JPH09222199A - Gas filling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a positional alignment in a height direction between a filing port and a filling nozzle by a simple structure in an accurate manner by a method the filling nozzle located in such a way that a nozzle shaft center is positioned above the center of the filling port is moved downwardly near the filling port and then an engaging lever is abutted against the upper edge of the filling port. SOLUTION: A height of an opening or closing handle D4 of a container C is detected by an optical sensor, a nozzle shaft core P2 is placed slightly above the center P1 of a filling port in response to the detected information, and an engaging lever 19 is positioned at such a height as one in which it is inserted into a clearance between the opening or closing handle D4 and the upper edge D2-2 of the filling port. After this operation, the filling nozzle 1 is moved forward to a place near the filling port D2. Then, the filling nozzle 1 is further moved downwardly under an operation of an ascending or descending driving section, an engaging lever 19 is abutted against the upper edge D2-2 of the filling port to cause the nozzle shaft core P2 and the center P1 of the filling port to be substantially coincided to each other, and the filling nozzle 1 and the filling port D2 are finely adjusted in their height direction. After this operation, the filling nozzle 1 is moved forwardly and automatically connected to the filling 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 operation of filling a gas container with LP gas or the like, and more specifically, to a filling port and a filling port for automatically connecting a filling nozzle to the filling port of the gas container. The present invention relates to an improvement in a positioning mechanism for a nozzle in the height direction.

[0002]

2. Description of the Related Art Today, as means for automating the operation of filling a gas container with LP gas or the like, first detecting means for detecting the height of an opening / closing handle of the gas container placed on a filling place,
With a second detecting means for detecting the direction of the filling port of the gas container, by performing the alignment of the filling nozzle and the filling port in the height direction by the operation of the elevating drive part based on the detection information from the first detecting means,
The filling nozzle and the filling port are aligned in the horizontal direction by the operation of the rotation drive unit based on the detection information from the second detection means, and the filling nozzle is connected to the filling port by the operation of the advancing / retreating drive unit to supply a predetermined amount of gas. Various automatic filling devices have been proposed (for example, JP-A-5-172300). In these conventional devices, as shown in FIG. 22, the dimension L'from the upper surface of the opening / closing handle D4 of the opening / closing valve D to the center P1 of the filling port D2.
When the filling nozzle 1 and the first detecting means (not shown) are integrally lowered by the operation of the elevating and lowering drive unit, and the first detecting means detects the upper surface position of the opening / closing handle D4, The elevation drive unit is stopped so that the filling port D2 and the filling nozzle 1 are aligned in the height direction.

[0003]

[Problems to be Solved by the Invention] However, in reality,
The above dimension L'is not always constant due to variations in standards of each manufacturer, deformation of the opening / closing handle D4 due to long-term use, variations in tightening of the opening / closing handle after pretreatment such as residual gas recovery, etc. An error may occur in the alignment of the filling nozzle 1 with respect to the filling port D2. If the filling nozzle 1 moves forward with the error still occurring, not only the connection with the filling port D2 is not properly made, but also the inside of the filling port D2. There is a risk that the packing 1b at the tip of the nozzle may hit the female thread D2-3 on the circumference and be damaged or fall off, resulting in gas leakage.These defects reduce the operating rate of the equipment and the gas filling work efficiency, and It was an obstacle to the promotion of unmanned and unmanned filling factories.

The present invention has been made in view of the above-mentioned conventional circumstances, and an object of the present invention is to provide a gas container having a variation in the dimension from the upper surface of the opening / closing handle to the center of the filling port. It is an object of the present invention to provide a gas filling device capable of accurately aligning the filling port and the filling nozzle in the height direction with a simple structure and automatically connecting the filling nozzle to the filling port with high precision.

[0005]

[Means for Solving the Problems] In order to achieve the above object, the inventors of the present invention are unlikely to change the positional relationship with respect to the center of the filling port, and do not have variations in standards among manufacturers.
Furthermore, paying attention to the outer peripheral edge portion of the filling port that is less likely to be deformed due to long-term use, and making effective use of the outer peripheral edge portion as a reference position for fine adjustment of the height direction alignment of the filling port and the filling nozzle. By doing so, the present invention has been completed. That is, the present invention, the first detection means for detecting the height of the opening and closing handle of the gas container placed in the filling field, the second detection means for detecting the orientation of the filling port of the gas container, the filling port A filling nozzle for connecting a predetermined amount of gas and connecting the filling nozzle and the filling port in the height direction by the operation of the elevation drive unit based on the detection information from the first detecting means; (2) In a gas filling device in which the filling nozzle and the filling port are aligned in the horizontal direction by the operation of the rotation driving unit based on the detection information from the detecting means, the nozzle axis is substantially aligned with the filling port center above the filling nozzle. When the charging is performed, an engaging rod that comes into contact with the upper edge of the filling port and restricts the lowering of the filling nozzle is arranged, and the nozzle axis is positioned above the filling port center based on the detection information from the first detecting means. Lower the nozzle near the filling port Go杆 into contact with the filling Prompt edge of the gist to carry out positioning in the height direction of the filling nozzle and the filling opening with.

The horizontal alignment of the filling nozzle and the filling port is carried out by a construction known in this technical field, that is, by fixing either one of the filling nozzle and the gas container and rotating the other by a rotary drive unit. However, in consideration of the fact that the gas container is a heavy object, a configuration in which the filling nozzle is rotated with respect to the gas container held by the clamp mechanism or the like is preferably used.

The connection and separation of the filling nozzle with respect to the filling port are known in this technical field, that is, the filling nozzle supported slidably in the horizontal direction is moved forward and backward with respect to the filling port by the operation of the advancing and retracting drive section. A configuration in which the filling nozzle supported so as to swing back and forth can be swung back and forth with respect to the filling port by the operation of the forward / backward drive part can be adopted, but the filling nozzle is rotated in the horizontal alignment described above. In this case, in consideration of making the rotation space more space-saving and making the entire apparatus compact, the swinging and reciprocating structure is preferably used.

The positioning of the filling nozzle and the filling port in the height direction by the elevating and lowering drive unit is a construction known in this technical field, that is, one of the filling nozzle and the gas container is fixed and the other is moved by the elevating and lowering drive unit. Although it is carried out by moving up and down, in consideration of the fact that the gas container is a heavy object, etc., a configuration in which the filling nozzle is moved up and down with respect to the gas container held by the clamp means is preferably used.

