TWI657036B - Automatic slot filling docking device - Google Patents

Abstract

An automatic slot charging docking device includes: a bracket, a joint moving module, a correcting module and a pair of connecting modules, wherein the joint moving module is mounted on the bracket, and includes a fastening unit and a first transfer unit The fastening unit is configured to fix a pipe joint, and the first transfer unit can drive the fastening unit under the movement to move; the calibration module is disposed on the joint movement module, and includes a correction component and a second shift And a lifting unit comprising a calibration plate and a pivoting cover thereof, wherein the lifting unit is responsible for driving the lifting and lowering of the correction component, and the second transfer unit is responsible for driving the lifting unit to move the correction The docking module is disposed adjacent to or away from the fastening unit; the docking module is disposed on the bracket, and includes a pair of connecting units and a pulling component, the docking unit has a pair of connecting holes, the docking holes corresponding to the fitting specifications, the docking The unit is provided with a left pull rod and a right pull rod that can be pulled, and the pull unit is disposed at the docking unit to drive the left pull rod and the right pull rod closer to or away from each other; thereby reducing manual flow , Is accomplished using a semi-automated docking of the pipe joint operation.

Description

Automatic slot filling docking device

The invention relates to the technical field of an automatic tank filling docking device, in particular to a docking operation applied to a pipe joint of a chemical tank truck, which reduces the manual operation process and improves the safety of the docking process.

In the semiconductor production operation, various kinds of chemical liquids must be used. The supplier uses the chemical tank to transport various chemical liquids to the semiconductor factory, and after docking through the pipe joints, the liquid is transported and stored, but some of the chemical liquids are strong acid or Strong alkali solvent, a little carelessness will endanger the safety of the operator. Therefore, after the chemical tanker arrives at the factory, the chemical liquid transportation operation will have strict specifications and strict operation procedures to protect the operator's safety. However, the pipe jointing operation of the liquid conveying pipe fittings of most tank trucks still adopts the manual operation mode. If the pipe joint docking operation is not accurate enough, once the liquid leaks, the operator's life is seriously endangered. Therefore, the present invention designs the latter. Automatic slot filling and docking device reduces manual operation process to increase operator safety.

The main object of the present invention is to provide an automatic tank filling docking device, which is used for the docking operation of the pipe joint of the chemical tank truck infusion pipe, and still retains the manual operation in the low-risk pipe joint calibration and fixing procedure, and subsequent docking in high risk. Locking, switching or liquid supply operations are automated machine operations, eliminating the need for operators to stay on site, reducing operator risk and increasing operator safety.

The object of the present invention is to provide an automatic slot filling and docking device, which is a design with both dustproof and clean functions. The dustproof function mainly covers the docking module when not in use to prevent foreign objects from entering; the cleaning function is that some components can Spray or blow air at the right time to clean the end face of the pipe joint or the end face of the docking unit of the paired module to maintain the quality of the subsequent delivery of the chemical liquid.

In order to achieve the above, the present invention includes a bracket, a joint moving module, a correcting module and a pair of connecting modules. The joint moving module is mounted on the bracket, and includes a fastening unit and a first transfer unit. The fastening unit is configured to fix a pipe joint, and the first transfer unit can drive the fastening unit located below to move; the calibration module is disposed on the joint moving module, and includes a correction component and a second a shifting unit and a lifting unit, the correcting assembly includes a correction plate and a pivotal cover plate thereof, the correction plate has a matching hole shape corresponding to the shape of the pipe joint, and the lifting unit is used for The lifting unit is driven to move up and down, and the second transfer unit is responsible for driving the lifting unit to move, so that the correcting component can be moved toward or away from the fastening unit; the docking module is disposed on the bracket, including a pair of connecting units and a pulling The docking unit has a pair of connecting holes corresponding to the fitting specifications, the docking unit is provided with a left and right lever that can be pulled, and the left and right levers are locked or Unlock The control lever, said pulling assembly disposed in the docking unit is responsible for pulling the left and right pull rod pull rod.

