Abstract: To provide a safety joint housing device for preventing a plug of a safety joint or a filling hose from being locked in a lower opening of a casing when the safety joint separates, thereby preventing a filling device from falling over and being damaged. A safety joint housing device 100 according to the present invention houses a safety joint 101 including a plug 10 connected to a filling hose 61 and a socket 20 provided in a filling device 200, the plug 10 and the socket 20 separating from each other when a tensile load exceeding a predetermined level is applied, the safety joint housing device 100 including: a casing 320; a substrate 80 attached to the casing 320 on a main body side of the filling device 200; and a member 30 that is provided at a lower opening 320A of the casing 320 and deforms when in contact with the plug 10 or the filling hose 61.

Abstract: To provide a filling hose guide device for preventing a plug of a safety joint or a filling hose from being locked in a lower opening of a casing when a safety joint separates, thereby preventing a filling device from falling over and being damaged. A filling hose guide device 100 according to the present invention is characterized in that after a plug 10 connected to a filling hose 61 and a socket 20 provided in a filling device 200 in a safety joint 300 separate when a tensile load above a predetermined level is applied to the filling hose 61, the filling hose guide devices 100 include: a rotatable or deformable member 30A, 30B, with which the filling hose 61 contacts, below the safety joint 300; and a support structure 50, through which the filling hose 61 passes, for supporting the rotatable or deformable member 30A, 30B.

Abstract: A robot controller comprises, (1) a servo motor driving a robot manipulator, (2) a motor current detector which detects a current driving the servo motor, (3) a motor rotational speed detector which detects a rotational speed of the servo motor, (4) a disturbance detector which detects a disturbance torque loaded to the robot manipulator by using the motor rotational speed and the motor current, (5) a force control calculator which outputs a force-control-instruction value responsive to a disturbance torque detected by the disturbance detector, and (6) a move restriction calculator which performs a force control by adding a force-control-instruction value to a regular position-instruction value of the robot manipulator.