Further, in the present invention, based on the detection information from the first detecting means, the filling nozzle positioned so that the nozzle axis is above the filling port center is lowered near the filling port, and the engaging rod is moved. The filling nozzle is brought into contact with the upper edge of the filling port to align the filling nozzle with the filling port in the height direction. Specifically, based on the detection information from the first detection means, a first lifting operation that roughly aligns the height direction so that the nozzle axis is above the filling port center, and the rough height position. The second elevating operation is performed by lowering the filling nozzle located in 1 until the engaging rod comes into contact with the upper edge of the filling port, and performing fine adjustment in the height direction so that the nozzle axis is substantially aligned with the center of the filling port. Each of these raising and lowering operations is performed by fixing one of the filling nozzle and the gas container and raising and lowering the other by the raising and lowering drive unit as described above.

The first and second raising / lowering operations are performed by one raising / lowering drive section, and two raising / lowering drive sections (first raising / lowering drive section and second raising / lowering drive section) provided for each raising / lowering operation. ). When using two raising / lowering drive parts, it is also possible to configure so that either one of the first and second raising / lowering operations raises / lowers the filling nozzle and the other raises / lowers the gas container.

It is also possible to continuously perform the first and second lifting operations. In this case, the filling nozzle is advanced in advance to a position (position near the filling port) where the engaging rod can contact the upper edge portion of the filling port, and then the first and second lifting operations are continuously performed. It is needless to say that the engaging rod does not come into contact with the open / close handle during the ascending / descending operation so as to prevent the descending operation of the filling nozzle (or the ascending operation of the gas container) from being hindered. When performing the two raising / lowering operations continuously, relatively high accuracy is required for the protrusion size of the engaging rod from the tip of the filling nozzle and the positional relationship between the engaging rod and the opening / closing handle during the raising / lowering operation.

On the other hand, when the first and second raising / lowering operations are performed in stages, in the first raising / lowering operation (rough alignment in the height direction), when the filling nozzle is advanced to the vicinity of the filling port. The filling nozzle is positioned so that the engaging rod is inserted into the gap between the opening / closing handle and the upper edge of the filling port, and then the advancing / retreating drive unit moves the filling nozzle forward to the vicinity of the filling port to open / close the engaging rod. And the upper edge of the filling port, and then the second lifting operation (fine adjustment in the height direction) is performed to bring the engaging rod into contact with the upper edge of the filling port to raise the height of the filling nozzle and the filling port. It will be aligned in the vertical direction.
In this case, the protrusion size of the engaging rod from the tip of the filling nozzle,
There is an advantage that the positional relationship between the engaging rod and the opening / closing handle during the raising / lowering operation does not require high accuracy and can be performed relatively easily.

That is, according to the present invention, as described in claim 2,
Centering means for holding the gas container placed on the filling place in an upright state, first detecting means for detecting the height of the opening / closing handle of the gas container, and second detecting means for detecting the direction of the filling port of the gas container Means, a filling nozzle connected to the filling port for filling a predetermined amount of gas, and a rotation drive unit for rotating the filling nozzle based on the detection information from the second detecting means to perform horizontal alignment with the filling port. And a first elevating and lowering drive unit that raises and lowers the filling nozzle based on the detection information from the first detection means to roughly align the height direction with respect to the filling port,
The advancing / retreating drive unit that swings the filling nozzle roughly adjusted in height by the first elevating and lowering unit to the vicinity of the filling port, and the axial center of the filling nozzle disposed above the filling nozzle substantially coincides with the center of the filling port. At the same time, the engaging rod for contacting the upper edge of the filling port to regulate the lowering of the filling nozzle and the first elevating drive unit are roughly aligned, and the advancing / retreating drive unit further descends the filling nozzle advanced to the vicinity of the filling port. It is more preferable that the gas filling device includes a second elevating and lowering drive unit that abuts the engaging rod on the upper edge of the filling port to perform fine adjustment in the height direction of the filling nozzle with respect to the filling port.

Thus, according to the present invention, the height of the opening / closing handle of the gas container placed on the filling field is detected by the first detecting means, and based on the detection information, the filling nozzle and the filling port are roughly estimated. Then, the filling nozzle is further lowered to bring the engaging rod into contact with the upper edge of the filling port to finely adjust the filling nozzle and the filling port in the height direction. Therefore,
The opening / closing handle height, which tends to vary from gas container to gas container, is used as the first reference surface to roughly align the filling nozzle with the filling port in the height direction. Since the fine adjustment of the height direction alignment of the filling nozzle and the filling port is performed using the peripheral edge as the second reference surface, the filling nozzle can be accurately and automatically connected to the filling port. Further, since the rough alignment can be performed by the existing means (the means also used in the conventional device) of operating the lifting drive unit based on the height information of the opening / closing handle detected by the detecting means, A new means for fine adjustment is required. The means further lowers the filling nozzle that has been roughly aligned, and the lift drive section that can be used also by the existing means, and the lift drive section Since the lowering of the filling nozzle due to the above is restricted, it is sufficient to add an extremely simple structure of an engaging rod arranged above the nozzle. Therefore, the above-described problem of providing a gas filling device capable of accurately aligning the filling port and the filling nozzle in the height direction with a simple structure and accurately and automatically connecting the filling nozzle to the filling port is achieved. You can do it.

[0015]

Embodiments of the present invention will be described below. The apparatus A shown in FIG. 1 detects the height and direction of the filling port D2 of the container C held in an upright state at the filling field B, and moves the filling nozzle 1 up and down based on the detected information to rotate the filling port. A fully-automatic gas filling device configured to automatically align the height direction and the horizontal direction with respect to D2 and further automatically connect the filling nozzle 1 to the filling port D2 to fill a predetermined amount of LP gas or the like. is there.

The container C is a well-known LP gas container having an opening / closing valve D at 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 from the front side and the back side of a substantially cylindrical valve body D1 in a back-to-back direction, and the filling port D2 is provided at the upper end of the valve body D1. An opening / closing handle D4 for opening / closing is screwed so that it can be moved forward and backward.
The valve body D1 and the opening / closing handle D4 are the core C'of the container.
Are arranged concentrically with respect to. The filling port D2 has both a function as a filling port when filling the container C with gas, and a function as a supplying port when supplying (releasing) the gas in the container C. The diameter size is specified for connecting the gas pipe when it is used at the user's end, so that the size L from the filling port center P1 to the outer peripheral edge does not vary from container to container or manufacturer. It becomes constant (see FIG. 5).

