Refrigerant recovery equipment and refrigerant recovery system

Abstract

To provide refrigerant recovery equipment and refrigerant recovery systems that can efficiently recover refrigerants. [Solution] The refrigerant recovery equipment comprises a transport member that moves refrigerant-using equipment along a transport path, a positioning member that positions the refrigerant-using equipment at a predetermined position along the transport path, a coupler attached to the valve member of the refrigerant-using equipment to allow the refrigerant from the equipment to flow out through a recovery pipe, a work member that performs a first operation of attaching the coupler to the valve member and opening the valve of the valve member, a position detection member that detects the position and orientation of the valve member, and a control unit. The control unit controls the work member to perform the first operation on the refrigerant-using equipment positioned at the predetermined position based on the detection result of the position detection member.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a refrigerant recovery facility and a refrigerant recovery system. BACKGROUND ART

[0002] Patent Document 1 discloses a refrigerant recovery device and a refrigerant recovery system that recover refrigerant from refrigerant-using equipment that uses refrigerant. PRIOR ART DOCUMENT PATENT DOCUMENT

[0003] [Patent Document 1] Japanese Patent No. 3015820 SUMMARY OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0004] In the refrigerant recovery device disclosed in Patent Document 1, it is necessary to manually perform the work of connecting the refrigerant-using equipment and the refrigerant recovery device with a hose and the opening / closing work of a valve for flowing refrigerant, so it can be said that there is room for improvement from the viewpoint of efficiently recovering refrigerant.

[0005] The present disclosure provides a refrigerant recovery facility and a refrigerant recovery system that can efficiently execute refrigerant recovery. MEANS FOR SOLVING THE PROBLEM

[0006] A refrigerant recovery system according to one aspect of the present disclosure is a refrigerant recovery system that recovers refrigerant contained in a refrigerant-using device via a valve member provided in the refrigerant-using device, comprising: a transport member for moving the refrigerant-using device along a transport path; a positioning member for positioning the refrigerant-using device at a predetermined position along the transport path; a coupler attached to the valve member of the refrigerant-using device for allowing the refrigerant from the refrigerant-using device to flow out through a recovery pipe; a work member for attaching the coupler to the valve member and performing a first operation to open the valve of the valve member; a position detection member for detecting the position and orientation of the valve member; and a control unit, wherein the control unit controls the work member to perform the first operation on the refrigerant-using device positioned at the predetermined position based on the detection result of the position detection member.

[0007] A refrigerant recovery system according to one aspect of the present disclosure is a refrigerant recovery system for recovering refrigerant contained in a refrigerant-using device via a valve member provided in the refrigerant-using device, comprising: a transport member for moving the refrigerant-using device along a transport path; a positioning member for positioning the refrigerant-using device at a predetermined position along the transport path; a coupler attached to the valve member of the refrigerant-using device for allowing the refrigerant from the refrigerant-using device to flow out through a recovery pipe; a work member for attaching the coupler to the valve member and performing a first operation to open the valve of the valve member; a position detection member for detecting the position and orientation of the valve member; and a control unit, wherein the control unit controls the work member to perform the first operation on the refrigerant-using device positioned at the predetermined position based on the detection result of the position detection member. [Effects of the Invention]

[0008] According to this disclosure, refrigerant recovery can be carried out efficiently. [Brief explanation of the drawing]

[0009] [Figure 1] Plan view of the refrigerant recovery equipment according to the embodiment. [Figure 2] Side view of refrigerant-using equipment positioned at the work location. [Figure 3] Side view of a refrigerant-using device positioned at a working position [Figure 4] Side view showing the peripheral configuration at the first working position [Figure 5] Side view showing the peripheral configuration at the second working position [Figure 6] Front view of the first valve member (two-way valve) [Figure 7] Front view of the second valve member (three-way valve) [Figure 8] Side view of the first coupler before being attached to the first valve member [Figure 9] Side view of the first coupler after being attached to the first valve member [Figure 10] Side view of the second coupler before being attached to the second valve member [Figure 11] Side view of the second coupler after being attached to the second valve member [Figure 12] Block diagram of a coupler unit and the peripheral configuration thereof [Figure 13] Front view of a coupler unit [Figure 14] Top plan view of a coupler chuck tool [Figure 15] Side view of a coupler chuck tool [Figure 16] Diagram showing a method for attaching a coupler to a valve member [Figure 17] Diagram showing a method for attaching a coupler to a valve member [Figure 18] Diagram showing a method for attaching a coupler to a valve member [Figure 19] Diagram showing a method for attaching a coupler to a valve member [Figure 20] Diagram showing a method for attaching the first coupler to the first valve member [Figure 21] Diagram showing a method for attaching the first coupler to the first valve member [Figure 22] Diagram showing a method for attaching the second coupler to the second valve member [Figure 23] Diagram showing a method for attaching the second coupler to the second valve member [Figure 24] Side view of a valve opening / closing tool [Figure 25] Plan view of valve opening / closing tool [Figure 26] Perspective view of valve opening / closing tool [Figure 27] Perspective view of valve opening / closing tool [Figure 28] Diagram illustrating a method for opening a valve of a valve member [Figure 29] Diagram illustrating a method for opening a valve of a valve member [Figure 30] Diagram illustrating a method for opening a valve of a valve member [Figure 31] Diagram illustrating a method for opening a valve of a valve member [Figure 32] Diagram illustrating a method for closing a valve of a valve member [Figure 33] Diagram illustrating a method for closing a valve of a valve member [Figure 34] Diagram illustrating a method for closing a valve of a valve member [Figure 35] Diagram illustrating a method for closing a valve of a valve member [Figure 36] Flowchart showing an example of refrigerant recovery processing by a refrigerant recovery facility [Figure 37] Flowchart showing an example of refrigerant recovery processing by a refrigerant recovery facility [Figure 38A] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 38B] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 38C] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 38D] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 38E] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 38F] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 38G] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 38H] Plan view for explaining each process of the flowcharts shown in FIG. 36 and FIG. 37 [Figure 39] Block diagram of the refrigerant recovery equipment in the embodiment [Figure 40A] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40B] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40C] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40D] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40E] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40F] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40G] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40H] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40I] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40J] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40K] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40L] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40M] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Figure 40N] Plan view illustrating a method for processing multiple refrigerant-using devices in succession. [Modes for carrying out the invention]

[0010] According to a first aspect of the present disclosure, a refrigerant recovery system for recovering refrigerant from a refrigerant-using device via a valve member provided on the refrigerant-using device is provided, comprising: a transport member for moving the refrigerant-using device along a transport path; a positioning member for positioning the refrigerant-using device at a predetermined position along the transport path; a coupler attached to the valve member of the refrigerant-using device for allowing the refrigerant from the refrigerant-using device to flow out through a recovery pipe; a work member for attaching the coupler to the valve member and performing a first operation to open the valve of the valve member; a position detection member for detecting the position and orientation of the valve member; and a control unit, wherein the control unit controls the work member to perform the first operation on the refrigerant-using device positioned at the predetermined position based on the detection result of the position detection member.

[0011] According to a second aspect of the present disclosure, the refrigerant recovery equipment according to the first aspect is provided, wherein the control unit controls the working member to perform a second operation of removing the coupler from the valve member of the refrigerant-using equipment to which the coupler is attached and the valve is opened.

[0012] According to a third aspect of the present disclosure, the positioning member comprises a first positioning member for positioning the refrigerant-using equipment at a first working position, and a second positioning member for positioning the refrigerant-using equipment at a second working position downstream of the first working position, and the working member performs the first operation on the refrigerant-using equipment positioned at the first working position and the second operation on the refrigerant-using equipment positioned at the second working position, providing a refrigerant recovery apparatus according to the second aspect.

[0013] According to a fourth aspect of this disclosure, the refrigerant recovery equipment according to the third aspect is provided, comprising a first work member for performing the first operation on the refrigerant-using equipment positioned at the first work position, and a second work member for performing the second operation on the refrigerant-using equipment positioned at the second work position.

[0014] According to a fifth aspect of this disclosure, the control unit provides a refrigerant recovery system according to the third or fourth aspect, which performs the first operation on another refrigerant-using device positioned at the first work position while the refrigerant-using device is being transported from the first work position to the second work position.

[0015] According to a sixth aspect of this disclosure, a refrigerant recovery system according to any one of the first to fifth aspects is provided, further comprising a refrigerant detector for detecting a refrigerant.

[0016] According to a seventh aspect of this disclosure, the control unit provides a refrigerant recovery apparatus according to the sixth aspect, which performs an error determination based on the detection result of the refrigerant detector when the valve is opened by the first operation.

[0017] According to the eighth aspect of this disclosure, a refrigerant recovery system according to any one of the first to seventh aspects is provided, further comprising leak checking means for checking leaks in the flow path including the recovery piping.

[0018] According to a ninth aspect of the present disclosure, a refrigerant recovery apparatus according to any one of the first to eighth aspects is provided, further comprising a coupler chuck tool for gripping the coupler, wherein the working member operates the coupler chuck tool in the first operation to attach the coupler to the valve member.

[0019] According to a tenth aspect of the present disclosure, a refrigerant recovery apparatus according to any one of the first to ninth aspects is provided, further comprising a valve opening / closing tool capable of opening and closing the valve of the valve member, wherein the working member operates the valve opening / closing tool in the first operation to open the valve.

[0020] According to an eleventh aspect of the present disclosure, a refrigerant recovery apparatus according to any one of the first to eighth aspects is provided, further comprising a coupler chuck tool for gripping the coupler and a valve opening / closing tool capable of opening and closing the valve of the valve member, wherein the working member has a tool attachment / detachment portion capable of attaching and detaching the coupler chuck tool and the valve opening / closing tool, respectively.

[0021] According to a twelfth aspect of this disclosure, the refrigerant recovery equipment is provided according to any one of the first to eleventh aspects, wherein the position detection member comprises a 3D camera, and the control unit attaches the coupler to the valve member in the first operation based on the image captured by the 3D camera.

[0022] According to a thirteenth aspect of this disclosure, the refrigerant recovery equipment according to any one of the first to twelfth aspects is provided, wherein the position detection member comprises a 2D camera, and the control unit opens the valve of the valve member in the first operation based on the image captured by the 2D camera.

[0023] According to a fourteenth aspect of this disclosure, the refrigerant recovery equipment is provided as described in any one of the first to thirteenth aspects, wherein the refrigerant-using equipment is an air conditioner outdoor unit, the valve member has a two-way valve and a three-way valve, and the coupler has a first coupler attached to the two-way valve and a second coupler attached to the three-way valve.

[0024] According to a 15th aspect of this disclosure, the transport member provides a refrigerant recovery system according to the 14th aspect, which moves the air conditioner outdoor unit in an upside-down position.

