CN114074896B - Integrated coupling module and coupling system comprising the same - Google Patents

Integrated coupling module and coupling system comprising the same Download PDF

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Publication number
CN114074896B
CN114074896B CN202110924574.8A CN202110924574A CN114074896B CN 114074896 B CN114074896 B CN 114074896B CN 202110924574 A CN202110924574 A CN 202110924574A CN 114074896 B CN114074896 B CN 114074896B
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CN
China
Prior art keywords
module
cover
coupler
container
clamping unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110924574.8A
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Chinese (zh)
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CN114074896A (en
Inventor
宋勇益
李晋宇
蔡熙峯
崔乐坤
尹炳春
元钟豪
徐炯规
林佑泽
赵济东
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STI Co Ltd
Original Assignee
STI Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020210005962A external-priority patent/KR102551793B1/en
Application filed by STI Co Ltd filed Critical STI Co Ltd
Publication of CN114074896A publication Critical patent/CN114074896A/en
Application granted granted Critical
Publication of CN114074896B publication Critical patent/CN114074896B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B66C17/26—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes combined with auxiliary apparatus, e.g. log saws, pushers for unloading vehicles, means for shunting railway vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B7/00—Hand- or power-operated devices for opening closed containers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Sealing Of Jars (AREA)

Abstract

An integrated coupling module includes an opening/closing module including a cover clamping unit clamping a cover of a container; and a coupler fixing module fixing a coupler discharging the liquid in the container to the outside, wherein the coupler is lowered from above the cover clamping unit to be coupled to the container; and a coupling system including the integrated coupling module.

Description

Integrated coupling module and coupling system comprising the same
Technical Field
Embodiments relate to an integrated coupling module capable of opening and closing a cover of a container and discharging a liquid and a coupling system including the same.
Background
Various types of chemicals used in semiconductor factories or chemical factories are supplied in a state of being stored in a container such as a tub. Therefore, supplying the transported chemicals to the semiconductor factory or the like requires opening the tub cover, coupling the coupler thereto, and storing the chemicals in the storage tank of the factory. Or conversely, the coupler may be coupled to the empty bucket to fill the empty bucket with chemicals.
However, in the related art, the opening/closing module that opens and closes the lid of the tub and the coupling fixing module are separately provided in the coupling module, which brings about a problem in that the size of the coupling module becomes larger and the operation becomes more troublesome.
Further, the coupling module in the related art includes: a first step in which the opening/closing module is moved to the top of the tub, the cover is opened, and then withdrawn from the top of the tub; a second step in which the coupler fixing module is moved to the top of the tub and the coupler is inserted into the tub; a third step in which the coupler of the module is fixed by the coupler, and the chemical is filled into or discharged from the tub; a fourth step in which the coupler fixing module is withdrawn from the top of the tub; and a fifth step in which the opening/closing module is moved to the top of the tub and the cover is coupled. However, the opening/closing module and the coupling fixing module need to be alternately moved to the operating positions, which causes a problem of relatively slow operating speed.
Furthermore, the inability of the coupling module in the related art to adjust the inclination angle brings about another problem in that it is difficult to accurately clamp the cover or accurately insert the coupler into the outlet of the tub when the cover or the outlet is inclined.
Disclosure of Invention
Accordingly, the present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide an integrated coupling module in which an opening/closing module and a coupler fixing module are integrated.
Furthermore, an integrated coupling module is provided that is capable of adjusting the angle of the opening/closing module and the coupler fixing module.
The purpose for which the embodiments are intended to achieve is not limited thereto, and includes the purpose or effect understood from the means for solving the problem and the embodiments thereof.
To achieve the above object, according to one aspect of the present invention, an integrated coupling module includes: an opening/closing module including a cover clamping unit clamping a cover of the container; and a coupler fixing module fixing a coupler discharging the liquid in the container to the outside, wherein the coupler is lowered from above the cover clamping unit to be coupled to the container.
The cover clamping unit may include a space portion formed in the axial direction, and the coupling may be lowered below the cover clamping unit through the space portion.
The cover clamping unit may include a support portion having a first through hole formed therein, and a plurality of clamps disposed around the first through hole to form the space portion.
The opening/closing module may include a second rotating unit rotating the cover clamping unit; and a first housing disposed above the cover clamping unit, wherein the coupler fixing module may be inserted into the first housing.
The position adjustment module may include a first position adjustment module that moves the position of the cover clamping unit in a first direction and a second position adjustment module that moves the position of the cover clamping unit in a second direction intersecting the first direction.
The coupler fixing module may include a first rotation unit to rotate the coupler or a key code of the coupler and a driving module to move the coupler up and down, wherein the coupler may be lowered below the cover clamping unit by the driving module.
A lifting/lowering module to move the opening/closing module and the coupler fixing module up and down together may be included, wherein the coupler may be lifted and lowered together with the cover clamping unit by the lifting/lowering module and lowered below the cover clamping unit by the driving module of the coupler fixing module.