In the gas filling device A, the container C placed on the filling place B automatically or by an operator by a conveyer or the like and placed on the filling place B has its axis C ′ set at the filling place B. A centering means a for holding the container C in an upright state in conformity with the reference core B ', a first detecting means b1 for detecting the height of the opening / closing handle D4 of the container C, and a direction for detecting the direction of the filling port D2 of the container C. Valve detecting means b provided with two detecting means b2
And the filling nozzle 1 which is connected to the filling port D2 and fills a predetermined amount of gas, and the filling nozzle 1 is rotated based on the detection information from the second detecting means b2 to perform horizontal alignment with the filling port D2. Based on the rotation drive section d and the detection information from the first detection means b1, the filling nozzle 1 is moved up and down to fill the filling port D2.
First elevating and lowering drive section f for roughly aligning the height direction with respect to the first and second elevating / retracting drive section for swinging the filling nozzle 1 roughly adjusted in height by the first elevating and lowering drive section f to the vicinity of the filling port D2. h and an engaging rod 19 disposed on the top of the filling nozzle 1 and abutting against the upper edge D2-2 of the filling port to regulate the lowering of the filling nozzle 1 when the axis P2 of the filling nozzle substantially coincides with the center P1 of the filling port. And a rough alignment is made by the first elevating and lowering drive section f, and a filling port D2 is made by the advancing and retreating drive section h.
A second elevating and lowering driving part g for further finely adjusting the height direction by further lowering the filling nozzle 1 advanced to the vicinity, and by operating the second elevating and lowering driving part g, the engagement rod 19 is filled with the upper edge portion D of the filling port.
The filling nozzle 1 and the filling port D2 are brought into contact with each other to be aligned with each other in the height direction.

The valve detecting means b is a centering means a.
Has a cover body 20 surrounding the on-off valve D of the container C held by the above, and supports the cover body 20 so as to be vertically movable and rotatable coaxially with the reference core B ′, and In addition, the optical sensor 30 forming the first detecting means b1 and the optical sensors 21 forming the second detecting means b2
23 are arranged. The filling nozzle 1 is moved up and down by the operation of the first elevating and lowering drive unit f and the second elevating and lowering drive unit g, and is rotated integrally with the cover body 20 around the reference core B ′ by the operation of the rotation drive unit d. It is arranged in the gas filling device c which swings back and forth by the operation of h, and ascending / descending, rotating and advancing / retracting integrally with the filling device c, as described above, is aligned with the filling port D2. The gas filling device A also opens and closes the valve opening / closing means e for opening / closing the filling port D2 by rotating the opening / closing handle D4 of the container C held by the centering means a in the forward and reverse directions and the opening / closing head 25 of the valve opening / closing means e. A head drive unit i for rotating and driving, a cover elevating means j for elevating and lowering the cover body 20, and the like are provided, and the respective components a to j are mounted on a machine frame k.

Further, each of the above-mentioned constituent elements a to j is electrically connected to a control unit (not shown) so that its operation is controlled in a timely manner, and after holding the container C carried into the filling place B by the centering means a, The on-off valve D is surrounded by the cover body 20, and the rough height alignment and horizontal alignment of the filling nozzle 1 with respect to the filling port D2 are performed, and then the cover body 20 moves up and the gas filler c rocks. The filling nozzle 1 advances to a position near the filling port D2, and then the filling nozzle 1 is finely adjusted in the height direction and then connected to the filling port D2. Thereafter, the valve opening / closing means e opens the filling port D2 to fill the gas. Gas filling is performed by the container c, and after the quantitative filling, the valve opening / closing means e closes the filling port D2 and the gas filling device c is retracted so that the filling nozzle 1 is separated from the filling port D2. Automatically configured to carry out the work of up to release the equity.

The machine frame k is erected on the rear side of the filling field B, and the first elevating drive section f is installed immovably on the upper edge of the machine frame k.
Guide rails 2a and 2b are vertically provided on the surface directly facing the filling field B, and the rotation drive section d is supported so as to be vertically slidable. The rotation drive part d is supported by the first elevating drive part f so as to be movable up and down above the machine frame k. A support substrate 3 is supported on the lower surface side of the rotation drive section d, and a valve detection means b, a gas filler c, a valve opening / closing means e, a second elevating drive section g, an advance / retreat drive section h are supported on the lower surface side of the support substrate 3. , A head drive unit i and a cover elevating means j. A centering means a is arranged below the machine frame k.

The first elevating / lowering drive section f is provided with a plurality of pulleys 4 which rotate in forward and reverse directions by driving a motor (not shown), and the chains 5 wound around the respective pulleys 4 are driven by appropriately driving the motors. By adjusting the amount, the support substrate 3 and the upper clamp 7 described later are moved up and down, and the valve detection means b, the gas filling device c, the valve opening / closing means e, and the upper clamp 7 are placed on the filling field B. The container C supported at a predetermined height position corresponding to the size of the container C, and further, the detection information from the first detecting means b1, that is, the container C held by the clamp means a
Based on the height information of the open / close handle D4, the gas filling device c
The (filling nozzle 1) is configured to be supported at a rough height position with respect to the filling port D2 of the container C.

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 k, and the upper clamp 7 is moved up and down according to the size of the container C by the drive of the first elevating drive unit f. 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 unit d has a rotary shaft 11 which rotates around a reference core B ′ and a motor 12 which rotates the rotary shaft 11 on the lower surface of the casing 10 which moves up and down by the drive of the first lift drive unit f. The support substrate 3 is fixed to the lower end of the rotary shaft 11. Then, the motor 12 is driven in the forward and reverse directions in response to a command from the control unit based on the detection information from the second detection means b2, whereby the rotary shaft 11 and the support substrate 3 are rotated 360 ° about the reference core B '. With the rotation in the normal and reverse directions within the above range, the cover body 20 rotates in the forward and reverse directions concentrically with the reference core B ′, and the filling nozzle 1 (gas filler c) is centered on the reference core B ′. First, the cover body 20 and the cover body 20 are rotated in the forward and reverse directions so that the filling nozzle 1 is horizontally aligned with the filling port D2.