In the embodiment of the present invention, the fastening unit includes a socket and a fastener, the socket is matched with the outer shape of the pipe joint, and one end of the fastener is pivotally connected to the socket, and the other end is provided with a locking device. When the fastener is fastened to the socket, the pipe joint can be fixed thereto.

In the embodiment of the present invention, the first transfer unit includes a frame, a first support plate, a first driving device and a connecting component, the frame is used to carry the fastening unit, and the frame is mounted on the frame The bottom of the first support plate is linearly movable, and the first driving device is disposed on the first supporting plate, and is connected to the frame via the connecting component, and the frame and the fastening unit are driven by the first driving device. The docking module moves in the direction.

In the embodiment of the present invention, the cover plate is pivotally connected to the side of the calibration plate facing the docking module, and the cover plate is normally covered and shields the matching hole, and the cover plate faces the docking module. The side of the direction has a convex sealing member, and the sealing member can be attached to the end surface of the docking unit to prevent foreign objects from entering the mating hole.

In the embodiment of the present invention, a plurality of first sprinkler heads are disposed on a side of the cover plate facing the direction of the docking module, and the corresponding pipelines are disposed inside the cover plate and can be supplied to an external water supply pipeline or The gas pipeline is switched and connected, and timely water supply or gas supply is sprayed through the first spray head to achieve the purpose of cleaning the end face of the docking module.

In the embodiment of the present invention, the calibration plate is further provided with a spray unit on a side facing the direction of the joint moving module, the spray unit is a one-piece frame and a plurality of second sprinkler heads are distributed, and the spray unit is internally The corresponding pipelines are distributed, and the external water supply pipelines or the gas supply pipelines can be switched and connected with the water supply or gas supply, and the second spray head is sprayed out to achieve the purpose of cleaning the end faces of the joints.

In the embodiment of the present invention, the lifting unit includes two sets of rodless cylinders, and the two sides of the calibration plate are mounted on the rodless cylinder and can be lifted and raised by the rodless cylinder. When the calibration plate is raised to the highest position, the lifting unit is not It will block the moving path of the pipe joint docking.

In the embodiment of the present invention, the second transfer unit includes a second driving device, a connecting member and a fixing member. The second driving device is mounted on the first supporting plate, and the second driving device is connected to the second driving device. The connecting member is coupled to the fixing member located under the first supporting plate, and the fixing member is coupled to the top of the lifting unit, and the second driving device drives the fixing member to linearly move, so that the correcting component faces the The fastening unit is close to or away from it.

In the embodiment of the present invention, the pulling component is fixed on the docking unit, and includes a second supporting plate, a left driving device, a right driving device, a left tractor and a right tractor, and the second supporting plate is The left side of the joint moving module is fixed with the left driving device and the right driving device, and the left pulling device is in contact with the left driving rod and is driven to be driven by the left driving device, and the right pulling device is connected with the right pulling device The rod contacts and is moved by the drive.

In an embodiment of the invention, the right tractor has a slot plate having a slot for the right lever to pass through and in contact with, when the right tractor is driven by the right drive to produce linear movement, The right lever can be pulled in an arcuate path, the left tractor having a slot plate having a slot for the left lever to pass through and in contact with, when the left tractor is driven by the left drive When a linear movement occurs, the left lever can be pulled in an arcuate path.

The embodiments of the present invention will be described in more detail below with reference to the drawings and the <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt;

1 and 2 are respectively a perspective view and a side view of the automatic slot charging docking device of the present invention. The automatic tank filling docking device of the invention is used for docking the pipe joint for transporting chemical liquid of the chemical tank truck with the receiving device end to increase the safety of the operator. The automatic slot charging docking device of the present invention comprises: a joint moving module 1, a correcting module 2, a pair of connecting modules 3, and a set of brackets 4. The bracket 4 is a part of the machine platform, and the joint moving module 1 is suspended and supported by different supporting structures on both sides of the same axis, and the docking module 3 is fixedly carried. The bracket 4 only draws a simple structure, and actually can change and adjust the structure according to requirements. The bracket 4 is a common type and will not be described in detail. The docking module 3 is a mating socket connected to the receiving device end, and a conveying pipe is connected thereto. The joint moving module 1 is used for fixing a pipe joint A, and can drive the pipe joint A to move to the docking module 3 for docking. In addition, before the pipe joint A is fixed, the orientation of the pipe joint A is corrected by the calibration module 2 to facilitate the subsequent docking operation.