[0025] According to a sixteenth aspect of this disclosure, the refrigerant recovery equipment according to any one of the first to fifteenth aspects is provided, wherein the working member is an articulated robot.

[0026] According to a 17th aspect of the present disclosure, a refrigerant recovery system for recovering refrigerant from a refrigerant-using device via a valve member provided on the refrigerant-using device is provided, comprising: a transport member for moving the refrigerant-using device along a transport path; a positioning member for positioning the refrigerant-using device at a predetermined position along the transport path; a coupler attached to the valve member of the refrigerant-using device for allowing the refrigerant from the refrigerant-using device to flow out through a recovery pipe; a work member for attaching the coupler to the valve member and performing a first operation to open the valve of the valve member; a position detection member for detecting the position and orientation of the valve member; and a control unit, wherein the control unit controls the work member to perform the first operation on the refrigerant-using device positioned at the predetermined position based on the detection result of the position detection member.

[0027] (Embodiment) Hereinafter, exemplary embodiments of refrigerant recovery equipment and refrigerant recovery systems relating to this disclosure will be described with reference to the attached drawings. This disclosure is not limited to the specific configurations of the embodiments described below, but includes configurations based on similar technical ideas.

[0028] First, with reference to Figure 1, a refrigerant recovery facility and a refrigerant recovery system according to one embodiment of this disclosure will be described.

[0029] Figure 1 is a schematic plan view showing the refrigerant recovery equipment 2 according to the embodiment.

[0030] The refrigerant recovery equipment 2 shown in Figure 1 is equipment for recovering refrigerant from refrigerant-using equipment 3. The refrigerant recovery equipment 2 in this embodiment has the function of automatically recovering refrigerant from refrigerant-using equipment 3. The refrigerant recovery equipment 2 is also referred to as a "refrigerant recovery system".

[0031] In this embodiment, the refrigerant-using equipment 3 is an air conditioner outdoor unit. The air conditioner outdoor unit contains a refrigerant such as Freon.

[0032] As shown in Figure 1, the refrigerant recovery equipment 2 comprises a plurality of transport members 4, 6, a plurality of connecting lanes 8, 10, 12, a reading device 14, a plurality of positioning members 16, 18, a plurality of work members 20, 22, a plurality of stands 24, 26, a 3D camera 28, a control unit 30, and a refrigerant recovery device 60.

[0033] The transport members 4 and 6 are components that transport the refrigerant-using equipment 3. The transport members 4 and 6 each constitute a transport path for the refrigerant-using equipment 3. In this embodiment, the transport members 4 and 6 each transport the refrigerant-using equipment 3 in the horizontal direction, which is the +X direction.

[0034] The first transport member 4 handles the loading and unloading of refrigerant-using equipment 3 and also constitutes a manual processing lane 5 for worker S to manually process the refrigerant-using equipment 3. The second transport member 6 constitutes an automatic processing lane for automatically processing the refrigerant from the refrigerant-using equipment 3.

[0035] The refrigerant-using equipment 3 is brought in from the upstream side of the first transport member 4, and the information of the refrigerant-using equipment 3 is read by the reading device 14. Based on this information, the control unit 30 decides whether to send the refrigerant-using equipment 3 to the manual processing lane 5 of the first transport member 4 or to the automatic processing lane of the second transport member 6. Figure 1 illustrates a state in which one refrigerant-using equipment 3 has been sent to the automatic processing lane of the second transport member 6.

[0036] The first transport member 4 and the second transport member 6 are arranged with a gap between them in the Y direction, which is perpendicular to the X direction, and are connected to each other by multiple connecting lanes 8, 10, and 12.

[0037] Connecting lanes 8, 10, and 12 are conveying members that connect the first conveying member 4 and the second conveying member 6, respectively. Connecting lanes 8, 10, and 12 are arranged in order from the upstream side in the conveying direction.

[0038] The first connection lane 8 transports the refrigerant-using equipment 3, which has been loaded into the first transport member 4, toward the second transport member 6 in the -Y direction. The second connection lane 10 and the third connection lane 12 each transport the refrigerant-using equipment 3 from the second transport member 6 toward the first transport member 4 in the +Y direction.

[0039] The reading device 14 is a device that reads information about the refrigerant-using equipment 3 that has been transported into the first transport member 4. The reading device 14 is positioned upstream of the first transport member 4. The reading device 14 may be any device that has the function of reading information about the refrigerant-using equipment 3, such as an OCR function or a QR code (registered trademark) reading function.

[0040] The control unit 30 is a component that controls the operation of the refrigerant recovery equipment 2. The control unit 30 is electrically connected to each component of the refrigerant recovery equipment 2 and controls each component. The control unit 30 can be composed of, for example, a microcontroller, CPU, MPU, GPU, DSP, FPGA, or ASIC. The functions of the control unit 30 may be composed of hardware alone, or they may be realized by a combination of hardware and software. The control unit 30 realizes predetermined functions by reading data and programs stored in a storage unit such as memory and performing various calculation processes.

[0041] Based on the information read by the reader 14, the control unit 30 determines whether the refrigerant-using equipment 3 is a model subject to automatic refrigerant recovery and allocates it to either the manual processing lane 5 or the automatic processing lane.

[0042] If the refrigerant-using equipment 3 is not a model subject to automatic refrigerant recovery, the control unit 30 distributes the refrigerant-using equipment 3 to the manual processing lane 5 of the first transport member 4 (illustrated by a dotted arrow).

[0043] If the refrigerant-using equipment 3 is a model subject to automatic refrigerant recovery, the control unit 30 distributes the refrigerant-using equipment 3 to the automatic processing lane of the second transport member 6. Specifically, it operates the first connection lane 8 to transport the refrigerant-using equipment 3 to the second transport member 6 (illustrated by solid arrows).

[0044] The second transport member 6, which constitutes the automated processing lane, intermittently transports the refrigerant-using equipment 3. The second transport member 6 stops the refrigerant-using equipment 3 at each of the multiple stopping positions A1 to A9. A stopping member 7 for stopping the refrigerant-using equipment 3 is provided at each of the stopping positions A1 to A9.

[0045] Around the second transport member 6, components such as positioning members 16 and 18, work members 20 and 22, and a 3D camera 28 are arranged as components for automatically recovering the refrigerant.

[0046] The positioning members 16 and 18 are each for positioning the refrigerant-using equipment 3 at the working position. The first positioning member 16 positions the refrigerant-using equipment 3 at the first working position, which is the stop position A2, and the second positioning member 18 positions the refrigerant-using equipment 3 at the second working position, which is the stop position A8.

[0047] The positioning members 16 and 18 of this embodiment are movable in the horizontal and vertical directions and contact the refrigerant-using equipment 3 from four directions to position the refrigerant-using equipment 3 in the XY direction. Each of the positioning members 16 and 18 has a pair of members spaced apart in the X direction and a pair of members spaced apart in the Y direction, for a total of four members, but for convenience, only two of the four members are shown as examples in Figure 1. Any members may be used for the positioning members 16 and 18 as long as they can position the refrigerant-using equipment 3.

[0048] At the stopping position A2 of the first work position, the first operation is performed on the refrigerant-using equipment 3 positioned by the first positioning member 16, which includes the operation of attaching a refrigerant recovery coupler and opening a valve.

[0049] At the stopping position A8 of the second work position, the second operation is performed on the refrigerant-using equipment 3 positioned by the second positioning member 18, including the operation of removing the coupler attached in the first operation and the operation of closing the valve. If it is not necessary to close the valve, the operation of closing the valve may be omitted in the second operation.

[0050] Figures 2 and 3 are schematic side views showing the refrigerant-using equipment 3 positioned at the work location by positioning members 16 and 18, respectively.

[0051] As shown in Figure 2, the refrigerant-using equipment 3 is positioned by being sandwiched between positioning members 16 and 18 at stopping positions A2 and A8, respectively (arrow B2).

[0052] The refrigerant-using device 3, which serves as an air conditioner outdoor unit, has a top surface 32, a bottom surface 34, a front surface 35, a rear surface 36, and side surfaces 37. In this embodiment, the refrigerant-using device 3 is transported by transport members 4 and 6 in an inverted state, with the top surface 32 facing downwards and the bottom surface 34 facing upwards. This makes it easier to recover oil along with the refrigerant. Note that the front surface 35 and the rear surface 36 may be in opposite positions.

[0053] An equipment information section 38 is provided on the front surface 35 of the refrigerant-using equipment 3. The equipment information section 38 is a section that contains information about the refrigerant-using equipment 3. The equipment information section 38 contains information about the specifications of the refrigerant-using equipment 3, such as the manufacturer and model name. The information written in the equipment information section 38 is read by the reading device 14 shown in Figure 1. The equipment information section 38 is not limited to being provided on the front surface 35; it may be provided in other locations as well.

[0054] Two valve members 40 and 42 are provided on the side 37 of the refrigerant-using equipment 3. The valve members 40 and 42 are components for connecting the refrigerant piping inside the refrigerant-using equipment 3 to the refrigerant recovery device 60. Each of the valve members 40 and 42 is equipped with a valve, and by operating the opening and closing of the valves, it is possible to switch between a state in which refrigerant can flow out of the refrigerant piping and a state in which the flow is restricted. When the refrigerant-using equipment 3 is brought into the refrigerant recovery facility 2, the valves of valve members 40 and 42 are normally closed.

[0055] In this embodiment, the first valve member 40 is a two-way valve, and the second valve member 42 is a three-way valve.

[0056] As shown in Figure 3, couplers 46 and 48 for refrigerant recovery are attached to valve members 40 and 42, respectively.

[0057] The first coupler 46 is a connecting member attached to the first valve member 40, and the second coupler 48 is a connecting member attached to the second valve member 42. The first coupler 46 has the function of directing the refrigerant flowing out from the first valve member 40 to the recovery piping 62, and the second coupler 48 has the function of directing the refrigerant flowing out from the second valve member 42 to the recovery piping 66.

[0058] The recovery pipes 62 and 66 are each connected to the refrigerant recovery device 60 shown in Figure 1, and have the function of supplying refrigerant to the refrigerant recovery device 60. The method for attaching and detaching the couplers 46 and 48 to the valve members 40 and 42 will be described later.

[0059] Figure 4 is a schematic side view showing the surrounding configuration of the first working position, stopping position A2. Figure 5 is a schematic side view showing the surrounding configuration of the second working position, stopping position A8.

[0060] As shown in Figure 4, the first work member 20, the first stand 24, and the 3D camera 28 are positioned adjacent to the stopping position A2.

[0061] The first working member 20 is a working member for performing the first operation, which involves installing couplers 46 and 48 and opening valve members 40 and 42. In this embodiment, the first working member 20 is an articulated robot.