A support shaft 13 is provided at one end of the support substrate 3 in the longitudinal direction.
The support frame 16 is swingably supported by the support frame 16
The gas filler c is disposed at the lower end of the support frame 16, and the gas filler c (filling nozzle 1) is rotated as described above as the support frame 16 is rotated by the drive of the rotary drive unit d, and the support frame 16 is shaken. With the movement, the gas filling device c moves back and forth, and the filling nozzle 1 approaches and separates from the filling port D2. An upper mounting plate 14 is supported below the support substrate 3, and the mounting plate 1
The advancing / retreating drive unit h is installed on the upper part 4. A lower mounting plate 15 is supported below the upper mounting plate 14, and on the mounting plate 15,
A cover elevating means j for elevating the cover body 20 and a head drive unit i for elevating and rotating the valve opening / closing head 25 are installed.

The valve opening / closing means e is a cover-shaped valve opening / closing head 25 which can be engaged with the opening / closing handle D4 from above.
And a head drive unit i for moving the opening / closing head 25 up and down and rotating, and at the position directly above the opening / closing valve D of the container C held by the centering means a, its axis is the reference core B ′.
The opening / closing head 25 is supported so as to be able to move up and down and rotate, and the opening / closing head 25 is lowered by the lifting / lowering drive mechanism 26 of the head drive section i to engage with the opening / closing handle D4. The rotary drive mechanism 27 is driven and rotated in the forward and reverse directions to rotate the open / close handle D4 in the open / close direction. The head drive unit i has a structure generally used in this technical field.
In this example, the lifting drive mechanism 26 is composed of a drive cylinder, and the rotation drive mechanism 27 drives the motor to slide the rack in the horizontal direction, and a pinion that engages with the rack is provided on the spindle of the opening / closing head 25. Adopt a configuration.

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 detecting means b is provided in the cover body 20 surrounding the opening / closing valve D of the container C held by the clamp means a,
It comprises a first detector b1 for detecting the height of the open / close handle D4 of the open / close valve D, and a second detector b2 for detecting the direction of the filling port D2 of the container C. Cover body 20
Is a cylindrical body that can surround the side circumference of the opening / closing valve D and has upper and lower surfaces opened. The rod 24a of the drive cylinder 24 that constitutes the cover elevating means j is fixed to the upper edge of the cylindrical body.
Open / close valve D for container C held by centering means a
It is supported by a drive cylinder 24 so that its axial center coincides with the reference core B ′ at the position directly above, and surrounds the open / close valve D at the lowered position. Further, the cover body 20 is supported by the support substrate 3 via the drive cylinder 24, the lower mounting plate 15, and the upper mounting plate 14, and the rotation driving unit d.
Driven in such a manner as to rotate concentrically with the reference core B ′ in the forward and reverse directions within a range of 360 ° or more.

The first detecting means b1 is provided with an optical sensor 30 for projecting in a direction traversing the opening / closing handle D4 inside the cover body 20, and the cover body 2 is operated by the operation of the first elevating / lowering drive section f.
It is configured to descend together with 0 and to issue a stop command when the light is blocked by the opening / closing handle D4. Further, when the stop command is issued from the first detecting means b1, the operation of the first elevating and lowering drive part f is stopped, and the valve detecting means b and the gas charging device c
(Filling nozzle 1), valve opening / closing means e, upper clamp 7
Is configured to be supported at a predetermined height position corresponding to the size of the container C placed on the filling field B, and in the filling nozzle 1 at a rough height position with respect to the filling port D2 of the container C. . In this example, the rough height alignment of the filling nozzle 1 with respect to the filling port D2 is performed in a state in which the filling nozzle 1 is in the retracted position away from the filling port D2, as shown in FIG. Filling nozzle 1 in the retracted position
When the nozzle 1 is swung forward by the operation of the advancing / retreating drive section h to the vicinity of the filling port D2, the nozzle tip 1a is moved to the filling port D2.
, The nozzle axis P2 is slightly above the filling port center P1, and the engaging rod 19 is the opening / closing handle D4.
And the upper edge portion D2-2 of the filling port.

The second detection means b2 covers the first and second photosensors 21 and 22 projecting on both sides of the open / close valve D and the third photosensor 23 projecting in the direction crossing the open / close valve D. Placed inside each of these sensors 21-23
The operation of the rotation drive unit d is controlled by a command from the control unit based on the detection signal of the above, the cover body 20 and the gas filling device c (filling nozzle 1) integrally rotate in the forward and reverse directions, and the filling port D2 The filling nozzle 1 is configured to be aligned in the horizontal direction.

The respective optical sensors 21, 22, 23,
Numeral 30 designates the light projecting portions 21a and 22 which are installed to face each other.
a, 23a, 30a and the light receiving portions 21b, 22b, 23b,
30b and a known optical sensor.

The filling port D by the second detecting means b2
As the two-direction detection method, a method known in this kind of technical field or various methods of the prior application by the present applicant can be adopted, but in this example, the detection method disclosed in Japanese Patent Application No. 7-342948 is adopted. The detection method will be described in detail later.

The gas filling device c is installed at a 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. The retracted position where the filling nozzle 1 is retracted away from the filling port D2, and the forward position where the gas filling device c is advanced by swinging forward due to the contraction of the advancing / retreating drive part h and the filling nozzle 1 approaches the vicinity of the filling port D2. It is configured to move forward and backward (oscillate back and forth).

Further, on the lower end side of the support frame 16, there are provided front and rear shafts 40 in a direction substantially orthogonal to the rod 17, and the blocks 41 are slid in the axial direction (horizontal direction) by these both shafts 40. Support immovably in the vertical direction, and block 41 and support frame side plate 16 in each shaft 40.
A spring 42 for keeping the balance of the block 41 is mounted between a and a. A mounting shaft 43 is vertically provided on the lower surface of the block 41, and a linear bearing 44 is provided on the outer periphery of the mounting shaft 43.
Further, a spring 45 for urging the bearing 44 upward is arranged, and a fitting 46 that engages with the bearing 44 supports a mounting cylinder 47 so as to be able to move up and down. A cylinder block 48 is integrally fixed to the lower end of the mounting shaft 47 with a screw or the like, the filling nozzle 1 is arranged in the front surface portion of the block 48 so as to be able to move forward and backward, and the engagement rod 19 is installed immovably. . A drive cylinder for moving the filling nozzle 1 forward and backward in the horizontal direction is arranged in the cylinder block 48, and the extension and contraction of the cylinder causes the filling nozzle 1 to move forward and backward to fill the filling port D2.
Will be connected to and disconnected from.