For ease of explanation, please refer to FIG. 3 and FIG. 4, which are perspective views of different angles of main components of the present invention. Then, the structure of the main component is briefly described. The joint moving module 1 includes a fastening unit 11 and a first transfer unit 12, and the fastening unit 11 is used for fixing the pipe joint A. The loading unit 12 can drive the fastening unit 11 located below to move; the calibration module 2 is mounted on the joint moving module 1 and includes a correction component 21, a second transfer unit 22 and a lifting unit 23, The correcting component 21 is configured to correct the orientation of the pipe joint A before docking. The lifting unit 23 is configured to drive the correcting component 21 to move up and down. The second transferring unit 22 is responsible for driving the lifting unit 23 to move, so that the correcting component 21 is It can approach or stay away from the fastening unit 11. The docking module 3 includes a docking unit 31 and a triggering component 32. The docking unit 31 has a pair of connecting holes 311 corresponding to the specifications of the pipe joint A. The docking unit 31 is provided with a pullable device. a left pull rod 312 and a right pull rod 313, the left pull rod 312 and the right pull rod 313 are locked or unlocked control rods. The pull unit 32 is disposed on the docking unit 31, and is responsible for driving the left pull rod 312 and The right triggers 313 are close to or away from each other for the purpose of locking or unlocking.

A detailed description of each component structure will follow. Please refer to FIG. 5 and FIG. 6 together, which are perspective views of different angles of the joint moving module 1 respectively. The joint moving module 1 is responsible for fixing the pipe joint A and driving the pipe joint A toward the docking unit 31. The joint moving module 1 includes a fastening unit 11 and a first transfer unit 12, the fastening unit 11 includes a socket 111 and a fastener 112, and the socket 111 is matched to the outer shape of the pipe joint A. In the present embodiment, the socket 111 is a semi-circular seat, but may be in other forms. The fastener 112 is also matched with the outer shape of the pipe joint A. One end of the fastener 112 is pivotally connected to the socket 111, and the other end is provided with a locking member 1121. When the fastener 112 is fastened to the socket 111, the fastener 112 can be fastened to the socket 111. The pipe joint A is fixed thereto.

The first transfer unit 12 includes a frame 121 , a first support plate 122 , a first driving device 123 , and a connecting component 124 . The frame 121 carries the fastening unit 11 so that the fastening unit 11 is suspended. The frame 121 is mounted on the bottom of the first support plate 122 and is linearly movable. In the embodiment, at least two sets of the slide rail group 1211 are combined with the bottom surface of the first support plate 122 at the top of the frame 121 for smooth movement. The first driving device 123 is disposed on the first supporting plate 122. In this embodiment, the rodless cylinder is fixed at both ends by a fixing member and fixed on the first supporting plate 122 (as shown in FIG. 3). The first driving device 123 can also be other types of power devices. The first driving device 123 is connected to the frame 121 via the connecting component 124. The connecting component 124 is formed by combining a plurality of plates, only one of which is shown. The first supporting plate 122 has two first guiding holes 1221 which are parallel to each other. A part of the plate at the top of the frame 121 is connected to the connecting component 124 via the first guiding channel 1221. Therefore, when the first driving device 123 is activated, the frame 121 is moved by the connecting component 124, and the fastening unit 11 can move toward the docking module 3. In addition, the connecting component 124 is further provided with a guiding hole 1241 for the second driving device 22 to pass, so that the connecting component 124 does not interfere when moving.