An angle adjusting module connected to the opening/closing module to adjust an angle of the opening/closing module may be included, wherein the angle adjusting module may include a first adjusting unit to move the opening/closing module and the coupler fixing module together in a first direction, and a second adjusting unit to move the opening/closing module and the coupler fixing module together in a second direction intersecting the first direction.
The angle adjusting module may include an angle adjusting element that simultaneously adjusts the inclination angles of the opening/closing module and the coupler fixing module.
A sensing module sensing a position and a tilt of the cover may be included, wherein the sensing module may include a first sensing unit sensing a position of the cover and a second sensing unit sensing a tilt of the cover.
A coupling system according to aspects of the present invention includes: a pair of first conveying members facing each other in a first direction; a pair of second conveying members facing each other in a direction intersecting the first direction; an integrated coupling module disposed on at least one of the pair of second conveying members; and a control unit controlling the first conveying member, the second conveying member, and the integrated coupling module, wherein the integrated coupling module includes an opening/closing module including a cover clamping unit clamping a cover of the container; and a coupler fixing module fixing a coupler discharging the liquid in the container to the outside, wherein the coupler is lowered from above the cover clamping unit to be coupled to the container.
The coupling method according to an aspect of the present invention includes: separating the cover from the container by rotating the cover clamping unit of the opening/closing module; lowering a coupler provided inside the opening/closing module to expose it under the cover clamping unit; discharging the liquid stored in the container by inserting the coupler into the outlet of the container; lifting the coupler above the lid gripping unit; and fastening the lid to the container by the lid clamping unit.
In the step of separating the cover, the opening/closing module may be moved to a holder provided adjacent to the container to place the separated cover on the holder, and in the step of closing the cover to the container, the opening/closing module may be moved to the holder and again clamp the cover placed on the holder to fasten the cover to the container.
According to this embodiment, the integration of the opening/closing module and the coupler fixing module can speed up the operation and reduce the installation area.
Further, since the inclination angles of the opening/closing module and the coupler fixing module can be adjusted according to the inclination of the outlet of the cap and the container, the cap can be accurately clamped, and the coupler can be accurately inserted into the outlet.
The various advantageous advantages and effects of the present invention are not limited to the above description and will be more readily understood in describing particular embodiments of the invention.
Drawings
Fig. 1 is a conceptual view of a coupling system according to an embodiment of the present invention.
Fig. 2 is a conceptual view of an integrated coupling module according to an embodiment of the invention.
Fig. 3 is a perspective view of the integrated link module of fig. 2, viewed from another direction.
Fig. 4 is a perspective view of the opening/closing module and the coupler fixing module separated from each other.
Fig. 5 is a side view of the cover clamping unit.
Fig. 6A is a longitudinal view of an integrated coupling module.
Fig. 6B is a longitudinal view showing a state where the coupler is lowered below the cover clamping unit.
Fig. 7A and 7B are views illustrating a process of bringing a plurality of containers to at least one integrated coupling module.
Fig. 8 is a view illustrating a process of sensing a position of a cover coupled to a container.
Fig. 9 is a view showing a process of sensing flatness of a cover coupled to a container.
Fig. 10 is a view showing the angle adjustment module.
Fig. 11 is a view showing an adjusting element of the angle adjusting module.
Fig. 12 is a side view of an integrated link module.
Fig. 13 is a view showing a state in which the integrated link module is tilted to one side by the angle adjustment module.
Fig. 14 is a view showing a state in which the integrated link module is tilted to the other side by the angle adjusting module.
Fig. 15 is a view illustrating an integrated coupling module according to another embodiment.
Fig. 16 is a view showing a state in which the cover clamping unit is lowered to be coupled to the cover.
Fig. 17 is a view showing a state in which the cap is separated from the container by the cap holding unit.
Fig. 18 is a view showing a state in which the cap holding unit places the cap on the holder.
Fig. 19 is a view showing a state where the coupler is exposed below the cover clamping unit.
Fig. 20 is a view showing a state in which the key code of the coupling and the groove of the outlet are aligned with each other.
Fig. 21 is a view showing the outlet top surface.
Fig. 22 is a view showing a state in which the coupler is inserted into the outlet of the container.
Fig. 23 is a view showing a state in which the coupler is lifted above the cover gripping unit.
Fig. 24 is a view showing a state in which the cover gripping unit grips the cover placed on the holder again.
Fig. 25 is a view showing a state in which the cap holding unit is rotated to couple the cap to the container.
Fig. 26 is a view showing a state in which the cover gripping unit is lifted to complete the operation.
Detailed Description
As the invention may be modified and practiced in different ways, there will be shown and described in the drawings. However, it is not intended to limit the invention to the particular embodiments and should be construed to include all modifications, equivalents, and alternatives falling within the spirit and technical scope of the invention.