On the left and right sides of the filling nozzle 1, the filling nozzle 1 is closed along with the advance of the filling nozzle 1 due to the extension of the cylinder, and the lower portion of the filling port D2 of the valve body D1 is held, and the filling is performed by the contraction of the cylinder. Clamps 18, 18 are provided that open when the nozzle 1 moves backward. The filling port D2 of the opening / closing valve D
Has a taper surface D2-1 on the inner circumference of its rim, and the clamp 1
8 and 18, the hugging of the valve body D1 by the taper surface D
Filling which occurs when the filling nozzle 1 is horizontally aligned with the filling port D2 by the guide of the nozzle tip by 2-1 and the horizontal sliding of the block 41 (gas filling device c) by the spring 42. Nozzle 1 and filling port D2
It is configured so that the alignment error s between them can be absorbed.

On the outside of the mounting shaft 47, a main body 49 of a drive cylinder constituting the second elevating and lowering drive part g is fixed, and the cylinder rod 50 is arranged so as to abut the lower surface of the block 41. The gas filler c is pushed downward by the extension of the cylinder rod 50 due to the operation of the second elevating / lowering drive part g, and the filling nozzle 1 is lowered.

The tip of the engaging rod 19 is filled with the filling nozzle 1.
Of the filling nozzle 1 that is immovably supported above the filling nozzle 1 by protruding from the tip of the filling nozzle 1 and moved forward to the vicinity of the filling port D2 by the operation of the advancing / retreating drive section h by the operation of the second lifting drive section g. When lowered, it abuts and engages with the upper edge portion D2-2 of the filling port to regulate the lowering of the filling nozzle 1 so that the nozzle axis P2 substantially coincides with the filling port center P1. The tip lower edge portion 19a of the engaging rod 19 is formed in a tapered shape as shown so as not to come into contact with the edge of the filling port D2 when the filling nozzle 1 swings forward by the operation of the advancing / retreating drive part g. To do.

Then, the height of the opening / closing handle D4 of the container C is detected by the optical sensor 30, and the operation of the first elevating / lowering drive section f is controlled based on the detected information to control the filling nozzle 1 and the filling port D2. Rough alignment in the height direction, more specifically, the filling nozzle 1 in the retracted position (position in FIG. 1) separated from the filling port D2 is swung to the vicinity of the filling port D2 by the operation of the advancing / retreating drive section h. When moving forward, the nozzle axis P2 is located slightly above the filling port center P1, and the engaging rod 19 is positioned at a height where it is inserted into the gap between the opening / closing handle D4 and the filling port upper edge D2-2. Excuse me.

Thereafter, the support frame 16 is operated by the operation of the advancing / retreating drive section h.
Is swung forward and the filling nozzle 1 is swung forward to the vicinity of the filling port D2. At this time, the tip 1a of the filling nozzle 1 is in front of the filling port D2, and the nozzle axis P2
Is slightly above the center P1 of the filling port, and the engaging rod 19
Is inserted into the gap between the opening / closing handle D4 and the upper edge D2-2 of the filling port. (See FIG. 7). Then, the filling nozzle 1 is further lowered by the operation of the second elevating / lowering drive part g, and the engaging rod 19 is brought into contact with the upper edge portion D2-2 of the filling port to make the nozzle axis P2.
And the filling port center P1 are made to substantially coincide with each other, and the filling nozzle 1 and the filling port D2 are finely adjusted in the height direction (see FIGS. 3 and 8). Thereafter, the filling nozzle 1 is moved forward by driving the cylinder in the cylinder block 48 to automatically connect to the filling port D2 (see FIG. 9).

As described above, the height of the opening / closing handle D4, which tends to vary from container to container C, is used as the first reference plane, and the filling nozzle 1 and the filling port D2 are roughly aligned in the height direction based on this. The filling nozzle 1 with the upper edge portion D2-2 of the filling port, which causes almost no variation for each container C, as the second reference surface
And fine adjustment of the filling port D2 in the height direction.
It becomes possible to automatically connect the filling nozzle 1 to the filling port D2 with high accuracy. Therefore, the filling nozzle 1 is properly connected to the filling port D2, and the packing 1b at the tip of the nozzle hits the female screw portion D2-3 on the inner circumference of the filling port D2, causing damage or dropping and gas leakage. There is no fear of occurrence of
In addition to improving safety, it is possible to reduce the number of people in gas filling factories and promote unmanned operations.

Further, for the rough alignment of the filling nozzle 1 in the height direction, the existing means for activating the elevating and lowering drive section based on the height information of the opening / closing handle D4 detected by the detecting means using an optical sensor or the like ( It can be carried out by means which is also used in the conventional device). Therefore, only means for finely adjusting the filling nozzle 1 in the height direction is newly required, and this means further lowers the filling nozzle 1 roughly adjusted in position, and is newly provided in this example. It is composed of a second elevating and lowering drive part g, and an elevating and lowering drive part which can be used also by the existing means, and an engagement rod 19 arranged above the nozzle for restricting the lowering of the filling nozzle 1 by the elevating and lowering drive part. All you need to do is add a new configuration.

Hereinafter, the second detection means b2 used in this example
Filling nozzle 1 for filling port D2 based on detection information from
The horizontal alignment method will be described in detail with reference to FIGS. The filling nozzle 1 shown in the drawing is a filling port D2.
Is a virtual position for showing the positional relationship in the horizontal direction, and the actual horizontal alignment is performed at the retracted position shown in FIG.

First, the first example shown in FIGS. 10 to 18 will be described. 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 horizontal deviation (error s) of the nozzle axis P2 with respect to the filling port center P1 is caused by the operation of the clamps 18 and the block 41 (gas filling). A state in which the container c) is absorbed by sliding in the horizontal direction or the like and is within a range (θ described later) in which the connection of the filling nozzle 1 to the filling port D2 can be surely performed or is slightly outside the range θ is detected. The detection OFF is set so as to detect the state outside the range θ. The first and second optical sensors 2
When both the detection signals 1 and 22 are in the detection ON state at the same time, 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 axes of the first and second optical sensors 21 and 22 at substantially right angles 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. . Then, when the filling valve 1 is aligned in the horizontal direction with respect to the filling port D2, even if some error s occurs between the axis P2 of the filling nozzle and the center P1 of the filling port, the error s Is a preset range (reference core B '
Within an angle θ) around the center of the filling nozzle 1, the clamps 18 and 18 are closed as the filling nozzle 1 moves forward to embrace the on-off valve D, and the taper surface D2-1 is used as a guide to fill the filling nozzle 1. And the gas filling device c so that the filling port D2 and the filling port D2 face each other.
Is slightly slid in the horizontal direction to absorb the error s, and the filling nozzle 1 can be reliably connected to the filling port D2.