7 and FIG. 8 are perspective views of the correction module 2 according to the present invention at different angles. The calibration module 2 is mainly used for correcting the orientation of the pipe joint A, and also for protecting the docking module 3 from foreign objects entering and cleaning the pipe joint A and the end surface of the docking unit 31. The calibration module 2 includes a calibration component 21, a second transfer unit 22, and a lifting unit 23. The correction assembly 21 is responsible for the pipe joint A correcting its orientation. The lifting unit 23 is responsible for raising the correction assembly 21 to the highest point in time to avoid interference with the path of the pipe joint A moving and docking. In the normal state, the second transfer unit 22 is responsible for driving the correction component 21 to contact the docking module 3, and sealing the docking hole 311 to prevent foreign objects from invading. Before the docking operation, the calibration component 21 is brought into contact with the pipe joint A to adjust the orientation of the pipe joint A.

The correction component 21 includes a correction plate 211 and a cover plate 212 pivotally connected thereto. The correction plate 211 has a matching hole 2111 in the middle thereof. The shape of the matching hole 2111 is matched with the shape of the pipe joint A, in this embodiment. The positioning hole 2111 has two positioning ribs 2112 at specific positions on the inner wall. This part is because different types of chemical liquids use different shapes of pipe joints A. The calibration plate 211 is used for the operator to rotate and adjust the orientation of the pipe joint A to avoid subsequent misconnections. The cover 212 is pivotally connected to the side of the alignment plate 211 facing the docking module 3, and is normally covered by the gravity plate 211 and shields the matching hole 2111. However, if you push it from left to right, you can easily push it away. The cover 212 faces the side of the docking module 3 and has a convex contact member 2121. The surface of the adhesive member 2121 has an O-ring 2122. When the adhesive member 2121 is attached to the end face of the docking unit 31 The butt hole 311 can be temporarily closed to prevent foreign matter from entering. Moreover, a plurality of first sprinkler heads 2123, that is, a region around the closet member 2121, are distributed on the side of the cover plate 212 facing the docking module 3. The cover plate 212 is internally distributed with a corresponding pipeline, an external water supply pipeline or a gas supply pipeline (not shown) and can be switched and connected thereto, and timely water supply or gas supply, through the first spray head 2123 The purpose of cleaning the end face of the docking unit 31 is achieved by spraying.

In addition, the correction component 21 of the present invention can also have the function of cleaning the end surface of the pipe joint A, that is, a spray unit 213 is further disposed on the side of the correction plate 211 facing the joint movement module 1 , and the spray unit 213 is a plurality of second sprinklers 2131 are disposed in a single frame, and the spray pipe 213 is internally provided with a corresponding pipeline, an external water supply pipeline or a gas supply pipeline (not shown) and can be connected thereto. . The purpose is to use the second sprinkler head 2131 to spray water or blow air in time to clean the end face of the pipe joint A before docking.

The lifting unit 23 is responsible for the lifting and lowering of the correction unit 21, and when it rises to the highest point, it can avoid interference with the moving path of the pipe joint A. When it is lowered to the lowest point, it is located on the center line of the moving path for correcting. The lifting unit 23 comprises two rodless cylinders, but may be other driving devices. Both sides of the correction plate 211 are mounted on the slider of the rodless cylinder and are driven to be lifted and lowered.

As shown in FIG. 3 , the second transfer unit 22 includes a second driving device 221 , a connecting member 222 , and a fixing component 223 . The second driving device 22 is disposed above the first support plate 122. Although it is located below the first driving device 123, the movement of the connecting component 124 is not affected by the through hole 1241 of the connecting component 124. In this embodiment, the second driving device 22 is a rodless cylinder, and both ends are fixed to the first supporting plate 122 by fixing members, but may be other power devices. The second driving device 221 is coupled to the fixing component 223 located below the first supporting plate 122 via the connecting member 222. The first support plate 122 has a second conductive channel 1222. The second conductive channel 1222 is an actuation channel that moves as the connector 222. The fixing component 223 is mounted on the bottom surface of the first support plate 122 by using two sets of the slide rails 2231, so that the fixing component 223 can smoothly move. The fixing component 223 is coupled to the top of the lifting unit 23, and when the second driving device 221 drives the fixing component 223 to move linearly via the connecting member 222, the correcting component 21 can be brought toward the fastening unit 11 or keep away.