Terms such as first and/or second may be used to describe various components, but components should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, in accordance with the concepts of the present invention, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the claims. The term "and/or" includes a combination of the listed plurality of related items or one of the listed plurality of related items.
When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, but it is understood that other elements can be present therebetween. On the other hand, when an element is referred to as being "directly connected" or "directly coupled" to another element, it should be understood that there are no other elements between the two.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprises" or "comprising" are intended to mean the existence of the feature, number, step, action, component, feature, or combination thereof implemented, and should not be understood to preclude the existence or additional possibility of one or more other features, numbers, steps, actions, components, features, or combinations thereof.
Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the background of the relevant art and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the specification.
Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Wherever the reference numerals are, the same reference numerals are assigned to the same or equivalent parts, and repetitive description thereof will be omitted.
Fig. 1 is a conceptual view of a coupling system according to an embodiment of the present invention.
FIG. 1 illustrates that a coupling system according to an embodiment may include: a pair of first conveying members 210 disposed to face each other in a first direction (X-axis direction); a pair of second conveying members 220 disposed to face each other in a second direction (Y-axis direction) perpendicular to the first direction; at least one integrated coupling module 400 disposed on the second conveying member 220; and a control unit 300 that controls the first conveying member, the second conveying member, and the integrated coupling module.
The integrated coupling module 400 may be connected to the second conveying member 220 by the second conveying module 221 to move in a first direction (X-axis direction). Further, the second conveying member 220 may be moved in the second direction (Y-axis direction) by the first conveying module 211.
Thus, the integrated coupling module 400 may be freely movable in the first and second directions by the first and second transport modules 211 and 221. The integrated coupling module 400 may be provided on each of the pair of second conveying members 220, but is not necessarily limited thereto.
A plurality of containers 10 may be provided on the holder 20. The container 10 may store chemicals for semiconductor displays, but is not necessarily limited thereto, and various liquids may be stored therein. The container 10 may be of various sizes and shapes to hold various liquids.
The cap 11 may be coupled to an outlet 12 in the container 10. Accordingly, the control unit 300 may control the integrated coupling module 400 so as to open the cover 11, insert the coupler into the outlet of the container, to discharge the liquid stored in the container 10 to the outside, and then close the cover 11 back.
Fig. 2 is a conceptual view of an integrated coupling module according to an embodiment of the present invention, fig. 3 is a perspective view of fig. 2 viewed from another direction, fig. 4 is a perspective view of an opening/closing module and a coupler fixing module separated from each other, and fig. 5 is a side view of a cover clamping unit.
Fig. 2 to 4 show that the opening/closing module 410 opening and closing the cover 11 of the container 10 and the coupler fixing module 430 supporting the coupler 420 may be coupled to each other to form one integrated coupling module 400.
The opening/closing module 410 may include a cover clamping unit 411, a second rotating unit 414, and a first housing 416. The opening/closing module 410 may be lowered to clamp the cover 11 of the container 10, rotated to separate the cover 11 from the container 10, and lifted while clamping the cover 11. Various structures that can perform these functions can be applied to the opening/closing module 410 without limitation.
The cover clamping unit 411 may include a plurality of grippers 412 capable of clamping the cover 11 and a support portion 413 to which the plurality of grippers 412 are connected. The plurality of grippers 412 may be configured to open as they are lowered and fastened to the cover 11. Such a hinge structure is not limited to a specific structure. Various fastening structures that can clamp the cover can be applied to the hinge structure without limitation.
The second rotating unit 414 may rotate the cap clamping unit 411 to separate the cap 11 from the container 10 or fasten the cap to the container. The second rotation unit 414 may rotate a driving belt 415 connected to a second housing 418 disposed above the cover clamping unit 411. The second housing 418 may be rotated together with the cover clamping unit 411. However, the configuration of the second rotation unit is not necessarily limited thereto. Various power transmission structures may be applied.
The first housing 416 may be disposed above the cover clamping unit 411 and the second housing 418, and a receiving space may be formed therein. The coupler fixing module 430 may be partially inserted into the first housing 416. This configuration allows the central axis of the opening/closing module 410 and the central axis of the coupler fixing module 430 to coincide with each other.
The coupler 420 may include a nozzle 421 to be inserted into the container 10, a delivery tube 426 connected to the nozzle 421, and at least one key 425. The key 425 may be inserted into a recess formed on the outlet of the container 10.
The coupling fixing module 430 may include a holder 431 to fix the coupling 420, a first rotating unit 433 to rotate the coupling 420 or the key code 425 of the coupling 420, and a driving module 435 to raise and lower the coupling 420 in the opening/closing module 410.
Since the coupler fixing module 430 is inserted into the first housing 416 of the opening/closing module 410, the coupler 420 may be disposed inside the opening/closing module 410. Accordingly, the nozzle 421 may also be disposed inside the opening/closing module 410 so as not to be exposed to the outside.
The drive module 435 can move the coupler 420 up and down. The driving module 435 may have a cylindrical structure, but is not necessarily limited thereto. Any structure that can move the coupling 420 up and down can be applied without limitation.