[0062] The first working member 20 operates the coupler chuck tool 56 and the valve opening / closing tool 58, respectively, which are placed on the first stand 24. The first working member 20 has a tool attachment / detachment section 59 at its tip, and the tool changers for the coupler chuck tool 56 and the valve opening / closing tool 58 can be attached and detached from it.

[0063] The 3D camera 28 is an imaging device that captures three-dimensional images of the valve members 40 and 42 of the refrigerant-using equipment 3. Based on the images captured by the 3D camera 28, the position and orientation of the valve members 40 and 42 are determined. The 3D camera 28 is an example of a position detection member that detects the position and orientation of the valve members 40 and 42. By utilizing the images captured by the 3D camera 28, it is possible to accommodate the positional and orientation variations of each refrigerant-using equipment 3. Furthermore, since the position and orientation of the valve members 40 and 42 differ depending on the model of the refrigerant-using equipment 3, the 3D camera 28 can be used to accommodate the valve members 40 and 42 of various models of refrigerant-using equipment 3.

[0064] As shown in Figure 5, the second work member 22 and the second support base 26 are positioned adjacent to the stopping position A8.

[0065] The second working member 22 is a working member for performing the second operation, which involves removing the couplers 46 and 48 and closing the valve members 40 and 42. In this embodiment, the second working member 22 is a multi-joint robot, similar to the first working member 20.

[0066] The second working member 22 operates the coupler chuck tool 156 and the valve opening / closing tool 158, respectively, which are placed on the second base 26. The second working member 22 has a tool attachment / detachment section 159 at its tip, and the tool changers for the coupler chuck tool 156 and the valve opening / closing tool 158 can be attached and detached from it.

[0067] The coupler chuck tool 156 has the same structure as the coupler chuck tool 56 shown in Figure 4, and the valve opening / closing tool 158 has the same structure as the valve opening / closing tool 58 shown in Figure 4.

[0068] A 3D camera is not provided at the second work position, which is the stopping position A8. In this embodiment, when the control unit 30 causes the second work member 22 to perform the second work, it uses the information obtained from the image captured by the 3D camera 28 shown in Figure 4. A 3D camera may be provided at the second work position.

[0069] As shown in Figures 4 and 5, a plurality of coupler units 45 are arranged above the second transport member 6. Each of the coupler units 45 has the aforementioned couplers 46 and 48 and a coupler support portion 50.

[0070] The coupler support section 50 is a member that supports the couplers 46 and 48. The coupler support section 50 is supported by the rail 52 so that it can move in the X direction. In this embodiment, a total of four coupler units 45 are provided.

[0071] Figure 4 illustrates the state before the couplers 46 and 48 are attached to the valve members 40 and 42. Figure 5 illustrates the state after the couplers 46 and 48 have been removed from the valve members 40 and 42.

[0072] Figure 6 is a front view of the first valve member 40, and Figure 7 is a front view of the second valve member 42.

[0073] As shown in Figure 6, the first valve member 40, which is a two-way valve, has a piping section 72 and a valve 74.

[0074] The piping section 72 is a piping section that allows the refrigerant from the refrigerant-using equipment 3 to flow out to the outside. A connection opening 75 is provided at the end of the piping section 72. The valve 74 is a part for switching the communication state between the piping section 72 and the internal piping (not shown) of the refrigerant-using equipment 3. The communication state / non-communication state can be switched by changing the rotation position of the valve 74. A hole 76 (hexagonal hole in this embodiment) is provided in the center of the valve 74 for operating the rotation position of the valve 74.

[0075] As shown in Figure 7, the second valve member 42, which is a three-way valve, has a first piping section 78, a second piping section 80, and a valve 82.

[0076] The first piping section 78 is a piping section that allows the refrigerant from the refrigerant-using equipment 3 to flow out to the outside. A connection opening 83 is provided at the tip of the first piping section 78. The second piping section 80 is a piping section for a service port. A connection opening 84 is provided at the tip of the second piping section 80. The valve 82 is a part for switching the communication state between the first piping section 78 and the second piping section 80 and the internal piping (not shown) of the refrigerant-using equipment 3. By changing the rotation position of the valve 82, it is possible to switch between a state where the first piping section 78 and the internal piping are in communication, a state where the second piping section 80 and the internal piping are in communication, and a state where the piping sections 78 and 80 and the internal piping are not in communication. A hole 85 for rotational operation is provided in the center of the valve 82.

[0077] Figures 8 and 9 are schematic side views of the first coupler 46. Figure 8 shows the state before the first coupler 46 is attached to the first valve member 40, and Figure 9 shows the state after the first coupler 46 is attached to the first valve member 40.

[0078] As shown in Figures 8 and 9, the first coupler 46 includes a connection part 86 to which the recovery pipe 62 is connected, and a fixed part 88 to which the drive pipe 64 is connected.

[0079] The connecting portion 86 is provided so as to be slidable relative to the fixed portion 88 (arrow B3), and slides relative to the fixed portion 88 due to the positive / negative pressure of the air supplied from the drive piping 64. A connecting opening 90 is provided at the tip of the connecting portion 86.

[0080] As shown in Figure 9, when the connecting portion 86 slides toward the first valve member 40 (arrow B4), the connecting opening 90 and the connecting opening 75 come into communication with each other. In this state, when the valve 74 of the first valve member 40 is opened, the refrigerant from the refrigerant-using equipment 3 can flow out to the recovery piping 62 through the first valve member 40 and the connecting portion 86 (arrow B5).

[0081] As shown in Figures 8 and 9, the fixing portion 88 has a main body portion 92, a pressing portion 94, and a protruding portion 96.

[0082] The main body portion 92 is the part that slidably holds the connecting portion 86. A connection port 98 for connecting the drive piping 64 is provided on the outer circumferential surface of the main body portion 92. The retaining portion 94 is the part that, together with the connecting portion 86, sandwiches and holds the first valve member 40. The protruding portion 96 is the part that protrudes from the retaining portion 94 toward the main body portion 92 to match the shape of the first valve member 40, which is a two-way valve.

[0083] Figures 10 and 11 are schematic side views of the second coupler 48. Figure 10 shows the state before the second coupler 48 is attached to the second valve member 42, and Figure 11 shows the state after the second coupler 48 is attached to the second valve member 42.

[0084] As shown in Figures 10 and 11, the second coupler 48 includes a connection part 100 to which the recovery pipe 66 is connected, and a fixed part 102 to which the drive pipe 68 is connected.

[0085] The connecting portion 100 is provided so as to be slidable relative to the fixed portion 102 (arrow B6), and slides relative to the fixed portion 102 due to the positive / negative pressure of the air supplied from the drive piping 68. A connecting opening 104 is provided at the tip of the connecting portion 100.

[0086] As shown in Figure 11, when the connection part 100 slides toward the second valve member 42 (arrow B7), the connection opening 104 and the connection opening 83 communicate with each other. In this state, when the valve 82 of the second valve member 42 is opened, the refrigerant from the refrigerant-using equipment 3 can flow out into the recovery piping 66 through the second valve member 42 and the connection part 100 (arrow B8).

[0087] As shown in Figures 10 and 11, the fixing part 102 has a main body part 106 and a pressing part 108.

[0088] The main body portion 106 is the part that slidably holds the connecting portion 100. A connection port 109 for connecting the drive piping 68 is provided on the outer circumferential surface of the main body portion 106. The retaining portion 108 is the part that, together with the connecting portion 100, sandwiches and holds the second valve member 42.

[0089] Unlike the first valve member 40, the second valve member 42 has a second piping section 80 for the service port, so the retaining section 108 of the second coupler 48 does not have a protruding part.

[0090] Next, the coupler unit 45 shown in Figures 4 and 5 will be explained using Figure 12.

[0091] Figure 12 is a block diagram of the coupler unit 45 and its surrounding configuration. In Figure 12, the flow of refrigerant is indicated by solid arrows, and the flow of air is indicated by dotted arrows.

[0092] As shown in Figure 12, a coupler unit drive unit 54 is connected to the coupler unit 45. The coupler unit drive unit 54 is a component that moves the coupler support unit 50 shown in Figure 4 along the rail 52. The coupler unit drive unit 54 may use any drive means, such as a motor.

[0093] The coupler unit 45 further includes a leak check circuit 69.

[0094] The leak check circuit 69 is a circuit for checking for leaks in the flow path from the recovery pipe 62 to the refrigerant recovery device 60 and in the flow path from the recovery pipe 66 to the refrigerant recovery device 60. The leak check circuit 69 is an example of a leak check means for checking leaks in the flow path including the recovery pipes 62 and 66. Any leak check means that can check for leaks in the said flow path may be used. The check results from the leak check circuit 69 are transmitted to the control unit 30.

[0095] The leak check circuit 69 of this embodiment checks for leaks by detecting the pressure and flow rate of the fluid in the flow path. If the pressure is below a predetermined value, it can be determined that a large leak has occurred, and if the flow rate is below a predetermined value, it can be determined that a small leak has occurred.

[0096] The drive pipes 64 and 68 are connected to the air supply source 70.

[0097] Although not shown in the diagram, an air supply source 70 may also be connected to the recovery pipes 62 and 66, and the presence or absence of a leak may be determined based on the results of the leak check circuit 69 while air is supplied from the air supply source 70.

[0098] Figure 13 is a front view of the coupler unit 45.

[0099] As shown in Figure 13, the coupler support section 50 has multiple coupler support bases 110 and 111 for supporting the couplers 46 and 48. The coupler support base 110 supports the first coupler 46 from below, and the coupler support base 111 supports the second coupler 48 from below.

[0100] The first coupler 46 is supported by a pair of coupler support bases 110 that are spaced apart in the X direction. There is a gap between the pair of coupler support bases 110, and the first working member 20 grips the main body 92 through this gap.

[0101] The second coupler 48 is supported by a pair of coupler support bases 111 that are spaced apart in the X direction. There is a gap between the pair of coupler support bases 111, and the first working member 20 grips the main body 106 through this gap.

[0102] The coupler support section 50 shown in Figure 13 supports multiple sets of couplers 46 and 48. In this embodiment, one coupler support section 50 supports three sets of couplers 46 and 48. In the example shown in Figure 13, the first set of couplers 46A and 48A is arranged on the right, the second set of couplers 46B and 48B is arranged in the center, and the third set of couplers 46C and 48C is arranged on the left.

[0103] One set of couplers 46 and 48 corresponds to one refrigerant-using device 3. By providing multiple sets of couplers 46 and 48, multiple refrigerant-using devices 3 can be processed continuously.

[0104] The arrangement of the coupler support bases 110 and 111 in the coupler support section 50 is not limited to the arrangement shown in Figure 13, and may be changed as appropriate.

[0105] Next, the structure and operation method of the coupler chuck tool 56 shown in Figure 4 will be explained using Figures 14 to 23. The coupler chuck tool 156 shown in Figure 5 has the same structure as the coupler chuck tool 56 shown in Figure 4, so its explanation will be omitted.