As shown in FIG. 9, the docking module 3 is responsible for docking with the pipe joint A for chemical liquid transportation. The docking module 3 includes a pair of connecting units 31 and a pulling assembly 32. The docking unit 31 has a pair of connecting holes 311 corresponding to the specifications of the pipe joint A. The docking unit 31 is provided with a left pull rod 312 and a right pull rod 313 that can be pulled, and the left pull rod 312 and the left pull rod 312 The right trigger 313 is a locked or unlocked lever. In this embodiment, the docking unit 31 is a standard specification for the fitting A, the internal structure is the same as the conventional one, and the back end is additionally connected with the pipeline of the equipment end to facilitate the liquid transportation operation after the docking, this part They are the same as the same, so they are not described in detail. The present invention is to provide a set of the pulling assembly 32 on the periphery of the pipe wall of the docking unit 31.

The triggering assembly 32 includes a second supporting plate 321, a left driving device 322, a right driving device 323, a left tractor 324 and a right tractor 325. The second supporting plate 321 moves the module facing the joint. The left driving device 322 and the right driving device 323 are fixed to the side of the group 1. The left tractor 324 is in contact with the left driving rod 312 and is driven to be driven by the left driving device 322. The right tractor 325 is Right pull The rod 313 is in contact with and is driven to move by the right driving device 323. In the present embodiment, the left driving device 322 and the right driving device 323 are both rodless cylinders, but may be other power devices.

Since the left trigger 312 and the right trigger 313 are arcuate moving paths, the right tractor 325 has a slot plate 3251 having a slot for the right lever 313 to pass through and be in contact with. When the right tractor 325 is driven by the right drive 323 to produce a linear movement, the right trigger 313 can be pulled in an arcuate path. Similarly, the left retractor 324 has a slot plate 3241 having a slot for the left lever 312 to pass through and in contact with, when the left retractor 324 is driven by the left drive 322 to produce linear movement. The left trigger 312 can be pulled in an arcuate path.

Then, the actual operation mode of the present invention is illustrated. As shown in FIG. 10 to FIG. 16 , for the convenience of explanation, only the joint moving module 1 , the correction module 2 , the docking module 3 and the pipe joint A are drawn in the subsequent drawings. The lifting unit 23 also draws only one rodless cylinder away from the drawing surface to facilitate the description of the operating position of the correction assembly 21. The pipe connected to the device end on the right side of the docking module 3 is omitted and not shown. The pipe joint A is abutting section A1, the fitting section A2 and the connecting section A3 from left to right, and the outer diameter is sequentially increased from right to left, wherein the outer wall of the fitting section A2 has a positioning groove at a specific position. A21, the shape of the pipe joint A is standard.

As shown in FIG. 10, in the normal state, the correction component 21 is lowered to the lowest position, and the cover 212 is in contact with the end surface of the docking unit 31 of the docking module 3 to prevent the foreign object from entering the docking unit 31. Inside the hole 311.

As shown in FIG. 11, when the pipe joint A of the chemical tanker is to be docked, the fastener 112 of the fastening unit 11 is opened first, and the connecting section A3 of the pipe joint A is temporarily placed on the socket 111.

As shown in Figure 12, the calibration work is performed. The second transfer unit 22 drives the correction component 21 to move toward the pipe joint A. The docking section A1 passes through the matching hole 2111 of the correction plate 211 and opens the cover plate 212. At this time, the fitting section A2 does not enter the fitting hole 2111. The operator must manually rotate the pipe joint A so that the positioning groove A21 is aligned with the positioning rib 2112 in the fitting hole 2111.

As shown in FIG. 13, the operator moves the pipe joint A toward the correction assembly 21 such that the mating section A2 of the pipe joint A enters the mating hole 2111 of the correction plate 211. The fastener 112 is then fastened to the socket 111, and the fastening unit 11 completely fixes the pipe joint A at this time.

As shown in Figure 14, it is a cleaning operation. The second moving unit 22 drives the correction component 21 to move to a fixed point, so that the spray unit 213 is located before the end face of the pipe joint A, and then the second spray head 2131 sequentially sprays clean water or gas to the end face of the pipe joint A. The cleaning operation is performed, and the first sprinkler head 2123 of the cover plate 212 is also sequentially sprayed with clean water or gas to clean the butt end face of the docking unit 31.