In the gas filling device c, the filling nozzle 1 is positioned substantially parallel to both optical axes of the first and second optical sensors 21 and 22 and is located between both optical axes, and the third It goes without saying that it is arranged so as to be located on the side where the optical sensor 23 is provided. Further, as described above, the inner periphery of the filling port D2 is formed as the tapered surface D2-1, and the clamps 18, 18 are
Hugging the valve body D1 by the above, guiding the nozzle tip by the tapered surface D2-1, and the block 4 by the spring 42.
Absorption of the alignment error s between the filling nozzle 1 and the filling port D2 that occurs when the filling nozzle 1 is horizontally aligned with the filling port D2 by sliding the 1 (gas filling device c) in the horizontal direction. Configure so that you can.

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.
Is swung forward and the filling nozzle 1 is further advanced, 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. 15, when the deviation of the container axis C ′ from the reference axis B ′ is large and the error s between the filling port center P1 and the nozzle axis P2 is large, it is difficult to absorb the error by the clamp 18 or the like, and the filling port is difficult. The connection accuracy of the filling nozzle 1 with respect to D2 may decrease.

Therefore, in this example, the rotation drive section d is operated by the command of the control section, and the cover body 20 and the filling nozzle 1 are
In the forward rotation direction (clockwise direction in FIGS. 11 to 17), and either the first or second optical sensor 21 or 22 is turned on after the third optical sensor 23 is turned on. Then, when the detection by either the first or the second optical sensor 21 or 22 is turned off thereafter, the rotation is stopped. 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 filling port D2 judged by the valve detecting means b
In contrast, the range θ1 in which the filling nozzle 1 can be connected is converted into the rotation amount of the filling nozzle 1 for measurement, and the measured value (nozzle rotation amount) θ1 is within the error absorbing range θ due to the clamps 18, 18 and the like. It is compared whether it is larger or smaller, and 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. 11 to 17) by the calculated value (nozzle reverse rotation amount) θ2. ), So that 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. 18).

The operation of the gas filling device A of this embodiment by appropriately controlling the operation of each of the above components a to j in response to a command from the controller will be described below. When the container C is placed on the filling field B automatically or manually by a worker by a transfer conveyor or the like, the first elevating drive part f operates to operate the valve detecting means b, the gas filling device c, The valve opening / closing means e and the upper clamp 7 are supported at a predetermined height position corresponding to the size of the container C, and then the centering means a is operated to hold the container C in an upright state and at the same time, the container axis. Align C'with reference core B '. Next, the cover raising / lowering means j is operated to lower the cover body 20 to surround the opening / closing valve D, and the first detecting means b1 detects the height of the opening / closing handle D4. In operation, the height of the filling nozzle 1 is roughly aligned with the filling port D2. Before and after the rough alignment in the height direction, the horizontal alignment of the filling nozzle 1 with respect to the filling port D2 is performed as follows.

First, as shown in FIGS. 12 to 13, 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. In this state, the cover body 20 and the filling nozzle 1 are integrally rotated in the forward direction by the rotation driving unit d, and either the first or second optical sensor 21, 22 is turned on after the third optical sensor 23 is turned on. On the other hand, here, when the detection of the second optical sensor 22 is turned on (the state of FIG. 12), and then the detection of the second optical sensor 22 is turned off (FIG. 1).
(3 state), 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. 12). The range up to the time point (the time point in FIG. 13), that is, the range θ1 in which the filling nozzle 1 can be connected to the filling port D2 judged by the valve detecting means b is converted into the rotation amount of the filling nozzle 1 and measured, and It is compared whether the measured value (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, Since the filling nozzle 1 is securely connected to the filling port D2 at the position where the detection by the second optical sensor 22 is turned on (the position shown in FIG. 12), the rotation driving unit d drives the cover body 20 and the filling nozzle. 1
Is reversed to stop the reverse rotation at the position shown in FIG. 12, and the filling nozzle 1 and the filling port D2 are aligned at the stop position. Even when the displacement of the container axis C'with respect to the reference axis B'is comparatively small, the filling nozzle 1 and the filling port D2 are similarly subjected.
Needless to say, the alignment is done.

Next, as shown in FIGS. 14 to 17, the case where the container axis C ′ is largely deviated from the reference axis B ′ will be described. After the opening / closing valve D is surrounded by the cover body 20, it is rotated. The cover 20 and the filling nozzle 1 are driven by the drive unit d.
Rotate in the forward direction and the third optical sensor 23 is turned on (state of FIG. 14), and then the first or second optical sensor 21,
One of the two 22, the detection of the second optical sensor 22 is turned on here (state of FIG. 15), and then the detection of the second optical sensor 22 is turned off (state of FIG. 16).
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. 15) to the time point when the second optical sensor 22 is turned off (the time point in FIG. 16). Range, that is, the range θ1 in which the filling nozzle 1 can be connected to the filling port D2 determined by the valve 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 larger or smaller than the error absorbable range θ described above. 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 measured value θ1 is 1
/ 2 is calculated, and the rotation of the cover 20 and the filling nozzle 1 is reversed by the calculated value θ2 by the drive of the rotary drive unit d to stop the rotation, and the filling nozzle 1 is stopped at the stop position (position in FIG. 17).
And the filling port D2 are aligned.

As described above, the filling nozzle 1 and the filling port D
2 is aligned in the horizontal direction, the cover body 20 is lifted by the operation of the cover lifting / lowering means j, and then the advancing / retreating drive part h.
The gas filling device c is swung forward by the above operation, and the filling nozzle 1 is positioned near the filling port D2. At this time, the filling nozzle 1
The nozzle tip 1a is in front of the filling port D2, the nozzle axis P2 is slightly above the filling port center P1, and the engaging rod 19 is a gap between the opening / closing handle D4 and the filling port upper edge D2-2. Located at the height to be inserted into the part (see FIG. 7).

From this state, the filling nozzle 1 is further lowered by the operation of the second elevating and lowering drive part g, and the engaging rod 19 is brought into contact with the upper edge portion D2-2 of the filling port to make the nozzle axis P2 and the filling port center P.
1 is made to substantially coincide with each other, and the filling nozzle 1 and the filling port D2 are finely adjusted in the height direction (see FIG. 8). Thereafter, the filling nozzle 1 is moved forward by driving the cylinder in the cylinder block 48 to automatically connect to the filling port D2 (see FIG. 9).