[0106] Figure 14 is a plan view of the coupler chuck tool 56, and Figure 15 is a side view of the coupler chuck tool 56.

[0107] The coupler chuck tool 56 shown in Figures 14 and 15 comprises a first chuck 112, a second chuck 114, a first chuck support 116, a second chuck support 118, and a tool changer 120.

[0108] The two chucks 112 and 114 are parts for gripping the couplers 46 and 48 described above, respectively. In this embodiment, the first chuck 112 grips the first coupler 46, and the second chuck 114 grips the second coupler 48. The two chucks 112 and 114 are oriented in different directions from each other; in the example shown in Figure 14, they are oriented 90 degrees apart in a plan view.

[0109] Chucks 112 and 114 each have a pair of jaws. As shown in Figure 14, each pair of jaws can be opened and closed (arrows B9 and B10).

[0110] The first chuck support 116 supports the first chuck 112 in an openable and closable state, and the second chuck support 118 supports the second chuck 114 in an openable and closable state. The second chuck support 118 is mounted on top of the first chuck support 116, and the tool changer 120 is mounted on top of the second chuck support 118.

[0111] The tool changer 120 is a component for attaching the tool attachment / detachment section 59 of the first working member 20 shown in Figure 4. The top surface of the tool changer 120 is provided with a plurality of holes 121, which are used for positioning and fixing the tool attachment / detachment section 59 and for supplying air. The side surface of the tool changer 120 is provided with a plurality of connection ports 122. Air supply piping (not shown) is connected to these connection ports 122, and positive / negative pressure air is supplied for opening and closing operations of the two chucks 112 and 114.

[0112] Figures 16 to 23 are schematic diagrams showing how to attach the couplers 46 and 48 to the valve members 40 and 42 by operating the coupler chuck tool 56 using the first working member 20.

[0113] As shown in Figure 16, the first working member 20 attaches the tool attachment / detachment section 59 to the tool changer 120 of the coupler chuck tool 56. As shown in Figure 17, the first working member 20 lifts the coupler chuck tool 56 upward, bringing the first chuck 112 closer to the first coupler 46.

[0114] As shown in Figure 18, the first chuck 112 is brought close to the main body 92 of the first coupler 46A of the first set, and the first chuck 112 is driven in the closing direction (arrow B11) to clamp the main body 92 from above and below. In this way, the first coupler 46A is gripped by the first chuck 112.

[0115] The first working member 20, which is gripping the first coupler 46A, detaches the first coupler 46A from the coupler support base 110 and rotates the coupler chuck tool 56 to bring the second chuck 114 closer to the second coupler 48A.

[0116] As shown in Figure 19, the second chuck 114 is brought close to the main body 106 of the second coupler 48A and driven in the closing direction (arrow B12) to clamp the main body 106 from above and below. This causes the second coupler 48A to be gripped by the second chuck 114.

[0117] The first working member 20, which is gripping the two couplers 46 and 48, attaches the couplers 46 and 48 to the valve members 40 and 42, respectively, based on the position and orientation of the valve members 40 and 42 identified from the images captured by the 3D camera 28.

[0118] As shown in Figure 20, the first coupler 46, gripped by the first chuck 112, is brought closer to the first valve member 40 of the refrigerant-using equipment 3. At this time, the first coupler 46 is moved in the +Y direction (perpendicular to the plane of the paper) so that the first valve member 40 fits into the gap provided in the fixing portion 88 of the first coupler 46. Furthermore, the orientation of the first coupler 46 is adjusted so that the axial direction of the piping portion 72 of the first valve member 40 coincides with the axial direction of the first coupler 46.

[0119] In the state shown in Figure 20, air is supplied to the drive piping 64 (arrow B13), causing the connection portion 86 of the first coupler 46 to slide relative to the fixed portion 88 (arrow B14). The direction of movement of the connection portion 86 is toward the protruding portion 96 of the fixed portion 88. As a result, the connection portion 86 and the piping portion 72 come into contact, and the connection opening 90 and the connection opening 75 communicate with each other.

[0120] If the air supply continues in this state, as shown in Figure 21, the fixed part 88 slides relative to the connecting part 86, which has come into contact with the first valve member 40 and stopped (arrow B15). The protruding part 96 of the fixed part 88 comes into contact with the valve 74, and the first valve member 40 is sandwiched between the connecting part 86 and the protruding part 96. This completes the attachment of the first coupler 46 to the first valve member 40.

[0121] Since the connection opening 90 and the connection opening 75 are in communication, when the valve 74 of the first valve member 40 is opened, refrigerant is sent from the piping section 72 of the first valve member 40 to the recovery piping 62 via the connection section 86 (arrow B16).

[0122] The first working member 20 then releases the grip of the first coupler 46 from the first chuck 112, rotates the coupler chuck tool 56, and attaches the second coupler 48, which is gripped by the second chuck 114, to the second valve member 42.

[0123] As shown in Figure 22, the second coupler 48, gripped by the second chuck 114, is brought closer to the second valve member 42 of the refrigerant-using equipment 3. At this time, the second coupler 48 is moved in the +Y direction so that the second valve member 42 fits into the gap provided in the fixing portion 102 of the second coupler 48. Furthermore, the orientation of the second coupler 48 is adjusted so that the axial direction of the piping portions 78 and 80 of the second valve member 42 coincides with the axial direction of the second coupler 48.

[0124] As shown in Figure 22, air is supplied to the drive piping 68 (arrow B17), causing the connection portion 100 of the second coupler 48 to slide relative to the fixed portion 102 (arrow B18). The direction of movement of the connection portion 100 is toward the retaining portion 108 of the fixed portion 102. As a result, the connection portion 100 and the piping portion 78 come into contact, and the connection opening 104 and the connection opening 83 communicate with each other.

[0125] If the air supply continues in this state, as shown in Figure 23, the fixing part 102 slides relative to the connection part 100, which has come into contact with the second valve member 42 and stopped (arrow B19). The retaining part 108 of the fixing part 102 comes into contact with the piping part 80, and the second valve member 42 is sandwiched between the connection part 100 and the retaining part 108. The attachment of the second coupler 48 to the second valve member 42 is completed.

[0126] Since the connection opening 104 and the connection opening 83 are in communication, when the valve 82 of the second valve member 42 is opened, refrigerant is sent from the piping section 78 of the second valve member 42 to the recovery piping 66 via the connection section 100 (arrow B20).

[0127] Next, the structure and operation method of the valve opening / closing tool 58 shown in Figure 4 will be explained using Figures 24 to 32. Note that the valve opening / closing tool 158 shown in Figure 5 has the same structure as the valve opening / closing tool 58 shown in Figure 4, so its explanation will be omitted.

[0128] Figure 24 is a side view of the valve opening / closing tool 58, Figure 25 is a top view of the valve opening / closing tool 58, and Figures 26 and 27 are perspective views of the valve opening / closing tool 58.

[0129] The valve opening and closing tool 58 shown in Figures 24 to 27 has a valve engaging portion 126 at its tip that engages with the valves 74 and 82 of the valve members 40 and 42. The valve engaging portion 126 in this embodiment is a hexagonal wrench that conforms to the shape of the holes 76 and 85 of the valves 74 and 82, and has the shape of a hexagonal prism.

[0130] The valve opening / closing tool 58 further comprises a tool changer 128, a forward / backward movement section 130, a first mounting block 131, a second mounting block 132, a rotational drive section 133 (Figure 25), a flexible joint 134, a first connecting plate 135, a plurality of shaft members 136, a second connecting plate 137, a guide cover 138, a slide block 140, a guide block 142, a slide drive section 144, a refrigerant detector 146, a 2D camera 148 (Figure 25), and a third mounting block 150.

[0131] The tool changer 128 is the part for attaching and detaching the tool attachment / detachment section 59 of the first working member 20. The forward / backward movement section 130 is a member that reciprocates in the Y direction, which is the forward / backward direction, relative to the tool changer 128 and the first mounting block 131. The forward / backward movement section 130 is attached to the first mounting block 131 and slides in the forward / backward direction relative to the first mounting block 131 (arrow B21), sliding together with members such as the valve engagement section 126. The forward / backward movement section 130 is attached to the second mounting block 132.

[0132] The second mounting block 132 is a block to which components such as the front-to-back movement unit 130, the slide drive unit 144, and the refrigerant detector 146 are attached. In the side view shown in Figure 24, the second mounting block 132 has a shape that bends multiple times, with the rotary drive unit 133 (Figure 26) attached to its side, and the slide drive unit 144 and the refrigerant detector 146 attached to its upper surface. The second mounting block 132 has an opening through which the output shaft of the rotary drive unit 133 passes, and the output shaft is connected to the flexible joint 134.

[0133] The flexible joint 134 is a member that connects the rotation drive unit 133 and the valve engagement unit 126, and is rotationally driven by the rotation drive unit 133. As the flexible joint 134 rotates, the valve engagement unit 126 rotates integrally with it (arrow B22 in Figure 24). The flexible joint 134 is made of a flexible material so that it can be deformed in the XZ direction (arrow B23). As the flexible joint 134 deforms in the XZ direction, it can function as an engagement aid when engaging the valve engagement unit 126 with the valves 74 and 82 of the valve members 40 and 42.

[0134] The first connecting plate 135 is a plate-shaped member that connects the flexible joint 134 to the multiple shaft members 136. The multiple shaft members 136 extend between the first connecting plate 135 and the second connecting plate 137. In this embodiment, three shaft members 136 are provided, and the central shaft member 136 directly connects the flexible joint 134 to the valve engagement portion 126.

[0135] The guide cover 138 is a cover that guides the engagement of the valve engagement portion 126 when engaging it with the valves 74 and 82 of the valve members 40 and 42. The guide cover 138 has a shape that widens toward the front, in the +Y direction. When the valve engagement portion 126 approaches the valve members 40 and 42 due to the movement of the front-rear moving portion 130, the guide cover 138 comes into contact with the valve members 40 and 42, thereby guiding the valve engagement portion 126 toward the valves 74 and 82 of the valve members 40 and 42.

[0136] The slide block 140 is a pair of blocks that slide in the lateral direction, the X direction (arrow B24 in Figure 25). The pair of slide blocks 140 are supported by a guide block 142 so as to be movable in the X direction and are driven to slide by a slide drive unit 144. The slide block 140 has the function of selectively fixing the first connecting plate 135 described above.

[0137] As shown in Figure 26, when the two slide blocks 140 move away from each other (arrow B25), the first connecting plate 135 is not fixed, and the flexible joint 134 becomes movable in the XZ direction. When the flexible joint 134 is rotated by the rotary drive unit 133 in this state (arrow B26), the valve engagement part 126, the first connecting plate 135, the second connecting plate 137, and other components rotate together as a single unit (arrow B27).