When the coupler 420 is lowered by the driving module 435, the nozzle 421 of the coupler 420 may be lowered below the cover clamping unit 411 to be exposed to the outside. When the integrated module is lowered while the nozzle 421 of the coupler 420 is exposed under the cover clamping unit 411, the nozzle 421 of the coupler 420 may be inserted into the outlet of the container 10.
The angle adjustment module 450 may axially rotate (or tilt) the opening/closing module 410 and the coupler fixing module 430 together with respect to a first direction (X-axis direction) and a second direction (Y-axis direction). The opening/closing module and the coupler fixing module of the conventional structure are separately manufactured, which raises a problem in that a configuration for adjusting the angle of the opening/closing module and a configuration for adjusting the angle of the coupler fixing module are required, respectively.
However, according to this embodiment, the opening/closing module 410 and the coupler fixing module 430 may be integrally manufactured, so that there is an advantage in that the angles of the cover clamping unit 411 and the coupler 420 may be adjusted at one time by one angle adjusting module 450. Therefore, manufacturing cost can be reduced, and downsizing can be achieved.
The angle adjusting module 450 may include a first adjusting unit moving the positions of the opening/closing module 410 and the coupler fixing module 430 in a first direction, and a second adjusting unit moving the opening/closing module 410 and the coupler fixing module 430 in a second direction. This configuration allows the opening/closing module 410 and the coupler fixing module 430 to be adjusted to a desired angle.
The sensing module 460 may be disposed adjacent to the opening/closing module 410 and include a first sensing unit 461 and a second sensing unit 462. The first sensing unit 461 may acquire an image of a top image of the container 10 to sense the position of the cover 11.
The control unit 300 may acquire the position coordinates of the cap 11 through the image of the top image and output driving signals to the first and second conveying modules 211 and 221 to move the cap clamping unit 411 over the cap 11. The first sensing unit 461 may be a camera capable of capturing an image, but is not necessarily limited thereto. Various devices capable of checking the position of the cover may be selected.
The second sensing unit 462 may measure the flatness of the cover 11. For example, the second sensing unit 462 may be constituted by a plurality of height sensors that respectively measure the heights from the cover 11. The control unit 300 may check how inclined the cover 11 is using a plurality of height signals from the sensing unit 462. The number of the height sensors is not particularly limited. For example, four height sensors may be provided, but fewer or more height sensors may be provided.
The lifting/lowering module 470 may include a connection unit 473 connected to the second conveying member 220, a sliding unit 472 provided on the connection unit 473 and connected to the angle adjustment module 450, and a lifting/lowering driving unit 471 that lifts and lowers the sliding unit 472.
The cover clamping unit 411 and the coupler 420 may be lifted and lowered by the lifting/lowering module 470. According to an embodiment, the coupler 420 may be lifted and lowered together with the cover clamping unit 411 by the lifting/lowering module 470 and lowered under the cover clamping unit 411 by the driving module 435.
Fig. 1 and 5 illustrate that the position adjustment module 417 may be disposed between the cover clamping unit 411 and the second housing 418. When the cover 11 is tilted or misaligned, the position adjustment module 417 may adjust the cover clamping unit 411 to tilt according to the tilt of the cover 11 or align the cover clamping unit to a correct position.
This configuration allows the position adjustment module 417 to tilt or move the cover clamping unit 411 to accurately clamp the cover 11 even when the cover 11 is tilted or not clamped in a correct position.
The position adjustment module 417 may include a first position adjustment module 417a that moves the position of the cover clamping unit 411 in a first direction (X-axis direction) and a second position adjustment module 417b that moves the position of the cover clamping unit 411 in a second direction (Y-axis direction) intersecting the first position, both of which are disposed above the support portion 413.
The first position adjustment module 417a may include a first position adjustment element 417a-1 and a first support plate 417a-2 disposed on top of the first position adjustment element 417 a-1. The first position adjusting member 417a-1 may move the cover clamping unit 411 in a first direction with respect to the first support plate 417a-2.
The second position adjustment module 417b may include a second position adjustment element 417b-1 and a second support plate 417b-2 disposed on top of the second position adjustment element 417 b-1. The second position adjusting member 417b-1 may move the cover clamping unit 411 in a second direction with respect to the second support plate 417b-2.
First position adjustment member 417a-1 and second position adjustment member 417b-1 may be LM blocks, but are not necessarily limited thereto. Various moving structures that can move the cover clamping unit 411 in the first direction or the second direction may be applied. For example, the first and second position adjustment elements may have a resilient block or hinge structure.
The plurality of grippers 412 may be connected to the support portion 413 by an elastic member (not shown). Therefore, when the cover 11 is pressed, the holder 412 can be opened by the elastic member while being lifted in the vertical direction. Therefore, even when the cover 11 is inclined, the cover 11 can be accurately held.