As shown in FIG. 15, after the cleaning, the lifting unit 23 drives the correction unit 21 to the highest point to avoid the movement path of the pipe joint A.

As shown in Figure 16, it is a docking operation. The second transfer unit 22 is moved to the rightmost position with the correction assembly 21 to avoid interference. The first transfer unit 12 moves the fastening unit 11 toward the docking unit 31 of the docking module 3, so that the mating section A2 and the docking section A1 of the pipe joint A enter the docking hole 311. Then, the pulling component 32 is actuated to pull the left triggering rod 312 and the right triggering rod 313 to complete the docking operation of the pipe joint A and the docking module 3. After that, the chemical transportation of the tank truck can be carried out by the operation of other control devices. Since the docking operation is automated, the leakage of the chemical liquid can be avoided, the operator's life is endangered, and the operation convenience is increased.

After the chemical material transfer operation is completed, the first docking unit 12 is moved to the initial position by the first transfer unit 12 in the reverse flow. The calibration component 21 is lowered to the lowest position, and the cover 212 is in contact with the end surface of the docking unit 31 of the docking module 3.

In summary, the automatic slot filling and docking device of the present invention manually completes the procedure of fixing and correcting the orientation of the tube head A with low risk by using the auxiliary module 2 before docking, and the subsequent risk is compared. In the high docking operation, the joint moving module 1 is used to drive the pipe joint A to automatically complete the docking operation with the docking module 3. Reducing the operator's risk can also improve operational safety and comply with patent application requirements.

The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made by the scope of the present invention remain within the scope of the present invention.

1‧‧‧Connector mobile module

11‧‧‧Snap unit

111‧‧‧ socket

112‧‧‧fasteners

12‧‧‧First transfer unit

121‧‧‧Frame

1211‧‧‧Slide group

122‧‧‧First support plate

1221‧‧‧First channel

1222‧‧‧Second guide tunnel

123‧‧‧First drive

124‧‧‧Connecting components

1241‧‧‧Guide

2‧‧‧ calibration module

21‧‧‧Correction components

211‧‧‧ calibration board

2111‧‧‧With holes

2112‧‧‧ positioning ribs

212‧‧‧ cover

2121‧‧‧Closed parts

2122‧‧‧O-ring

2123‧‧‧First sprinkler head

213‧‧‧Spray unit

2131‧‧‧Separate sprinkler head

22‧‧‧Second transfer unit

221‧‧‧Second drive

222‧‧‧Connecting parts

223‧‧‧Fixed components

2231‧‧‧Slide group

23‧‧‧ Lifting unit

3‧‧‧Docking module

31‧‧‧Docking unit

311‧‧‧ docking holes

312‧‧‧Left lever

313‧‧‧Right lever

32‧‧‧ Pulling components

321‧‧‧second support plate

322‧‧‧Left drive

323‧‧‧Right drive

324‧‧‧ Left tractor

3241‧‧‧ slot plate

325‧‧‧Right tractor

3251‧‧‧ slot plate

Figure 1 is a perspective view of the present invention; Figure 2 is a side view of the main components of the present invention; Figure 3 is a perspective view of a main component of the present invention; FIG. 6 is a perspective view of a calibration module of the present invention; FIG. 7 is a perspective view of a calibration module of the present invention; FIG. 8 is a perspective view of another embodiment of the calibration module of the present invention; Figure 9 is a perspective view of the docking module of the present invention; Figure 10 is a state diagram of the docking operation of the present invention; Figure 11 is a state diagram of the pipe joint placed at the device of the present invention, which is intended to be docked; State diagram of the calibration operation (1); Figure 13 is a state diagram of the pipe joint for calibration work (2); Figure 14 is a state diagram of the pipe joint for cleaning operation; Figure 15 is a state diagram of the pipe joint preparation for docking operation; 16 is a state diagram after the pipe joint has been docked to the docking module.