[0138] As shown in Figure 27, when the two slide blocks 140 move toward each other (arrow B29), the first connecting plate 135 is sandwiched and fixed between the two slide blocks 140. The flexible joint 134 connected to the first connecting plate 135 is restricted from moving in the XZ direction, but the flexible joint 134 is rotatable together with the central shaft member 136 and valve engagement portion 126 inserted through the first connecting plate 135 and the second connecting plate 137. When the flexible joint 134 is rotated by the rotation drive unit 133 (arrow B30), the central shaft member 136 and valve engagement portion 126 rotate together (arrow B31). At this time, the first connecting plate 135 and the second connecting plate 137 may rotate together or remain stationary.

[0139] The refrigerant detector 146 is a component that detects refrigerant. The refrigerant detector 146 is a gas leak detector that detects refrigerant gas leaks. The detection end of the refrigerant detector 146 is located near the valve engagement portion 126, and can detect refrigerant leaks when valves 74 and 82 are opened using the valve engagement portion 126.

[0140] The 2D camera 148 shown in Figure 25 is an imaging device that captures images of the valve members 40 and 42 of the refrigerant-using equipment 3 in two dimensions. Based on the images captured by the 2D camera 148, the positions of the valves 74 and 82 in the valve members 40 and 42 are determined. The 2D camera 148, like the 3D camera 28, is an example of a position detection member. In particular, high precision is required when engaging the valve engagement portion 126 with the holes 76 and 85 of the valves 74 and 82. Therefore, by determining the positions of the valves 74 and 82 based on the images captured by the 2D camera 148, separately from the 3D camera 28, the opening and closing accuracy of the valves 74 and 82 can be improved. The 2D camera 148 is mounted on the second mounting block 132 via the third mounting block 150.

[0141] Figures 28 to 31 are schematic diagrams showing how to open the valves 74 and 82 of valve members 40 and 42 by operating the valve opening / closing tool 58 using the first working member 20.

[0142] As shown in Figure 28, the first working member 20 attaches the tool attachment / detachment section 59 to the tool changer 128 of the valve opening / closing tool 58. As shown in Figure 29, the first working member 20 lifts the valve opening / closing tool 58 and brings the tip of the valve opening / closing tool 58 closer to the first valve member 40. The valve members 40 and 42 are equipped with couplers 46 and 48.

[0143] As shown in Figures 21 and 23, with the couplers 46 and 48 attached to the valve members 40 and 42, the valves 74 and 82 are exposed in the Y direction. Therefore, the valve engagement portion 126 of the valve opening / closing tool 58 can access the valves 74 and 82.

[0144] When opening the valve 74 using the first working member 20, as shown in Figure 30, the forward and backward moving part 130 is used to move the valve engaging part 126 and other members forward as a whole (arrow B32), while rotating the flexible joint 134 and the valve engaging part 126 in a predetermined direction (arrow B33). The two slide blocks 140 are positioned away from each other, and the flexible joint 134 is left in a free state.

[0145] As the valve engagement portion 126 rotates while advancing toward the valve 74, the guide cover 138 comes into contact with the valve member 40, causing the center position of the valve engagement portion 126 and the center position of the valve 74 to align. This allows the valve engagement portion 126 to be fitted into the hole 76 of the valve 74 while rotating the valve engagement portion 126.

[0146] At this time, the rotary drive unit 133 rotates the flexible joint 134 and the valve engagement portion 126 in the direction of closing the valve 74, rather than in the direction of opening the valve 74. By rotating in the direction of closing the valve 74, the valve engagement portion 126 engages with the hole 76 of the valve 74, and the load torque of the rotary drive unit 133 increases. Based on the increase in load torque, it is possible to detect that the valve engagement portion 126 has engaged with the valve 74.

[0147] In response to detecting an increase in load torque, the slide drive unit 144 is used to move the two slide blocks 140 toward each other, as shown in Figure 31 (arrow B34). This locks the movement of the flexible joint 134 in the XZ direction. In this state, the rotary drive unit 133 is used to rotate the flexible joint 134 and the valve engagement part 126 in the direction of opening the valve 74 (arrow B35). When opening the valve 74, the flexible joint 134 is controlled to rotate by a predetermined amount of rotation, rather than by the load torque of the rotary drive unit 133. The predetermined amount of rotation is set to a sufficient amount of rotation to open the valves 74 and 82.

[0148] The engagement between the valve engagement part 126 and the valve 74 is confirmed by the increase in load torque, and by rotating the valve engagement part 126 with the flexible joint 134 locked, the valve 74 can be opened precisely to an opening degree that allows the refrigerant to flow out.

[0149] Figures 32 to 35 are schematic diagrams showing a method for closing the valves 74 and 82 of valve members 40 and 42 by operating the valve opening / closing tool 158 using the second working member 22.

[0150] As shown in Figure 32, the second working member 22 attaches the tool attachment / detachment section 159 to the tool changer 128 of the valve opening / closing tool 158. As shown in Figure 33, the second working member 22 lifts the valve opening / closing tool 158, bringing its tip closer to the first valve member 40. The couplers 46 and 48 are attached to the valve members 40 and 42.

[0151] As shown in Figure 34, the forward and backward movement unit 130 is used to move the components such as the valve engagement unit 126 forward as a whole (arrow B36), while the flexible joint 134 and the valve engagement unit 126 are rotated in a predetermined direction (arrow B37). The two slide blocks 140 are positioned away from each other, and the flexible joint 134 is left in a free state.

[0152] As the valve engagement portion 126 rotates while advancing toward the valve 74, the guide cover 138 comes into contact with the valve member 40, causing the center position of the valve engagement portion 126 and the center position of the valve 74 to align. This allows the valve engagement portion 126 to be fitted into the hole 76 of the valve 74.

[0153] At this time, the rotary drive unit 133 rotates the flexible joint 134 and the valve engagement part 126 in the direction of closing the valve 74. By rotating in the direction of closing the valve 74, the valve engagement part 126 engages with the hole 76 of the valve 74, and the load torque of the rotary drive unit 133 increases. Based on the increase in load torque, it is possible to detect that the valve engagement part 126 has engaged with the valve 74 and the valve 74 has been closed.

[0154] In response to detecting an increase in load torque, the slide drive unit 144 may be used to move the two slide blocks 140 toward each other (arrow B38), as shown in Figure 35, to lock the flexible joint 134, and then further increases in load torque may be detected.

[0155] Figures 36 and 37 are flowcharts illustrating an example of refrigerant recovery processing using refrigerant recovery equipment 2. Figures 38A to 38H are schematic side views illustrating each process in the flowcharts shown in Figures 36 and 37. Here, we will describe the process of recovering refrigerant from one refrigerant-using device 3.

[0156] Each of the processes shown in Figures 36 and 37 is executed under the control of the control unit 30.

[0157] The control unit 30 brings in the refrigerant-using equipment 3 (S1). Specifically, it drives the first transport member 4 of the refrigerant recovery equipment 2 to bring in the refrigerant-using equipment 3 from the upstream side. The process of placing the refrigerant-using equipment 3 onto the first transport member 4 may be performed manually by an operator or automatically by a machine.

[0158] The control unit 30 acquires equipment information (S2). Specifically, as shown in Figure 38A, the control unit 30 uses the reading device 14 to read and acquire the information written in the equipment information section 38 of the refrigerant-using equipment 3 that has been brought into the first transport member 4.

[0159] The control unit 30 determines whether or not the equipment is subject to automatic recovery (S3). Specifically, based on the equipment information acquired in step S2, it determines whether or not the delivered refrigerant-using equipment 3 is subject to automatic recovery. The memory unit of the control unit 30 stores information regarding the model of the refrigerant-using equipment 3 and whether or not that model is subject to automatic recovery. The control unit 30 refers to this information to determine whether or not the equipment is subject to automatic recovery.

[0160] If the refrigerant is not subject to automatic recovery (NO in S3), the control unit 30 distributes it to the manual processing lane 5 (S4). Specifically, as shown by the dotted arrow in Figure 38B, the refrigerant-using equipment 3 is further transported downstream by the first transport member 4 and sent to the manual processing lane 5. In the manual processing lane 5, the worker S performs the processing manually.

[0161] Worker S performs a first operation on the refrigerant-using equipment 3 sent to manual processing lane 5, which includes installing couplers 46 and 48 and opening valves 74 and 82, and then performs a second operation, which includes removing couplers 46 and 48 and closing valves 74 and 82.

[0162] If the equipment is subject to automatic recovery (YES in S3), the control unit 30 distributes it to the automatic processing lane (S5). Specifically, as shown by the solid arrow in Figure 38B, the first connection lane 8 is driven to transport the refrigerant-using equipment 3 toward the second transport member 6. As shown in Figure 38C, the refrigerant-using equipment 3 is handed over to the second transport member 6 and stops at stop position A1.

[0163] The following section describes the processing that occurs when refrigerant-using equipment 3 is assigned to the automatic processing lane.

[0164] The control unit 30 positions the refrigerant-using equipment 3 at the first working position (S6). Specifically, the second transport member 6 transports the refrigerant-using equipment 3 downstream and stops it at the first working position, which is the stopping position A2. Then, the first positioning member 16 is used to position the refrigerant-using equipment 3 in the XY direction.

[0165] The first working position, stopping position A2, is the first working position for the first working member 20 to perform the first operation.

[0166] The control unit 30 takes an image with the 3D camera 28 (S7). Specifically, as shown in Figure 38D, the 3D camera 28 is used to image the side surface 37 (Figure 2) of the refrigerant-using equipment 3, which is positioned at the stop position A2, and on which the valve members 40 and 42 are located. Based on the image taken by the 3D camera 28, the control unit 30 determines the position and orientation of the valve members 40 and 42.

[0167] The control unit 30 attaches the couplers 46 and 48 (S8). Specifically, as shown in Figure 38E, the first working member 20 is driven to operate the coupler chuck tool 56 placed on the first base 24, thereby attaching the first coupler 46 to the first valve member 40 and the second coupler 48 to the second valve member 42. When attaching the couplers 46 and 48 to the valve members 40 and 42, the position and orientation of the valve members 40 and 42 identified in the image captured in step S7 are used.

[0168] The method for attaching couplers 46 and 48 to valve members 40 and 42 is as described with reference to Figures 16 to 23. The first coupler 46, supported by a coupler support 50 located above the refrigerant-using equipment 3, is gripped by the first chuck 112, and the second coupler 48 is gripped by the second chuck 114. Then, the first coupler 46 is attached to the first valve member 40 using the method shown in Figures 20 and 21, and the second coupler 48 is attached to the second valve member 42 using the method shown in Figures 22 and 23.