The plurality of grippers 412 may include a first gripper 412a connected to the support portion 413 and a second gripper 412b connected to the first gripper 412a to grip the cover 11 from the side. The second holder 412b may be provided with a slit 412c into which the protrusion of the cover 11 may be inserted.
The position adjustment module 417 may be driven independently of the angle adjustment module 450 described above and either may be omitted if desired.
Fig. 6A is a longitudinal view of the integrated coupling module, and fig. 6B is a longitudinal view showing a state in which the coupler is lowered below the cover clamping unit.
Fig. 6A shows that the cover clamping unit 411 may have a space portion H1 where the coupler 420 is lowered in the axial direction. The support portion 413 of the cover clamping unit 411 may have a first through hole H11, and the plurality of grippers 412 may be disposed to surround the first through hole H11.
Further, the position adjustment module 417 may have a second through hole H12 that matches the first through hole H11, and the second housing 418 may have a third through hole H13. Accordingly, the space portion H1 may be formed at the center of the cover clamping unit 411 in the axial direction so that the coupler 420 disposed inside the opening/closing module 410 may be lowered.
The second housing 418 may be inserted into the first housing 416. Bearings 419 may be provided in an area into which the second housing 418 is inserted so that rotation of the second housing 418 may be supported.
The coupler fixing module 430 may include a retainer 431 to fix the support tube 427 into which the coupler 420 is inserted. One side 427a and the other side 427b of the support tube 427 may be exposed to the exterior of the coupler fixing module. A plurality of protrusions (427 c in fig. 4) may be formed on the outer circumferential surface of the support tube 427 to extend in the axial direction. The holder 431 may be coupled to the support tube 427 and rotated by the first rotating unit 433 such that the coupler 420 or the key code 425 may be rotated.
Fig. 6B shows that the nozzle 421 of the coupler 420 may be exposed under the plurality of grippers 412 when the coupler 420 is lowered by the drive module 435. Thus, the nozzle 421 of the coupler 420 may be inserted into the outlet of the container 10. In addition, when the discharge of the liquid is completed, the coupling 420 may be lifted by the driving module 435 to be received again inside the opening/closing module 410.
The driving module 435 may include a fixed chuck 435a coupled to the support tube 427 and a driving unit to raise and lower the fixed chuck 435a, into which the coupler 420 is inserted. The driving unit may use air to raise and lower the fixed chuck, but is not necessarily limited thereto. Various lifting/lowering structures may be applied without limitation.
Fig. 7A and 7B are views illustrating a process of bringing a plurality of containers to at least one integrated coupling module.
Fig. 7A and 7B illustrate that a plurality of containers 10 may be brought into an operative position defined by a pair of first conveying members 210 and a pair of second conveying members 220. The plurality of containers 10 may be brought to the operating position by the conveying member while being placed on the holder 20. Various conveyances that can move the container 10, such as conveyors, rollers, conveyor belts, forklifts, manual lifts, electric lifts, carts, bogies, rails, etc., may be used without limitation.
Two containers 10 may be arranged in a first row and two containers 10 may be arranged in a second row. The first integrated coupling module 400A may perform a coupling operation on two containers 10 disposed in a first row, and the second integrated coupling module 400B may perform a coupling operation on two containers 10 disposed in a second row. However, the present invention is not necessarily limited thereto, and the number of containers 10 that can be operated at one time may vary in consideration of the amount of chemicals to be used or the operation space. For example, three or less, or five or more containers 10 may be provided.
Fig. 8 is a view showing a process of sensing a position of a cap coupled to a container, and fig. 9 is a view showing a process of sensing flatness of a cap coupled to a container.
Fig. 8 shows that the first sensing unit 461 may acquire an image of the top image of the container 10 to check the position of the cover 11. The control unit 300 may acquire the position coordinates of the cap 11 through the image of the top image and output driving signals to the first and second conveying members 210 and 220 to move the cap clamping unit 411 over the cap 11.
The first sensing unit 461 may be a camera capable of capturing an image, but is not necessarily limited thereto. The control unit 300 may obtain position coordinates of the cover 11 using the image of the top image acquired by the first sensing unit 461 and check the protruding position of the cover 11. This process may be performed by various image analysis methods.
Fig. 9 shows that the second sensing unit 462 may measure the flatness of the cover 11. For example, the second sensing unit 462 may be constituted by a plurality of height sensors that respectively measure the heights from the cover 11. The control unit 300 may check how much the cover 11 is tilted using a plurality of height signals from the second sensing unit 462. The number of the height sensors is not particularly limited. For example, four height sensors may be provided, but fewer or more sensors may be provided.
The control unit 300 may calculate how much the cover 11 is tilted with respect to the X-axis and the Y-axis using information measured by the plurality of height sensors. When calculating the tilt of the cover 11, the tilt angle of the integrated link module 400 may be adjusted. If the measurement result of the flatness shows that the tilt of the cover 11 exceeds the predetermined tilt range, an error message may be output without performing the separation operation of the cover 11.
