverse rotation amount) θ2. The filling nozzle 1 and the filling port D2 are aligned with each other. Further, the measured value θ1 is the clamp 18,
If it is smaller than the error absorbable range θ due to the above, the filling nozzle 1 is reversed without performing the calculation, and the detection by either one of the first and second optical sensors 21 and 22 is O.
The reverse rotation is stopped at the position N, and the filling nozzle 1 and the filling port D2 are aligned with each other (see FIG. 11).

The operation of the gas filling apparatus A of this embodiment by appropriately controlling the operation of each of the above components a to i in response to a command from the control unit will be described below. When the container C is carried into the filling place B, the centering means a is operated to operate the container C.
Hold the container in an upright position and connect the container axis C'to the reference axis B '.
To the cover body 20 by the operation of the elevating / lowering drive unit g.
Lowers to surround the on-off valve D (see FIG. 10 (a)), and the filling nozzle 1 is aligned with the filling port D2 as follows.

First, as shown in FIGS. 4 to 5, the case where the container axis C'is coincident with the reference axis B'or the deviation thereof is relatively small will be described. The opening / closing valve D is surrounded by the cover body 20. After that, the cover body 20 and the filling nozzle 1 are integrally rotated in the forward direction by driving the rotation drive mechanism d, and the third optical sensor 2
After the detection 3 is turned on, the first or second optical sensor 2
1 or 22, either of which is the second optical sensor 22 in this case.
Is turned on (state of FIG. 4), and then the detection of the second optical sensor 22 is turned off (state of FIG. 5).
To stop its rotation. Further, in the control unit, the third
From the time when the second optical sensor 22 is turned on after the optical sensor 23 is turned on (the time point in FIG. 4), the time when the second optical sensor 22 is turned off (see FIG. 5).
(Point of time), that is, the range θ1 in which the filling nozzle 1 can be connected to the filling port D2 determined by the valve direction detecting means b is converted into the rotation amount of the filling nozzle 1 and measured, and the measured value ( It is compared whether the nozzle rotation amount) θ1 is larger or smaller than the error absorbable range θ by the clamp 18 or the like. In this example, since the container axis C ′ matches the reference axis B ′, the measured value θ1 is smaller than the error absorbable range θ. Therefore, in this case, after the third optical sensor 23 is set to the detection ON state, The detection by the second optical sensor 22 is O
Since the filling nozzle 1 is securely connected to the filling port D2 at the position N (the position shown in FIG. 4), the cover body 20 and the filling nozzle 1 are reversed by driving the rotary drive mechanism d. At this position, the reverse rotation is stopped, and the filling nozzle 1 and the filling port D2 are aligned at the stopping position. Needless to say, the filling nozzle 1 and the filling port D2 are aligned in the same manner even when the displacement of the container axis C'with respect to the reference axis B'is relatively small.

Next, as shown in FIGS. 6 to 9, the case where the container axis C'is largely displaced from the reference axis B'will be described. After the opening / closing valve D is surrounded by the cover body 20, it is rotated. After the cover body 20 and the filling nozzle 1 are integrally rotated in the forward direction by the driving of the drive mechanism d and the third optical sensor 23 is turned on (state of FIG. 6), the first or second optical sensor 21, 22 is detected.
Either one of them, here, the second optical sensor 22 detects O
N (state of FIG. 7), and then the second optical sensor 2
When the detection of 2 is turned off (state of FIG. 8), the rotation is stopped. Further, in the control unit, the detection by the second optical sensor 22 is turned off from the time when the second optical sensor 22 is turned on after the third optical sensor 23 is turned on (time point in FIG. 7). Time point (time point in FIG. 8)
Up to the range, that is, the range θ1 in which the filling nozzle 1 can be connected to the filling port D2 determined by the valve direction detecting means b is converted into the rotation amount of the filling nozzle 1 and measured, and the measured value (nozzle rotation amount) ) Θ1 is the error absorption range θ described above
Compare greater than or less than. In this example, since the container axis C ′ is largely deviated from the reference axis B ′, the measured value θ1 is larger than the error absorbable range θ. Therefore, in this case, the control unit ½ of the measured value θ1. Is calculated,
The rotation drive mechanism d drives the cover body 20 and the filling nozzle 1 to rotate in the reverse direction by the calculated value θ2 to stop the rotation, and the filling nozzle 1 and the filling port D2 are aligned at the stop position (position in FIG. 9). Is done.