Further, when the filling nozzle 1 is connected to the filling port D2, even if there is some error s in the horizontal alignment between the two, 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 clamps 18 and 18 and the sliding of the gas filling device c in the horizontal direction, and the closing movement and taper of the clamps 18 and 18 as the filling nozzle 1 advances. The error s can be reliably absorbed by sliding the gas filler c using the surface D2-1 as a guide. Moreover, since the alignment of the filling nozzle 1 and the filling port D2 in the height direction is finely adjusted as described above,
The connection of the filling nozzle 210 to the filling port D2 is extremely quick and proper.

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. The cylinder 18 in the cylinder block 48 is moved upward, and the filling nozzle 1 is retracted by driving the cylinders in the cylinder block 48 and the clamps 18,
When the nozzle tip portion 1a is separated from the filling port D2 by the opening of the nozzle 8, the gas refilling device c is retracted by the operation of the backward and forward driving part h, and the container C is released from the centering means a. The unclamped container C is automatically carried out by a carrying conveyor or the like, or is manually carried out by an operator and carried to the next step.

As described above, the gas filling device A of this example
Finely adjusts the filling nozzle 1 and the filling port D2 in the height direction with reference to the upper edge D2-2 of the filling port, which causes almost no variation in each container C. Therefore, the filling nozzle 1 is automatically and accurately connected to the filling port D2. It becomes possible to do. Further, in this example, in the horizontal alignment of the filling nozzle 1 with respect to the filling port D2, the range θ1 in which the filling nozzle 1 can be connected to the filling port D2 is detected by the second detecting means b composed of a plurality of optical sensors 21-23. After that, it is compared whether or not the range .theta.1 is larger than the error absorbable range .theta. Due to the operation of the clamps 18, 18, the gas filler c sliding in the horizontal direction, and the like. 2 is calculated, and the calculated value θ
A means for reversing the filling nozzle 1 by 2 to surely position the filling nozzle 1 within the error absorbable range θ is adopted. Therefore, even if the container axis C'is displaced 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, and the error s between the filling nozzle 1 and the filling port D2 at the time of the alignment is made smaller than before, and the error s is actuated by the clamp 18 and the gas filling device c is slid. It can be reliably absorbed by movement or the like, and the horizontal alignment accuracy of the filling nozzle 1 with respect to the filling port D2 can be improved. Therefore, both the positioning accuracy in the height direction and the positioning accuracy in the horizontal direction are improved, and the filling nozzle can be connected to the filling port with extremely high accuracy quickly and properly, and the number of people in the gas filling work can be reduced. It is extremely useful in promoting unmanned operation.

Further, in this example, the first detection means b1 for detecting the height of the opening / closing handle D4 of the container C placed on the filling field B and the second detection for detecting the direction of the filling port D2 of the container C are provided. The means b2 is provided in the cover body 20 surrounding the opening / closing valve D of the container C, and the height of the opening / closing handle D4 and the direction of the filling port D2 are detected by raising and lowering the cover body 20. Therefore, the first detecting means b1
And the second detecting means b2 have the advantages that the structure can be simplified and the gas filling device A can be provided at a low cost as compared with the case where the driving means independently moves up and down or rotates. .

19 to 21 show a second example of the horizontal alignment method of the filling nozzle 1 with respect to the filling port D2 based on the detection information from the second detecting means b2 employed in this example. In this example, the filling nozzle 1 in the horizontal alignment method described above is disposed at a position that is pre-shifted by the nozzle reversal amount θ2, and the control unit controls the cover body 2
By the normal rotation of 0, either the first or second optical sensor 21, 22 is turned on after the third optical sensor 23 is turned on, and then the first or second optical sensor 21, It is characterized in that the filling nozzle 1 is rotated in the normal direction until the detection by either one of the two 22 is turned off to align the filling nozzle 1 and the filling port D2.
The components other than the location where the filling nozzle 1 is disposed and the control method for aligning the filling nozzle 1 and the filling port D2 and their operations are the same as those described above, and are omitted here because they are redundant. To do.

The location of the filling nozzle 1 in this example will be described in detail with reference to FIGS. 19 to 21.
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 second detecting means b2 moves the cover body 20 in the normal direction (clockwise direction in the drawing) by the normal rotation of the cover body 20 within the range in which the filling nozzle having the assumed position P2 'as an axis can be connected to the filling port D2. First after the optical sensor 23 is turned on
Alternatively, one of the second optical sensors 21 and 22, which is the second optical sensor 22 in this case, is detected as 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, the value of 1/2 of the maximum value of the range θ1 is set to the nozzle reversal amount θ2, and the nozzle reversal direction in the above example (counterclockwise in the figure) is set by the set value θ2 with respect to the assumed position P2. The normal axis P2 is set at a position deviated in the rotational direction), and the filling nozzle 1 is arranged at that position.

According to the above construction, the cover 20 and the filling nozzle 1 are integrally rotated in the forward direction by the drive of the rotary drive unit d, and the third optical sensor 23 is turned on after detection (state of FIG. 19). Either the first or the second optical sensor 21 or 22, here, the second optical sensor 22 is turned on (state of FIG. 20), and then the detection of the second optical sensor 22 is turned off.
If the rotation is stopped when it becomes (state of FIG. 21), the filling nozzle 1 and the filling port D2 are aligned at the stop position (position of FIG. 21). At this time, the filling nozzle 1
There is some error s in the alignment between the filling port D2 and the filling port D2.
Since it is arranged at a position that is offset in advance for 2 minutes, the error s can be absorbed by the operation of the clamp 18 and the sliding of the gas filling device c without the filling nozzle 1 being reversed as in the above example. Is sufficiently small, the above-mentioned error s is surely absorbed by the closing movement of the clamps 18, 18 accompanying the advance of the filling nozzle 1 and the sliding of the gas filling device c using the tapered surface D2-1 as a guide, and the filling port D2 The connection of the filling nozzle 210 with respect to is made quickly and properly.

According to this example, since the filling nozzle 1 is arranged at a position which is preliminarily offset by the nozzle reversal amount θ2,
The same effect as the above example can be obtained without reversing the filling nozzle 1, and the circuit configuration of the control unit and the structure of the rotary drive mechanism can be simplified, so that the cost of manufacturing the device can be expected to be reduced.