Fig. 10 is a view showing an angle adjustment module, fig. 11 is a view showing an adjustment element of the angle adjustment module, fig. 12 is a side view of the integrated coupling module, fig. 13 is a view showing a state in which the integrated coupling module is tilted to one side by the angle adjustment module, fig. 14 is a view showing a state in which the integrated coupling module is tilted to the other side by the angle adjustment module, and fig. 15 is a view showing the integrated coupling module according to another embodiment.
Fig. 10 and 11 illustrate that the angle adjustment module 450 may include a first fixed plate 451, a plurality of angle adjustment elements 454a, 454b, 454c, 454d, a second fixed plate 452, a first adjustment unit 455, a second adjustment unit 456, and a third fixed plate 453.
The first adjusting unit 455 may move the opening/closing module 410 and the coupler fixing module 430 in a first direction, and the second adjusting unit 456 may move the opening/closing module 410 and the coupler fixing module 430 in a second direction. The first and second adjusting units 455 and 456 may be motors or cylinders, but are not necessarily limited thereto. Various structures that can move the opening/closing module in the first direction and the second direction can be applied without limitation.
The angle adjusting members 454a, 454b, 454c, 454d may be disposed between the first and second fixed plates 451, 452. The angle adjusting elements 454a, 454b, 454c, 454d may be air chucks, and the angle of the first fixing plate 451 connected to the opening/closing module 410 may be adjusted by a predetermined pressure and flow rate applied by a separate electro-pneumatic regulator (not shown). However, the present invention is not necessarily limited thereto. Various structures of the coupling module 400 that can be integrated to be tilted with respect to the X-axis and the Y-axis can be applied without limitation.
Fig. 12 and 13 illustrate that different controls of pressure and flow rate applied to the plurality of angle adjustment elements 454 may tilt the opening/closing module 410 and the coupler fixing module 430 forward. In addition, fig. 14 shows that the plurality of angle adjustment elements 454 may tilt the opening/closing module 410 and the coupler fixing module 430 backward. This structure allows one angle adjustment module 450 to freely tilt the opening/closing module 410 and the coupler fixing module 430.
For various reasons, the lid coupled to the container may be disposed obliquely. Containers such as pails may require chemical resistance, depending on the type of chemical, so relatively weak resin materials (e.g., PP, PE) may be used. Thus, when manufacturing the container, there is a possibility that the lid or the outlet may be inclined.
Furthermore, after filling the container with the chemical, an error in adjusting the pressure of the injected gas may cause tilting, and failure to discharge gas from the container when the chemical is filled may cause tilting. Furthermore, when a small amount of pressurized gas is filled to maintain the proper pressure as the chemical is discharged from the container, failure to regulate the pressure may cause the container to shrink, thereby creating a tilt in the cap or outlet.
When the cover is placed obliquely for various reasons as described above, if the cover clamping unit is vertically lowered, it may be difficult to accurately clamp the oblique cover. Thus, the integrated coupling module according to an embodiment employs the angle adjustment module 450 to adjust the angle of the cover clamping unit 411 and/or the coupler 420.
According to this embodiment, the cover clamping unit of the opening/closing module 410 is freely rotated to have an inclination matched with that of the cover, thereby accurately clamping the cover.
Further, when the coupler 420 is exposed under the cap clamping unit 411, the coupler is freely rotated to have an inclination matching that of the cap, so that the coupler can be accurately inserted into the outlet of the container.
The angle adjustment module 450 may also be composed of a first fixed plate 451, a plurality of angle adjustment elements 454a, 454b, 454c, 454d, and a second fixed plate 452. That is, the angle adjusting module 450 may adjust the inclination of the opening/closing module only by the angle adjusting element, or may add a further configuration of the first adjusting unit and the second adjusting unit to move the opening/closing module.
Fig. 15 shows that the lifting/lowering module 470 may also be provided between the angle adjusting module 450 and the opening/closing module 410. This configuration allows the angle adjustment module 450 to tilt the lifting/lowering module 470 and the opening/closing module 410 together so that the opening/closing module 410 and the coupler fixing module 430 can be obliquely lowered. Accordingly, the cap 11 may be clamped, or the nozzle 421 may be more accurately inserted into the container 10.
Fig. 16 is a view showing a state in which the cap-gripping unit is lowered to be coupled to the cap, fig. 17 is a view showing a state in which the cap-gripping unit separates the cap from the container, and fig. 18 is a view showing a state in which the cap-gripping unit places the cap on the holder.
Fig. 16 illustrates that the cover clamping unit 411 may be coupled to the cover 11 of the container 10 as the opening/closing module 410 is lowered by the lifting/lowering module 470. Then, as the cover clamping unit 411 is rotated by the second rotating unit 414, the cover 11 may be separated from the container 10.