As described above, the filling nozzle 1 and the filling port D
When the position 2 is aligned, the cover body 20 is raised by the operation of the elevating and lowering drive part g, and then the gas filler c is moved forward by the operation of the advancing / retreating drive part h to connect the filling nozzle 1 to the filling port D2 ( (See FIG. 10B). At this time, there is some error s in the alignment between the filling nozzle 1 and the filling port D2.
Since the error is corrected by the control unit as described above, the error s is sufficiently small with respect to the absorbable range θ due to the operation of the clamp 18 or the like, and the operation of the clamps 18 and 18 accompanying the advance of the gas filler c. Also, the error s is reliably absorbed by the free rotation of the gas filling device c using the tapered surface D2-1 as a guide, and the filling nozzle 210 is connected to the filling port D2 quickly and properly.

When the filling nozzle 1 is connected to the filling port D2,
The valve opening / closing head 25 is lowered by the operation of the lifting drive mechanism 26 and engages with the opening / closing handle D4, and then the valve opening / closing head 25 is rotated in a predetermined direction by the operation of the rotation drive mechanism 27 to open the filling port D2. At this point, the gas filling device c is operated to inject and fill the container C with gas. When it is detected that a predetermined amount of gas has been filled, the gas filling is completed, the valve opening / closing head 25 is inverted by the operation of the rotary drive mechanism 27 to close the filling port D2, and the head 25 is operated by the operation of the lifting drive mechanism 26. After ascending, the advancing / retreating drive section h is operated to retract the gas filler c, the filling nozzle 1 is disengaged from the filling port D2, and the clamping by the centering means a is released. The container C whose clamp has been released is transported to the next step through a transport path or the like.

As described above, the gas filling device A of this example
The cover body 20 surrounds the opening / closing valve D of the gas container C, which holds the container C so that its axis C ′ coincides with the reference axis B ′, and the optical sensors 21 to 23 provided in the cover 20. After detecting the range θ1 in which the filling nozzle 1 can be connected to the filling port D2, whether the range θ1 is larger than the error absorbable range θ of the clamp 18 or the like is compared. 1/2 of θ1 is calculated and the calculated value θ
The filling nozzle 1 is reversed by 2 to surely position the filling nozzle 1 within the error absorbable range θ. Therefore,
Even if the container axis C'is deviated from the reference axis B'and only one of the first and second optical sensors 21 and 22 is in the detection state, the filling nozzle 1 and the filling port D2 can be aligned with each other. Further, the error s between the filling nozzle 1 and the filling port D2 when the alignment is made is made smaller than before, and the error s is surely absorbed by the clamp 18 or the like,
The connection accuracy of the filling nozzle 1 with respect to 2 can be improved.

Further, the gas filling device A of the present embodiment is configured as described above, so that the gas filling work for the gas container C carried into the filling place B is automated and the reduction of the number and the unmanned number of the gas filling is promoted. It has the advantage of being extremely useful above.

Next, an embodiment of the gas filling device according to claim 2 will be described with reference to FIGS. In this example, the filling nozzle 1 in the gas filling device A described above is
The control unit is disposed at a position which is offset in advance by the nozzle reverse rotation amount θ 2 and the first or second light is detected after the third optical sensor 23 is turned on by the forward rotation of the cover body 20. The filling nozzle 1 is turned on until either one of the sensors 21 and 22 is turned on and then the detection by either one of the first and second optical sensors 21 and 22 is turned off.
Is normally rotated to align the filling nozzle 1 with the filling port D2. The components other than the location where the filling nozzle 1 is arranged and the control method for aligning the filling nozzle 1 with the filling port D2 and the operation thereof are the same as those of the gas filling device A described above, and the description will be repeated. Therefore, it is omitted here.

The location of the filling nozzle 1 in this example will be described in detail with reference to FIGS.
It is assumed that each of the optical sensors 21 to 23 is disposed at the same position as in the above example, and the filling nozzle 1 is arranged between the optical axes of the first and second optical sensors 21 and 22 as in the above example. In this case, the valve direction detecting means b determines that the third optical sensor 23 is operated by the forward rotation (clockwise direction in the figure) of the cover body 20 within a range in which the filling nozzle arranged at the assumed position P2 can be connected to the filling port D2. After the detection is turned ON, the first or second
One of the optical sensors 21 and 22, which is the second optical sensor 22 in this case, is detected in a range θ1 from when the detection is turned on to when the detection by the second optical sensor 22 is turned off. In this example, 1 / of the maximum value of the range θ1
A value of 2 is set to the nozzle reversal amount θ2, and the axis P3 is displaced to the nozzle reversal direction (counterclockwise direction in the figure) in the above example by the set value θ2 with respect to the assumed position P2. Is set, and the filling nozzle 1 is arranged at the position.