The gas filling apparatus for automatically filling a predetermined amount of gas into the conveyor C or the container C carried in by an operator has been described above, but the present invention is not limited to this, for example, JP-A-6-201095. As disclosed in
It can also be used as a gas filling device that is installed in a container mounting portion arranged at predetermined intervals on the circumference of the upper surface of a turntable and automatically fills a predetermined amount of gas into the containers that are sequentially loaded into the container mounting portion.

Further, the configuration for performing gas filling 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. It goes without saying that 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 fixed as disclosed in 7-99238 can be applied.

[0061]

As described above, the present invention roughly aligns the filling nozzle with respect to the filling port in the height direction based on the height of the opening / closing handle that tends to vary from gas container to gas container. Since the fine adjustment in the height direction of the filling nozzle with respect to the filling port is performed based on the upper edge portion of the filling port where there is almost no variation, the filling nozzle can be automatically connected to the filling port with high accuracy. Therefore, the filling nozzle can be properly connected to the filling port to quickly fill the LP gas and the like, and there is no fear that the packing at the tip of the nozzle will be damaged or fall off due to the occurrence of the positioning error of the filling nozzle. In addition, it is possible to greatly improve the operating rate of the equipment, work efficiency of gas filling, and safety. Further, the above-mentioned rough alignment can be carried out also by the existing detecting means and elevating means which are also used in the conventional apparatus, and the filling nozzles which have been roughly aligned are further lowered. It is possible to add a very simple configuration of a vertically movable drive unit and an engaging rod arranged above the nozzle for restricting the lowering of the filling nozzle by the vertically drive unit. Therefore, a gas filling device capable of automatically connecting the filling nozzle to the filling port accurately and quickly can be provided at a low cost by adding a simple configuration, and the number of man-hours and unmanned in the filling work of LP gas etc. can be reduced. It has many effects such as being extremely useful for promoting

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a gas filling device according to the present invention.

FIG. 2 is an enlarged view of a gas filling device.

FIG. 3 is an enlarged view of the gas filler, showing a lowered state of the filling nozzle.

FIG. 4 is a left side view of FIG.

FIG. 5 is an enlarged vertical cross-sectional view of valve detection means.

FIG. 6 is a transverse sectional view of FIG. 5;

FIG. 7 is an enlarged front view showing a rough position of a filling nozzle in a height direction.

FIG. 8 is an enlarged front view showing the height direction fine adjustment position of the filling nozzle.

FIG. 9 is an enlarged front view showing a state in which a filling nozzle is connected to the filling port.

FIG. 10 is an enlarged front view for explaining horizontal alignment of the filling nozzle.

11 is a cross-sectional plan view of FIG.

FIG. 12 is an enlarged plan view illustrating a horizontal alignment operation of the filling nozzle.

FIG. 13 is an enlarged plan view illustrating a horizontal alignment operation of the filling nozzle.

FIG. 14 is an enlarged plan view illustrating a horizontal alignment operation of the filling nozzle.

FIG. 15 is an enlarged plan view illustrating a horizontal alignment operation of the filling nozzle.

FIG. 16 is an enlarged plan view illustrating a horizontal alignment operation of the filling nozzle.

FIG. 17 is an enlarged front view illustrating a horizontal alignment operation of the filling nozzle.

FIG. 18 is a flowchart showing a procedure for aligning the filling nozzle in the horizontal direction.

FIG. 19 is an enlarged front view illustrating a horizontal alignment operation of the filling nozzle.

FIG. 20 is an enlarged front view illustrating the horizontal alignment operation of the filling nozzle.

FIG. 21 is an enlarged front view illustrating the horizontal alignment operation of the filling nozzle.

FIG. 22 is an enlarged front view illustrating the positioning of the filling nozzle in the height direction in the conventional device.

[Explanation of symbols]

A: Gas filling device a: Centering means
b: valve detecting means b1: first detecting means b2: second detecting means
c: Gas filling device d: Rotation drive part e: Valve opening / closing means
f: first lift drive unit g: second lift drive unit h: forward / backward drive unit
i: head drive part j: cover lifting means 1: filling nozzle 1
9: Engaging rod B: Filling field C: Gas container
C ': Container shaft core D: Open / close valve D2: Filling port D
2-2: Upper edge of filling port D4: Open / close handle P1: Center of filling port P
2: Nozzle axis L: Dimension from filling port center to outer peripheral edge

Claims (2)

[Claims] 1. A first detecting means for detecting a height of an opening / closing handle of a gas container placed on a filling field, a second detecting means for detecting a direction of a filling port of the gas container, and a filling port for the filling port. With a filling nozzle for connecting and filling a predetermined amount of gas,
Positioning in the height direction of the filling nozzle and the filling port is performed by the operation of the lifting drive unit based on the detection information from the first detecting means,
In a gas filling device that aligns a filling nozzle and a filling port in the horizontal direction by the operation of a rotation driving unit based on the detection information from the second detecting means, the nozzle shaft core is located above the filling nozzle and the filling port center. When it almost coincides with the filling port, an engaging rod that contacts the upper edge of the filling port and restricts the lowering of the filling nozzle is arranged, and the nozzle axis is positioned above the filling port center based on the detection information from the first detecting means. A gas filling device, characterized in that a stiffening filling nozzle is lowered near a filling port, and the engaging rod is brought into contact with an upper edge portion of the filling port to align the filling nozzle with the filling port in a height direction. 2. A centering means for holding the gas container placed in the filling field upright, a first detecting means for detecting the height of an opening / closing handle of the gas container, and a direction of a filling port of the gas container. Second detecting means for detecting, a filling nozzle connected to the filling opening for filling a predetermined amount of gas, and a horizontal alignment with respect to the filling opening by rotating the filling nozzle based on the detection information from the second detecting means. By a rotation drive unit that performs the above, a first elevating drive unit that raises and lowers the filling nozzle based on the detection information from the first detection unit, and roughly aligns the filling nozzle in the height direction with respect to the filling port; The advancing / retreating drive part that swings the filling nozzle that is roughly aligned with the height to the vicinity of the filling port, and the upper edge of the filling port when the axis of the filling nozzle is almost aligned with the center of the filling port. Abutting and filling nozzle And the engaging rod that regulates the lowering of the filling rod, and the first elevating and lowering drive unit roughly aligns the advancing / retreating drive unit to advance the filling nozzle to the vicinity of the filling port to further lower the engaging rod to the upper edge of the filling port. A gas filling device, comprising: a second elevating / lowering drive unit which is brought into contact with the filling nozzle to perform fine adjustment in the height direction of the filling nozzle.