Fig. 17 shows that as the opening/closing module 410 is lifted by the lifting/lowering module 470, the cover clamping unit 411 may be lifted while holding the cover 11. Thus, the outlet 12 of the container 10 may be exposed.
Fig. 18 shows the opening/closing module 410 moved to the outside of the container 10 to place the cover 11 on the holder 13 provided adjacent to the container 10. This is because the coupler 420 may not be lowered when the cover 11 is clamped by the cover clamping unit 411.
The structure of the cover holding unit 411 to place the cover 11 on the holder 13 is not particularly limited. For example, as the grippers 412 of the cap gripping unit 411 can be opened by a separate driving unit, the cap 11 may be placed on the holder 13. However, the method of placing the cover 11 on the holder 13 by the cover clamping unit 411 is not particularly limited. For example, threads may be formed in the holder 13 such that the cap 11 may be placed on the holder 13 in such a way that the cap is coupled to the outlet.
Further, instead of placing the cover 11 on the holder 13, the cover gripping unit 411 may be rotated or moved to a position where lowering of the coupler 420 is not disturbed.
Fig. 19 is a view showing a state where the coupler is exposed below the cover clamping unit, fig. 20 is a view showing a state where key codes of the coupler and grooves of the outlet are aligned with each other, fig. 21 is a view showing a top surface of the outlet, fig. 22 is a view showing a state where the coupler is inserted into the outlet of the container, and fig. 23 is a view showing a state where the coupler is lifted above the cover clamping unit.
Fig. 19 to 21 show that the nozzle 421 of the coupler 420 may be lowered below the cover clamping unit 411 by the driving module 435 of the coupler fixing module 430.
The first sensing unit 461 may acquire an image of the outlet 12 from which the cover 11 is removed, and check whether the key code 425 is aligned with the groove 12b of the outlet 12. If it is determined that the key code 425 and the groove 12b are not aligned, the key code 425 may be rotated by the first rotation unit 433.
For example, the key code 425 may be rotated clockwise or counterclockwise relative to a reference point R1 disposed on a top surface in an image of the outlet 12 such that the key code may be inserted into one or more open grooves of the plurality of grooves 12 b. However, the present invention is not necessarily limited thereto. Various alignment methods using vision may be applied to the alignment of the key codes 425.
When the key 425 is determined to be aligned, the coupler 420 may be lowered by the raising/lowering module 470 to insert the nozzle 421 of the coupler 420 into the discharge groove 12a of the outlet 12, as shown in fig. 22. At this time, the second sensing unit 462 may be used to measure the inclination of the outlet 12, and the nozzle 421 may be rotated to be inclined according to the inclination of the outlet 12 and then inserted.
When the insertion of the coupler 420 into the outlet of the container 10 is completed, the liquid stored in the container 10 may be discharged to the storage tank. Various liquid delivery methods may be applied without limitation to delivering the liquid in the container 10 to a storage tank.
Fig. 23 shows that when the draining is completed, the integrated link module 400 may be lifted again by the lift/lower module 470.
Fig. 24 is a view showing a state in which the cover gripping unit grips the cover placed on the holder again, fig. 25 is a view showing a state in which the cover gripping unit rotates to couple the cover to the container, and fig. 26 is a view showing a state in which the cover gripping unit is lifted to complete the operation.
Fig. 24 shows that the opening/closing module 410 may be moved to the holder 13 and again clamp the cover 11 placed on the holder 13. Fig. 25 shows that the cap clamping unit 411 clamping the cap 11 may be lowered by the lifting/lowering module 470, and the cap clamping unit 411 may couple the cap 11 to the outlet 12 again to complete the operation while being rotated by the second rotating unit 414.
Fig. 26 shows that the cover clamping unit 411 may be lifted again, and the integrated coupling module 400 may be moved to the top of the next container 10 to perform the same operation.
So far, the description has focused on embodiments, which serve as illustrative examples only, and do not limit the invention. The configurations of the various embodiments depicted in the drawings may be applied without limitation.
Those skilled in the relevant art will recognize that various modifications and applications, not illustrated above, are possible without departing from the essential features of the present embodiments. For example, each component specific to an embodiment may be modified for implementation. And differences related to such modifications and applications should be construed as being included in the scope of the present invention as defined in the appended claims.
Description of the reference numerals
10: Container
11: Cover for a container
400: Integrated link module
410: Opening/closing module
411: Cover clamping unit
414: Second rotary unit
420: Coupling device
425: Key code
430: Connector fixing module
433: First rotary unit
435: Driving module
450: Angle adjusting module
470: Lifting/lowering module

Claims (13)

1. An integrated coupling module, comprising:
an opening/closing module including a cover clamping unit clamping a cover of the container; and
A coupler fixing module that fixes a coupler that discharges liquid in the container to the outside,
Wherein the coupler is lowered from above the cap holding unit to be coupled to the container,
Wherein the cover clamping unit includes a space portion formed along an axial direction, and the coupling is lowered below the cover clamping unit through the space portion.