According to the above construction, the cover body 20 and the filling nozzle 1 are integrally rotated in the forward direction by the drive of the rotary drive mechanism d, and the third
Either the first or second optical sensor 21, 22 after the optical sensor 23 is turned on (state of FIG. 12),
Here, the second optical sensor 22 is turned on (see FIG. 13).
State), then the detection of the second optical sensor 22 is OF
If the rotation is stopped when it reaches F (state of FIG. 14), the filling nozzle 1 and the filling port D2 are aligned at the stop position (position of FIG. 14). At this time, there is some error s in the alignment between the filling nozzle 1 and the filling port D2, but as described above, the filling nozzle 1 is arranged at a position which is offset in advance by the nozzle reversal amount θ2. Therefore, even if the filling nozzle 1 is not reversed as in the above example, the error s
Is sufficiently smaller than the absorbable range θ due to the operation of the clamp 18, etc.
The operation of 18 and the free rotation of the gas filler c with the tapered surface D2-1 as a guide surely absorb the error s, and the filling nozzle 210 is connected to the filling port D2 quickly and properly.

The gas filling device for automatically filling a predetermined amount of gas into the container C conveyed to the filling place B by the conveying path constituted by a chain conveyor or a roller conveyor has been described above, but the present invention is not limited to this. For example, as disclosed in, for example, Japanese Patent Laid-Open No. 6-201095, a predetermined amount of gas is placed in a container mounting portion arranged at predetermined intervals on the circumference of the upper surface of a turntable and sequentially loaded into the container mounting portion. It can also be used as a gas filling device that automatically fills, and it can also be applied to a type of gas filling device that is installed adjacent to the filling place with any place on the work floor as the filling place. It goes without saying that a person manually transports and sets up at the filling station.

Further, the structure for filling the gas in the gas filling device A is not limited to that described above, and the filling port D2
A type in which the filling nozzle 1 is moved toward and away from the gas filling device c by moving the gas filling device c in the horizontal direction, and a semi-auto type in which the filling nozzle 1 is moved forward and backward manually to move the filling nozzle 1 toward and away from the filling port D2. Various structures such as a type in which the container C is rotated with respect to the cover body 20 and the filling nozzle 1 which are fixed as disclosed in 7-99238 (claim 3) can be applied.

[0043]

As described above, according to the present invention, the range in which the filling nozzle can be connected to the filling port (θ1) by the plurality of optical sensors provided in the cover body surrounding the opening / closing valve.
) Is detected, it is compared whether or not the range (θ1) is larger than the error absorbable range (θ) by the clamp. If larger, 1/2 of the range (θ1) is calculated, and the calculated value is calculated. Since it is a gas filling device equipped with a valve direction detection means of a new configuration that reverses the filling nozzle only by (θ 2),
The position of the filling port can be detected even if there is some error in the centering of the gas container installed in the filling field, and the alignment of the filling nozzle with respect to the filling port must be within the error-absorbable range (θ). You can Therefore, even if the centering is slightly deviated, it is not necessary for the operator to manually align the position of the filling nozzle with respect to the filling port and manually correct the position of the gas container. It can be accurately and properly connected to quickly fill LP gas, etc., which is extremely useful in automating the work of filling the gas container with LP gas, etc. There are many effects such as being useful for promoting

Further, when the filling nozzle is arranged at a position which is preliminarily offset by the nozzle reverse amount as described in claim 2,
The same effect as in claim 1 can be obtained without reversing the filling nozzle, and the circuit configuration of the control unit and the structure of the rotation drive mechanism can be simplified, and the production cost of the device can be reduced. Further, as in claim 3, the gas container is rotated with respect to the cover body and the filling nozzle which are fixed so as not to rotate, and the alignment of the filling nozzle and the filling port is performed as in claim 1 or 2. Also, the same effect as described above can be obtained.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of an apparatus according to claim 1.

FIG. 2 is an enlarged vertical sectional view of a main part.

FIG. 3 is an enlarged cross-sectional view of the same portion, showing a state in which the container axis and the reference axis are aligned, and the filling port and the filling nozzle are aligned.

FIG. 4 shows a state during the same alignment.

FIG. 5 shows a state during the same alignment.

FIG. 6 is an enlarged cross-sectional view of the same portion, showing a state in which the container axis and the reference axis are displaced from each other and the filling port and the filling nozzle are being aligned.

FIG. 7 shows a state during the same alignment.

FIG. 8 shows a state during the same alignment.