Claims (11)

An automatic slot charging docking device includes: a bracket; a joint moving module mounted on the bracket, comprising a fastening unit and a first transfer unit, wherein the fastening unit is configured to fix a pipe joint, the first The transfer unit can drive the fastening unit under the movement to move; a calibration module is disposed on the joint movement module, and includes a correction component, a second transfer unit and a lifting unit, the calibration component includes a calibration plate And a pivoting plate, the calibration plate has a matching hole shape corresponding to the shape of the pipe joint, the lifting unit is responsible for driving the lifting and lowering of the correction component, and the second transfer unit is responsible for driving the lifting The unit is moved so that the correction component can be moved toward or away from the fastening unit; the pair of connection modules are disposed on the bracket, and include a pair of connecting units and a pulling component, the docking unit has a pair of connecting holes, and the docking holes correspond to In the pipe joint specification, the docking unit is provided with a left and right lever that can be pulled, and the left and right levers are locked or unlocked control levers, and the pulling component is disposed in the pair The connecting unit is responsible for driving the left and right levers closer to or away from each other. The automatic slot charging docking device of claim 1, wherein the fastening unit comprises a socket and a fastener, the socket is matched with the outer shape of the pipe joint, and one end of the fastener is pivotally connected to the bearing The other end is provided with a locking member, and when the fastener is fastened to the socket, the pipe joint can be fixed thereto. The automatic slot docking device of claim 1, wherein the first transfer unit comprises a frame, a first support plate, a first driving device and a connecting component, the frame is configured to carry the fastening a unit, the frame is erected on the bottom of the first support plate and linearly movable, and the first driving device is disposed on the first support plate, and is connected to the frame via the connecting component, and is driven by the first driving device The frame moves in the direction of the docking module. The automatic slot charging docking device of claim 1, wherein the cover is pivotally connected to a side of the calibration plate facing the docking module, and the cover plate is normally covered and shields the mating hole. The automatic slot charging docking device according to claim 1, wherein the side of the cover plate facing the mating module has a convex sealing member, and the sealing member can be attached to the end surface of the docking unit. . The automatic slot charging docking device according to claim 1, wherein a plurality of first sprinkler heads are disposed on a side of the cover plate facing the mating module, and the corresponding ducts are disposed inside the cover panel and can The external water supply line or the air supply line is switched and connected, and the first spray head is sprayed or blown at a timely time. The automatic slot charging docking device according to claim 1, wherein the calibration plate is further provided with a spraying unit on a side facing the direction of the joint moving module, wherein the spraying unit is a one-piece frame and is distributed with several The second sprinkler head has a corresponding pipeline inside and can be connected to the external water supply pipeline or the gas supply pipeline, and the water spray or air is timely sprayed through the second sprinkler head. The automatic slot charging docking device according to claim 1, wherein the lifting unit comprises two sets of rodless cylinders, and the two sides of the calibration plate are mounted on the rodless cylinder and can be lifted and lowered by the rod. When it is raised to the highest position, the moving path of the pipe joint is not blocked. The automatic slot docking device of claim 1, wherein the second shifting unit comprises a second driving device, a connecting member and a fixing member, and the second driving device is mounted on the first supporting plate The second driving device is coupled to the fixing member located under the first supporting plate via the connecting member, and the fixing member is coupled to the top of the lifting unit, and the second driving device drives the fixing member to linearly move. , the correction component is brought closer to or away from the fastening unit. The automatic slot charging docking device of claim 1, wherein the pulling component is fixed to the docking unit, comprising a second supporting plate, a left driving device, a right driving device, a left tractor and a right The left support device and the right drive device are fixed to the side surface of the second support plate facing the joint moving module, and the left puller is in contact with the left pull rod and is driven by the left drive device Moving, the right tractor is in contact with the right lever and is driven by the drive to move. The automatic slot charging docking device of claim 10, wherein the right tractor has a slot plate having a slot for the right lever to pass through and contact with the right tractor when the right tractor is subjected to the right When the driving device is driven to linearly move, the right trigger can be pulled in an arc path, and the left tractor has a slot plate having a slot for the left trigger to pass through and contact with When the left retractor is driven to move linearly by the left drive, the left trigger can be pulled in an arcuate path.