2. The integrated coupling module of claim 1, wherein the cover clamping unit includes a support portion in which a first through hole is formed and a plurality of grippers disposed around the first through hole to form the space portion.
3. The integrated coupling module of claim 1, comprising a lifting/lowering module that moves the opening/closing module and the coupler fixing module up and down together, wherein the coupler is lifted and lowered together with the cover clamping unit by the lifting/lowering module and lowered below the cover clamping unit by a driving module of the coupler fixing module.
4. An integrated coupling module, comprising:
an opening/closing module including a cover clamping unit clamping a cover of the container; and
A coupler fixing module that fixes a coupler that discharges liquid in the container to the outside,
Wherein the coupler is lowered from above the cap holding unit to be coupled to the container,
Wherein the opening/closing module includes a second rotating unit rotating the cover clamping unit and a first housing disposed above the cover clamping unit
Wherein the coupler fixing module is inserted into the first housing, and
Wherein the cover clamping unit includes a space portion formed along an axial direction, and the coupling is lowered below the cover clamping unit through the space portion.
5. The integrated coupling module of claim 4, comprising a position adjustment module disposed between the lid clamping unit and the first housing, wherein the position adjustment module comprises a first position adjustment module that moves a position of the lid clamping unit in a first direction and a second position adjustment module that moves a position of the lid clamping unit in a second direction that intersects the first direction.
6. The integrated coupling module of claim 4, wherein the coupler fixing module includes a first rotating unit rotating the coupler or a key code of the coupler and a driving module moving the coupler up and down, wherein the coupler is lowered below the cover clamping unit by the driving module.
7. An integrated coupling module, comprising:
an opening/closing module including a cover clamping unit clamping a cover of the container; and
A coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside, an
An angle adjusting module connected to the opening/closing module to adjust an angle of the opening/closing module,
Wherein the angle adjusting module includes a first adjusting unit that moves the opening/closing module and the coupling fixing module together in a first direction, and a second adjusting unit that moves the opening/closing module and the coupling fixing module together in a second direction intersecting the first direction,
Wherein the coupler is lowered from above the cap holding unit to be coupled to the container, and
Wherein the cover clamping unit includes a space portion formed along an axial direction, and the coupling is lowered below the cover clamping unit through the space portion.
8. An integrated coupling module, comprising:
an opening/closing module including a cover clamping unit clamping a cover of the container; and
A coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside, an
An angle adjusting module connected to the opening/closing module to adjust an angle of the opening/closing module, wherein the angle adjusting module includes an angle adjusting element to simultaneously adjust an inclination angle of the opening/closing module and the coupler fixing module,
Wherein the coupler is lowered from above the cap holding unit to be coupled to the container, and
Wherein the cover clamping unit includes a space portion formed along an axial direction, and the coupling is lowered below the cover clamping unit through the space portion.
9. An integrated coupling module, comprising:
an opening/closing module including a cover clamping unit clamping a cover of the container; and
A coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside, an
A sensing module sensing a position and a tilt of the cover, wherein the sensing module includes a first sensing unit sensing a position of the cover and a second sensing unit sensing a tilt of the cover,
Wherein the coupler is lowered from above the cap holding unit to be coupled to the container, and
Wherein the cover clamping unit includes a space portion formed along an axial direction, and the coupling is lowered below the cover clamping unit through the space portion.
10. A coupling system, comprising:
a pair of first conveying members facing each other in a first direction;
a pair of second conveying members facing each other in a direction intersecting the first direction;
An integrated coupling module disposed on at least one of the pair of second conveying members; and
A control unit controlling the first conveying member, the second conveying member and the integrated coupling module,
Wherein the integrated coupling module comprises: an opening/closing module including a cover clamping unit clamping a cover of the container; and a coupler fixing module that fixes a coupler that discharges the liquid in the container to the outside, an
The coupler is lowered from above the cap holding unit to be coupled to the container,
Wherein the cover clamping unit includes a space portion formed along an axial direction, and the coupling is lowered below the cover clamping unit through the space portion.
11. The coupling system of claim 10, comprising a retainer on which a cover separated by the opening/closing module is placed.
12. A method of coupling, comprising:
separating the cover from the container by rotating the cover clamping unit of the opening/closing module;
Lowering a coupler provided inside the opening/closing module to be exposed below the cover clamping unit;
Discharging the liquid stored in the container by inserting the coupler into the outlet of the container;
Lifting the coupler above the cover gripping unit; and
The cap is fastened to the container by the cap clamping unit.
13. The coupling method of claim 12, wherein in the step of separating the cover, the opening/closing module moves to a holder provided adjacent to the container to place the separated cover on the holder, and
In the step of fastening the cover to the container, the opening/closing module moves to the holder and clamps the cover placed on the holder again to fasten the cover to the container.
CN202110924574.8A 2020-08-12 2021-08-12 Integrated coupling module and coupling system comprising the same Active CN114074896B (en)

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