[0169] If it can be predicted from the images captured by the 3D camera 28 that interference will occur when the couplers 46 and 48 are attached to the valve members 40 and 42, the first operation may be omitted, and the system may be controlled to send the refrigerant-using equipment 3 to the manual processing lane 5 using the second connection lane 10.

[0170] The control unit 30 determines whether or not there is a leak (S9). Specifically, it uses the leak check circuit 69 shown in Figure 12 to check for leaks in the piping path from the recovery pipes 62 and 66 to the refrigerant recovery device 60. For example, a fluid such as compressed air may be supplied to the piping path from the recovery pipes 62 and 66 to the refrigerant recovery device 60, and if the flow rate and pressure in the piping path are above predetermined values, it may be determined that there is no leak, and if they are below predetermined values, it may be determined that there is a leak.

[0171] By performing a leak check (error detection) using the leak check circuit 69, it is possible to confirm whether the recovery pipes 62, 66 of the couplers 46, 48 and the piping sections 72, 78 of the valve members 40, 42 are properly connected.

[0172] If a leak (error) is detected (YES in S9), the control unit 30 directs the equipment to the manual processing lane (S10). Specifically, as shown by the dotted arrow in Figure 38F, the refrigerant-using equipment 3 is transported towards the first transport member 4 using the second connection lane 10 and sent to the manual processing lane 5. Before sending to the manual processing lane 5, the couplers 46 and 48 are removed from the valve members 40 and 42.

[0173] If no leak is detected (NO in S9), the control unit 30 takes an image with the 2D camera 148 (S11). Specifically, the first working member 20 is driven to operate the valve opening / closing tool 58 placed on the first stand 24, and the 2D camera 148 on the valve opening / closing tool 58 is used to image the area including the valve members 40 and 42 of the refrigerant-using equipment 3 positioned at stop position A2. Based on the image captured by the 2D camera 148, the control unit 30 identifies the positions of the valves 74 and 82 (positions of the holes 76 and 85) in the valve members 40 and 42.

[0174] The control unit 30 opens valves 74 and 82 (S12). Specifically, using the valve opening / closing tool 58 gripped by the first working member 20, the control unit 30 opens valve 74 of the first valve member 40 and valve 82 of the second valve member 42. The method for opening valves 74 and 82 is as described with reference to Figures 28 to 31. After step S8, couplers 46 and 48 are attached to valve members 40 and 42, but as shown in Figures 21 and 23, valves 74 and 82 are exposed in the Y direction, so the valve opening / closing tool 58 can access valves 74 and 82. When opening valves 74 and 82, the positions of valves 74 and 82 identified in the image captured in step S11 are used. This makes it possible to perform the opening operation of valves 74 and 82, which requires high precision, with high accuracy.

[0175] The control unit 30 determines whether or not there is a refrigerant leak (S13). Specifically, it uses the refrigerant detector 146 of the valve opening / closing tool 58 to detect the refrigerant around the valves 74 and 82 engaged by the valve engagement part 126, and determines whether or not there is a refrigerant leak based on the detection result. If the amount of refrigerant detected is less than a predetermined value, it may be determined that there is no refrigerant leak, and if it is equal to or greater than the predetermined value, it may be determined that there is a refrigerant leak.

[0176] By using the refrigerant detector 146 to check for refrigerant leaks (error detection), refrigerant leaks caused by malfunctions of valves 74 and 82 can be quickly detected.

[0177] If a refrigerant leak is detected (error) (YES in S13), the control unit 30 directs the equipment to the manual processing lane 5 (S14). Specifically, as shown by the dotted line in Figure 38F, the refrigerant-using equipment 3 is transported towards the first transport member 4 using the second connection lane 10 and sent to the manual processing lane 5. Before sending to the manual processing lane 5, the couplers 46 and 48 are removed from the valve members 40 and 42.

[0178] If the control unit 30 determines that there is no refrigerant leak (NO in S13), it recovers the refrigerant while transporting the refrigerant-using equipment 3 to the second work position (S15). Specifically, by opening valves 74 and 82 in step S12, the refrigerant from the refrigerant-using equipment 3 is made available to flow out through couplers 46 and 48 and recovery pipes 62 and 66, and the refrigerant is sent to the refrigerant recovery device 60 while transporting the refrigerant-using equipment 3 to the second work position. As shown by the solid arrows in Figure 38F, refrigerant recovery is performed while the refrigerant-using equipment 3 is moved to the second work position, which is the stop position A8.

[0179] The control unit 30 positions the refrigerant-using equipment 3 at a second working position (S16). Specifically, as shown in Figure 38G, the refrigerant-using equipment 3 is stopped at the second working position, stop position A8. Then, the refrigerant-using equipment 3 is positioned in the XY direction using the second positioning member 18.

[0180] The control unit 30 takes an image with the 2D camera 148 (S17). Specifically, it drives the second working member 22 to operate the valve opening / closing tool 158 placed on the second base 26, and uses the 2D camera on the valve opening / closing tool 158 to take an image of the area including the valve members 40 and 42 of the refrigerant-using equipment 3 positioned at stop position A8. Based on the image taken by the 2D camera, the control unit 30 identifies the positions of the valves 74 and 82 (positions of the holes 76 and 85) in the valve members 40 and 42.

[0181] The control unit 30 closes valves 74 and 82 (S18). Specifically, using the valve opening / closing tool 158 gripped by the second working member 22, the control unit closes valve 74 of the first valve member 40 and valve 82 of the second valve member 42. The method for closing valves 74 and 82 is as described with reference to Figures 32 and 33. When closing valves 74 and 82, the positions of valves 74 and 82 identified in the image captured in step S17 are used. This allows for the precise closing operation of valves 74 and 82, which requires high precision.

[0182] The control unit 30 removes the couplers 46 and 48 (S19). Specifically, it drives the second working member 22 to operate the coupler chuck tool 156 placed on the second base 26 to remove the first coupler 46 from the first valve member 40 and the second coupler 48 from the second valve member 42. The method for removing the couplers 46 and 48 is to perform the reverse procedure of the procedure shown in Figures 20 to 23.

[0183] When removing couplers 46 and 48, the images captured by the 3D camera 28 in step S7 are reused. Even if the orientation of the valve members 40 and 42 shifts slightly while moving from the first work position to the second work position, the accuracy is sufficient by reusing the images captured by the 3D camera 28 at the first work position, so it is possible to remove couplers 46 and 48 by reusing the images captured in step S7. For this reason, a 3D camera is not provided at the second work position in this embodiment. However, a 3D camera may be provided at the second work position.

[0184] The control unit 30 discharges the refrigerant-using equipment 3 (S20). Specifically, as shown in Figure 38G, the second transport member 6 transports the refrigerant-using equipment 3 toward the stop position A9, and as shown in Figure 38H, the third connecting lane 12 transports the refrigerant-using equipment 3 toward the first transport member 4. This discharges the refrigerant-using equipment 3 downstream of the first transport member 4.

[0185] By executing steps S1 to S20, the refrigerant contained in refrigerant-using equipment 3 can be automatically recovered.

[0186] The refrigerant recovery equipment 2 has the function of processing multiple refrigerant-using devices 3 in succession. In this embodiment, the refrigerant recovery equipment 2 can manage three refrigerant-using devices 3 as one group and operate to process each group in succession.

[0187] Figure 39 is a block diagram of the refrigerant recovery equipment 2 of this embodiment.

[0188] As shown in Figure 39, the refrigerant recovery equipment 2 of this embodiment comprises four coupler units 45A to 45D and two refrigerant recovery devices 60A and 60B. The refrigerant recovery equipment 2 has a connection switching mechanism (not shown) that allows for the selective connection of one coupler unit 45 and one refrigerant recovery device 60.

[0189] In the example shown in Figure 39, the first coupler unit 45A is connected to the refrigerant recovery device 60A, and the second coupler unit 45B is connected to the refrigerant recovery device 60B (shown by solid lines).

[0190] An example of a method for continuously processing multiple refrigerant-using devices 3 using the refrigerant recovery equipment 2 shown in Figure 39 will be explained using Figures 40A to 40N.

[0191] Figures 40A to 40N are schematic plan views illustrating the method. Figures 40A to 40N show a state in which multiple refrigerant-using devices 3A to 3O are brought in sequentially and transported intermittently.

[0192] In the example shown in Figure 40A, two refrigerant-using devices 3A and 3B are brought in. The refrigerant-using devices 3A and 3B are transported sequentially by the first transport member 4.

[0193] As shown in Figure 40B, when the leading refrigerant-using equipment 3A stops at stopping position A1, the third refrigerant-using equipment 3C is brought in. The three refrigerant-using equipment units 3A to 3C are managed as a single group. The first work member 20 uses the first coupler unit 45A to perform the first operation on the refrigerant-using equipment units 3A to 3C.

[0194] As shown in Figure 40C, when the leading refrigerant-using device 3A stops at the first working position, which is stop position A2, the area including the valve members 40 and 42 of the refrigerant-using device 3A is imaged using the 3D camera 28 and the 2D camera 148, and based on the imaged area, the first operation is performed using the couplers 46 and 48 of the first coupler unit 45A. This makes the refrigerant from the refrigerant-using device 3A ready to flow into the refrigerant recovery device 60.

[0195] In this embodiment, the control system prevents the refrigerant from being sent to the refrigerant recovery device 60 immediately after opening the valves 74 and 82 of the first refrigerant-using device 3A. The control unit 30 controls the system to send the refrigerant from the three refrigerant-using devices 3A to 3C to the refrigerant recovery device 60 only after all of the refrigerant from the three devices has become available for discharge. This allows the leak check circuit 69 shown in Figure 12 to perform leak checks on the couplers 46A to 46C and 48A to 48C in a single coupler unit 45, thereby simplifying the peripheral configuration of the coupler unit 45.

[0196] As shown in Figure 40D, when the second refrigerant-using device 3B stops at the first working position, which is stop position A2, the same process is performed on the second refrigerant-using device 3B, including imaging by the 3D camera 28 and the 2D camera 148, and the first operation using the couplers 46 and 48 of the first coupler unit 45A. The couplers 46 and 48 to be attached to the refrigerant-using device 3B are the couplers 46B and 48B of the first coupler unit 45A. In order to use the couplers 46B and 48B, the first coupler unit 45A is moved in the same direction as the refrigerant-using device 3, in synchronization with the transport of the refrigerant-using devices 3A to 3C.

[0197] As shown in Figure 40E, when the third refrigerant-using device 3C stops at the first working position, which is the stopping position A2, the same process is performed on the third refrigerant-using device 3B, including imaging by the 3D camera 28 and the 2D camera 148, and the first operation using the couplers 46C and 48C of the first coupler unit 45A.