FIG. 9 shows a state in which the same alignment is performed.

FIG. 10 is a longitudinal sectional view of the same portion, showing an operating state in which the filling nozzle is connected to the filling port after the filling port and the filling nozzle are aligned with each other.

FIG. 11 is a flowchart showing a procedure for aligning the filling port and the filling nozzle by the control unit.

FIG. 12 is an enlarged transverse cross-sectional view of a main part showing an embodiment of the device according to claim 2, wherein the container axis and the reference axis are misaligned,
In addition, the state where the filling port and the filling nozzle are being aligned is shown.

FIG. 13 shows a state during the same alignment.

FIG. 14 shows a state in which the same alignment is performed.

FIG. 15 is an enlarged transverse cross-sectional view of a main part of a conventional apparatus, showing a state in which a container axis and a reference axis are deviated and a filling port and a filling nozzle are aligned with each other.

FIG. 16 is an enlarged transverse cross-sectional view of a main part of a conventional device, showing a state in which a container axis and a reference axis are deviated, and a filling port and a filling nozzle are aligned with each other.

FIG. 17 is an enlarged transverse cross-sectional view of a main part of the conventional device, showing a state in which the container axis and the reference axis are aligned and the filling port and the filling nozzle are aligned.

FIG. 18 is an enlarged transverse cross-sectional view of a main part of the conventional device, showing a state where the container axis and the reference axis are displaced and the filling port and the filling nozzle are aligned.

[Explanation of symbols]

A: Gas filling device a: Centering means b: Valve direction detecting means c: Gas filling device d: Rotation drive mechanism e: Valve opening / closing means 1: Filling nozzle P2, P3: Nozzle shaft core 18: Clamp 20: Cover body 21: First optical sensor 22: Second optical sensor 23: Third optical sensor B: Filling field B ': Reference core C: Container C': Container axis D: Open / close valve D2: Filling port P1: Filling port axis θ: Error absorbable range due to clamp θ1: Range in which the filling nozzle judged by the valve direction detection means can be connected θ2: Nozzle reversal amount s: Positioning error between filling port and filling nozzle

Claims (3)

[Claims] 1. A centering means for holding a gas container carried to a filling station in an upright state and for aligning an axis of the container with a reference core, and a cover body surrounding an opening / closing valve of the gas container. A valve direction detecting means for supporting the movable body to move up and down along with, and rotatably, and detecting a filling port position by a plurality of optical sensors provided in the cover body, and a cover body centered on a reference core at a position separated from the filling port. And a filling nozzle which is rotated integrally with the filling port and is arranged so as to be movable back and forth so as to come into contact with and separate from the filling port, and attached to the left and right sides of the filling nozzle so as to be openable and closable. With the forward movement of the opening / closing valve, the clamp absorbs the alignment error between the filling nozzle and the filling port, the rotation drive mechanism that integrally rotates the cover body and the filling nozzle in the forward and reverse directions, and the valve direction detecting means. Detection signal A control unit for controlling the operation of the rotary drive mechanism based on the number of the first and second optical sensors arranged in parallel so as to project both sides of the opening / closing valve, and the filling port. A third optical sensor is provided so as to project in a direction across the on-off valve to detect that it is on the nozzle side, while the filling nozzle is between the optical axes of the first and second optical sensors and the third optical sensor. Further, the control section is arranged so as to be positioned on the side, and the control section rotates the cover body in the forward direction to turn ON the detection of the third optical sensor and then turn ON the detection of either the first or second optical sensor. The range from the time point until the detection by either the first or the second optical sensor is turned off is measured, and when the measured value is larger than the error absorbable range by the clamp, the measured value is 1 / 2 filling only Gas filling apparatus characterized by being configured so that by reversing the nozzle performs positioning of the filling nozzle and the filling opening. 2. The filling nozzle is arranged at a position displaced in advance by the amount of reverse rotation of the nozzle, and the control unit turns the detection of the third optical sensor by the forward rotation of the cover body. After that, either the first or second optical sensor is turned ON for detection, and then the filling nozzle is rotated forward until the detection by either of the first or second optical sensor is turned OFF, and the filling nozzle and the filling port are turned on. The gas filling device according to claim 1, wherein the gas filling device is configured to perform the alignment. 3. The cover body and the filling nozzle are non-rotatably fixed, and the gas container is rotated by the control of the control unit with respect to the cover body and the filling nozzle arranged at the fixing positions to fill the filling nozzle and the filling nozzle. The gas filling device according to claim 1 or 2, wherein the gas filling device is configured to align the mouth.