[0198] Once the first operation on refrigerant-using equipment 3C is completed, refrigerant becomes available to flow from the three refrigerant-using equipment units 3A to 3C. The control unit 30 controls the refrigerant from the three refrigerant-using equipment units 3A to 3C to be sent through the first coupler unit 45A to the refrigerant recovery device 60A shown in Figure 39.

[0199] While the first refrigerant-using device 3A moves to the second working position, stop position A8, the refrigerant from the three refrigerant-using devices 3A to 3C is sent to the refrigerant recovery device 60A. The transport speed and stopping time of the refrigerant-using devices 3A to 3C are pre-set so that automatic refrigerant recovery from the devices is completed before the refrigerant-using device 3A moves to stop position A8.

[0200] Following the first group of refrigerant-using equipment 3A to 3C, the second group of refrigerant-using equipment 3D to 3F are also transported sequentially. As shown in Figures 40F to 40H, when the second group of refrigerant-using equipment 3D to 3F each stop at the first work position, stop position A2, the first operation is performed using the second coupler unit 45B. Similarly, while the second group of refrigerant-using equipment 3D to 3F are stopping at the second work position, stop position A8, refrigerant recovery is performed via the second coupler unit 45B to the refrigerant recovery device 60B shown in Figure 39.

[0201] In the state shown in Figures 40H to 40I, the refrigerant from the first group of refrigerant-using devices 3A to 3C is sent to the refrigerant recovery device 60A, while the refrigerant from the second group of refrigerant-using devices 3D to 3F is sent to the refrigerant recovery device 60B. In this way, the refrigerant from a total of six refrigerant-using devices 3 can be recovered simultaneously using the two refrigerant recovery devices 60A and 60B.

[0202] As shown in Figure 40I, when the first group of refrigerant-using equipment 3A stops at the second working position, stop position A8, the refrigerant recovery of the three refrigerant-using equipment units 3A to 3C is completed. The control unit 30 uses the second working member 22 to perform a second operation in which it removes the couplers 46 and 48 from the valve members 40 and 42 of the refrigerant-using equipment 3A and closes the valves 74 and 82 of the valve members 40 and 42.

[0203] As shown in Figure 40J, when the second refrigerant-using device 3B stops at stopping position A8, the second operation is performed on the refrigerant-using device 3B in the same manner. As shown in Figure 40K, when the third refrigerant-using device 3C stops at stopping position A8, the second operation is performed on the refrigerant-using device 3C in the same manner.

[0204] Once the second operation is completed on the third refrigerant-using device 3C, the couplers 46 and 48 are removed from the three refrigerant-using devices 3A to 3C, and the refrigerant-using devices 3A to 3C become ready for discharge. The refrigerant-using devices 3A to 3C are then sent to the first transport member 4 via the third connection lane 12 for discharge.

[0205] As shown in Figure 40L, the first coupler unit 45A, which has been removed from the refrigerant-using equipment 3A to 3C, is returned to its original position near the stop positions A1 and A2. This makes the first coupler unit 45A reusable for subsequent refrigerant-using equipment 3.

[0206] Once the recovery of refrigerant through the first coupler unit 45A is complete, the control unit 30 switches the connection state from the state in which the first coupler unit 45A is connected to the refrigerant recovery device 60A to the state in which the third coupler unit 45C is connected to the refrigerant recovery device 60A.

[0207] Subsequently, refrigerant recovery is performed on the third group of refrigerant-using equipment 3G to 3I using the third coupler unit 45C (Figures 40L to 40N).

[0208] Once refrigerant recovery for the second group of refrigerant-using equipment 3D to 3F using the second coupler unit 45B is complete, the connection state is switched so that the fourth coupler unit 45D is connected to the refrigerant recovery device 60B instead of the second coupler unit 45B. Then, the second coupler unit 45B is returned to the vicinity of stop positions A1 and A2, and refrigerant recovery for the fourth group of refrigerant-using equipment 3J to 3L is performed using the fourth coupler unit 45D.

[0209] As described above, using four coupler units 45A to 45D and two refrigerant recovery devices 60, refrigerant recovery can be sequentially performed from groups of three refrigerant-using devices 3, enabling automatic refrigerant recovery from a total of 12 refrigerant-using devices 3 across four groups.

[0210] By repeating the above operation for subsequent refrigerant-using equipment 3 (refrigerant-using equipment 3M to 3O, etc., shown in Figure 40N), the refrigerant from multiple refrigerant-using equipment 3 can be recovered continuously and efficiently.

[0211] (Effects / Actions) As described above, the refrigerant recovery equipment 2 of this embodiment is a refrigerant recovery equipment that recovers the refrigerant contained in the refrigerant-using equipment 3 via valve members 40 and 42 provided on the refrigerant-using equipment 3, and comprises transport members 4 and 6 that move the refrigerant-using equipment 3 along a transport path, a positioning member 16 that positions the refrigerant-using equipment 3 at a predetermined position on the transport path, couplers 46 and 48 attached to the valve members 40 and 42 of the refrigerant-using equipment 3 and allowing the refrigerant from the refrigerant-using equipment 3 to flow out to the outside through recovery pipes 62 and 66, a work member 20 that attaches the couplers 46 and 48 to the valve members 40 and 42 and performs a first operation to open the valves 74 and 82 of the valve members 40 and 42, a position detection member (3D camera 28, 2D camera 148) that detects the position and orientation of the valve members 40 and 42, and a control unit 30, and the control unit 30 controls the work member 20 to perform the first operation on the refrigerant-using equipment 3 positioned at a predetermined position (stop position A2) based on the detection results of the position detection member.

[0212] With this configuration, the refrigerant contained in the refrigerant-using equipment 3 can be automatically recovered, and the refrigerant can be recovered efficiently.

[0213] Furthermore, in the refrigerant recovery equipment 2 of this embodiment, the control unit 30 controls the work member 22 to perform a second operation in which the couplers 46 and 48 are attached to the refrigerant-using equipment 3 and the valves 74 and 82 are opened, and the couplers 46 and 48 are removed from the valve members 40 and 42. With this configuration, by removing the couplers 46 and 48, it becomes possible to reuse the couplers 46 and 48 in the next refrigerant-using equipment 3.

[0214] Furthermore, in the refrigerant recovery equipment 2 of the embodiment, the positioning members 16 and 18 include a first positioning member 16 that positions the refrigerant-using equipment 3 at a first working position (stopping position A2), and a second positioning member 18 that positions the refrigerant-using equipment 3 at a second working position (stopping position A8) downstream of the first working position. The working members 20 and 22 perform a first operation on the refrigerant-using equipment 3 positioned at the first working position and a second operation on the refrigerant-using equipment 3 positioned at the second working position. With this configuration, refrigerant recovery can be performed while the refrigerant-using equipment 3 moves from the first working position to the second working position.

[0215] Furthermore, in the refrigerant recovery equipment 2 of this embodiment, the working members 20 and 22 include a first working member 20 that performs a first operation on a refrigerant-using device 3 positioned at a first working position (stop position A2), and a second working member 22 that performs a second operation on a refrigerant-using device 3 positioned at a second working position (stop position A8). With this configuration, the first and second operations can be performed in parallel on separate refrigerant-using devices 3.

[0216] Furthermore, in the refrigerant recovery equipment 2 of this embodiment, the control unit 30 performs the first operation on another refrigerant-using equipment 3 (e.g., refrigerant-using equipment 3D) positioned at the first work position while transporting the refrigerant-using equipment 3 (e.g., refrigerant-using equipment 3A) from the first work position (stop position A2) to the second work position (stop position A8). With this configuration, multiple refrigerant-using equipment 3A, 3D can be processed continuously.

[0217] Furthermore, the refrigerant recovery equipment 2 of this embodiment is further equipped with a refrigerant detector 146 for detecting refrigerant. With this configuration, it becomes possible to detect refrigerant leaking from the refrigerant-using equipment 3.

[0218] Furthermore, in the refrigerant recovery equipment 2 of this embodiment, the control unit 30 makes an error determination based on the detection result of the refrigerant detector 146 when the valves 74 and 82 are opened by the first operation. With this configuration, it is possible to quickly confirm whether or not there is a refrigerant leak.

[0219] Furthermore, the refrigerant recovery equipment 2 of this embodiment is further equipped with a leak check circuit 69 (leak check means) for checking leaks in the flow path including the recovery pipes 62 and 66. With this configuration, it is possible to determine whether or not the couplers 46 and 48 are properly attached to the valve members 40 and 42 based on the presence or absence of leaks.

[0220] Furthermore, the refrigerant recovery equipment 2 of the embodiment is further equipped with a coupler chuck tool 56 for gripping the couplers 46 and 48, and the working member 20 operates the coupler chuck tool 56 in the first operation to attach the couplers 46 and 48 to the valve members 40 and 42. With this configuration, the first operation is made easier to perform.

[0221] Furthermore, the refrigerant recovery equipment 2 of the embodiment is further equipped with a valve opening / closing tool 58 capable of opening and closing valves 74 and 82 of valve members 40 and 42, and the working member 20 operates the valve opening / closing tool 58 in the first operation to open valves 74 and 82. With this configuration, the first operation is made easier to perform.

[0222] Furthermore, the refrigerant recovery equipment 2 of the embodiment further includes a coupler chuck tool 56 for gripping couplers 46 and 48, and a valve opening / closing tool 58 capable of opening and closing valves 74 and 82 of valve members 40 and 42. The working members 20 and 22 have tool attachment / detachment parts 59 and 159, respectively, which can be attached to and detached from the coupler chuck tool 56 and the valve opening / closing tool 58. With this configuration, the coupler chuck tool 56 and the valve opening / closing tool 58 can be used selectively.

[0223] Furthermore, in the refrigerant recovery equipment 2 of this embodiment, the position detection member is equipped with a 3D camera 28, and the control unit 30 attaches the couplers 46 and 48 to the valve members 40 and 42 in the first operation based on the image captured by the 3D camera 28. With this configuration, the couplers 46 and 48 can be attached to the valve members 40 and 42 according to the orientation of the valve members 40 and 42, and it can accommodate various types of refrigerant-using equipment 3.

[0224] Furthermore, in the refrigerant recovery equipment 2 of the embodiment, the position detection member is equipped with a 2D camera 148, and the control unit 30 opens the valves 74 and 82 of the valve members 40 and 42 in the first operation based on the image captured by the 2D camera 148. With this configuration, the opening and closing operations of the valves 74 and 82, which require high precision, can be performed with high accuracy.

[0225] Furthermore, in the refrigerant recovery equipment 2 of the embodiment, the refrigerant-using equipment 3 is an air conditioner outdoor unit, the valve members 40 and 42 have a first valve member 40 (two-way valve) and a second valve member 42 (three-way valve), and the couplers 46 and 48 have a first coupler 46 attached to the first valve member 40 and a second coupler 48 attached to the second valve member 42. With this configuration, the refrigerant from the air conditioner outdoor unit can be recovered using two couplers 46 and 48 corresponding to the two valve members 40 and 42.

[0226] Furthermore, in the refrigerant recovery equipment 2 of this embodiment, the transport members 4 and 6 move the refrigerant-using equipment 3, which is the air conditioner outdoor unit, in an upside-down position. With this configuration, it becomes easier to recover the refrigerant and oil contained in the air conditioner outdoor unit.

[0227] Furthermore, in the refrigerant recovery equipment 2 of this embodiment, the working member 20 is a multi-joint robot. With this configuration, the first operation can be easily performed.

[0228] As described above, the refrigerant recovery system of the embodiment is a refrigerant recovery system that recovers the refrigerant contained in a refrigerant-using device 3 via valve members 40 and 42 provided on the refrigerant-using device 3, and comprises transport members 4 and 6 that move the refrigerant-using device 3 along a transport path, positioning members 16 and 18 that position the refrigerant-using device 3 at a predetermined position on the transport path, couplers 46 and 48 attached to the valve members 40 and 42 of the refrigerant-using device 3 and allowing the refrigerant from the refrigerant-using device 3 to flow out to the outside through recovery pipes 62 and 66, a work member 20 that attaches the couplers 46 and 48 to the valve members 40 and 42 and performs a first operation to open the valves 74 and 82 of the valve members 40 and 42, position detection members (3D camera 28, 2D camera 148) that detect the position and orientation of the valve members 40 and 42, and a control unit 30, wherein the control unit 30 controls the work member 20 to perform the first operation on the refrigerant-using device 3 positioned at a predetermined position (stop position A2) based on the detection results of the position detection members.

[0229] With this configuration, the refrigerant contained in the refrigerant-using equipment 3 can be automatically recovered, and the refrigerant can be recovered efficiently.

[0230] Although the invention of this disclosure has been described above with reference to the embodiments described above, the invention of this disclosure is not limited to the embodiments described above. For example, in the embodiments, a case in which the position and orientation of valve members 40 and 42 are determined using a 3D camera 28 was described, but other members may be used as long as they can determine the position and orientation of valve members 40 and 42. For example, the position and orientation of valve members 40 and 42 may be determined by determining the two-dimensional position of valve members 40 and 42 with a 2D camera and obtaining information on the depth of valve members 40 and 42 with another sensor.

[0231] In this embodiment, a case was described in which a 2D camera 148 is provided in addition to the 3D camera 28, and the positions of the valves 74 and 82 of the valve members 40 and 42 are determined based on the images captured by the 2D camera 148. However, the embodiment is not limited to this case. For example, if the imaging accuracy of the 3D camera 28 is high, the 2D camera 148 may be omitted, and the positions of the valves 74 and 82 may be determined based on the images captured by the 3D camera 28, and the valves 74 and 82 may be opened and closed accordingly.

[0232] The explanation from Figure 39 onward describes a case where three refrigerant-using devices 3 are processed sequentially as a group using two refrigerant recovery units 60A and 60B and four coupler units 45A to 45D, but this is not the only case. The number of refrigerant recovery units 60 and the number of coupler units 45 can be any number, and the number of refrigerant-using devices 3 constituting a group can also be any number.

[0233] In this embodiment, the case in which the refrigerant-using equipment 3 stops at a total of nine stopping positions A1 to A9 in the second transport member 6 that constitutes the automatic processing lane was described. However, the stopping positions of the refrigerant-using equipment 3 are not limited to this case, and any number of stopping positions may be used. Also, in this embodiment, the first working position was set as stopping position A2 and the second working position as stopping position A8, but different stopping positions may be set as working positions.

[0234] Furthermore, although the embodiment described the case where the refrigerant-using equipment 3 is an air conditioner outdoor unit, it can be applied to any equipment that uses refrigerant (for example, a refrigerator or a washing machine). In that case, the number of valve members is not limited to two, but may be one or three, and the valve members may be of a different type than two-way valves or three-way valves.

[0235] Furthermore, although the embodiment described the case in which the couplers 46 and 48 are operated using the coupler chuck tool 56 shown in Figures 14 and 15, any tool capable of operating the couplers 46 and 48 may be used, not limited to this case.

[0236] In the embodiments described, the case in which valves 74 and 82 of valve members 40 and 42 are opened and closed using the valve opening / closing tool 58 shown in Figures 24 to 27 was explained. However, the invention is not limited to this case, and any tool that has the function of opening and closing valves 74 and 82 of valve members 40 and 42 may be used. Furthermore, in the case of refrigerant recovery equipment that does not require closing valves 74 and 82, any tool that has the function of opening valves 74 and 82 is sufficient.

[0237] Furthermore, although the embodiment described the case where the working members 20 and 22 are articulated robots, other types of working members may be used as long as they can perform tasks including attaching and detaching couplers 46 and 48 and opening and closing valves 74 and 82.

[0238] Furthermore, although the embodiment described the case in which two work members 20 and 22 are used, the number of work members may be any number, and the system is not limited to this case. For example, only one work member may be provided and moved between the first work position and the second work position.

[0239] While this disclosure is adequately described in relation to preferred embodiments with reference to the accompanying drawings, various variations and modifications will be obvious to those skilled in the art. Such variations and modifications should be understood as being included within the scope of the invention as defined in the attached claims. Furthermore, variations in combinations and sequences of elements in each embodiment can be realized without departing from the scope and spirit of this disclosure.

[0240] By appropriately combining any of the above embodiments and various modifications, the effects of each can be achieved. [Industrial applicability]

[0241] This disclosure is applicable to refrigerant recovery equipment and refrigerant recovery systems that recover refrigerant from refrigerant-using equipment such as air conditioner outdoor units. [Explanation of Symbols]

[0242] 2. Refrigerant recovery equipment 3 Equipment using refrigerant 4. First conveying member 6. Second conveying member 8, 10, 12 connection lanes 14. Reader 16. First positioning member 18. Second positioning member 20 First working member 22 Second working member 24, 26 Stand 28 3D camera (position detection component) 30 Control Unit 40 First valve member 42 Second valve member 45 Coupler Units 46. ​​First coupler 48. Second coupler 60 Refrigerant Recovery System 62, 66 Recovery piping 74, 82 valves 148 2D camera (position detection component) A2 1st stop position A8 2nd stop position

Claims

1. A refrigerant recovery system that recovers the refrigerant contained in a refrigerant-using device via a valve member provided in the refrigerant-using device, A transport member for moving the refrigerant-using equipment along a transport path, A positioning member for positioning the refrigerant-using equipment at a predetermined position in the transport path, A coupler attached to the valve member of the refrigerant-using equipment, which causes the refrigerant from the refrigerant-using equipment to flow out to the outside through a recovery pipe, A working member that attaches the coupler to the valve member and performs a first operation of opening the valve of the valve member, A position detection member for detecting the position and orientation of the valve member, It comprises a control unit and, The control unit controls the work member to perform the first operation on the refrigerant-using equipment positioned at the predetermined position, based on the detection result of the position detection member, in a refrigerant recovery system.

2. The refrigerant recovery equipment according to claim 1, wherein the control unit controls the work member to perform a second operation of removing the coupler from the valve member of the refrigerant-using equipment to which the coupler is attached and the valve is opened.

3. The positioning member comprises a first positioning member for positioning the refrigerant-using equipment at a first working position, and a second positioning member for positioning the refrigerant-using equipment at a second working position downstream of the first working position. The refrigerant recovery equipment according to claim 2, wherein the work member performs the first operation on the refrigerant-using equipment positioned at the first work position and performs the second operation on the refrigerant-using equipment positioned at the second work position.

4. The refrigerant recovery equipment according to claim 3, wherein the work member comprises a first work member for performing the first operation on the refrigerant-using equipment positioned at the first work position, and a second work member for performing the second operation on the refrigerant-using equipment positioned at the second work position.

5. The refrigerant recovery equipment according to claim 3, wherein the control unit performs the first operation on another refrigerant-using device positioned at the first work position while the refrigerant-using device is being transported from the first work position to the second work position.

6. The refrigerant recovery equipment according to claim 1, further comprising a refrigerant detector for detecting the refrigerant.

7. The refrigerant recovery equipment according to claim 6, wherein the control unit performs an error determination based on the detection result of the refrigerant detector when the valve is opened by the first operation.

8. The refrigerant recovery apparatus according to claim 1, further comprising a leak checking means for checking leaks in the flow path including the recovery piping.

9. The coupler chuck tool for gripping the aforementioned coupler is further provided, The refrigerant recovery apparatus according to claim 1, wherein the working member operates the coupler chuck tool in the first operation to attach the coupler to the valve member.

10. The valve member further comprises a valve opening / closing tool capable of opening and closing the valve, The refrigerant recovery apparatus according to claim 1, wherein the working member operates the valve opening / closing tool in the first operation to open the valve.

11. A coupler chuck tool for gripping the aforementioned coupler, The valve member further comprises a valve opening / closing tool capable of opening and closing the valve, The refrigerant recovery apparatus according to claim 1, wherein the working member has a tool attachment / detachment section that allows the coupler chuck tool and the valve opening / closing tool to be attached and detached, respectively.

12. The position detection member includes a 3D camera, The refrigerant recovery apparatus according to claim 1, wherein the control unit attaches the coupler to the valve member in the first operation based on the image captured by the 3D camera.

13. The position detection member includes a 2D camera, The refrigerant recovery equipment according to claim 1, wherein the control unit opens the valve of the valve member in the first operation based on the image captured by the 2D camera.

14. The aforementioned refrigerant-using equipment is an air conditioner outdoor unit. The valve member has a two-way valve and a three-way valve. The refrigerant recovery apparatus according to claim 1, wherein the coupler comprises a first coupler attached to the two-way valve and a second coupler attached to the three-way valve.

15. The refrigerant recovery equipment according to claim 14, wherein the transport member moves the air conditioner outdoor unit in an upside-down position.

16. The refrigerant recovery equipment according to claim 1, wherein the working member is a multi-joint robot.

17. A refrigerant recovery system that recovers the refrigerant contained in a refrigerant-using device via a valve member provided in the refrigerant-using device, A transport member for moving the refrigerant-using equipment along a transport path, A positioning member for positioning the refrigerant-using equipment at a predetermined position in the transport path, A coupler attached to the valve member of the refrigerant-using equipment, which causes the refrigerant from the refrigerant-using equipment to flow out to the outside through a recovery pipe, A working member that attaches the coupler to the valve member and performs a first operation of opening the valve of the valve member, A position detection member for detecting the position and orientation of the valve member, It comprises a control unit and, A refrigerant recovery system in which the control unit controls the work member to perform the first operation on the refrigerant-using equipment positioned at a predetermined position, based on the detection result of the position detection member.

Images