CN114074906A

CN114074906A - Integrated link module and link system including the same

Info

Publication number: CN114074906A
Application number: CN202110924612.XA
Authority: CN
Inventors: 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
Original assignee: STI Co Ltd
Current assignee: STI Co Ltd
Priority date: 2020-08-12
Filing date: 2021-08-12
Publication date: 2022-02-22
Anticipated expiration: 2041-08-12
Also published as: CN114074906B

Abstract

Embodiments disclose an integrated link module and a link system including the same. The integrated link module includes: an opening/closing module including a cover clamping unit for clamping a cover of a container; and a coupling fixing module for fixing a coupling which discharges the liquid in the container to the outside, wherein the coupling is disposed above the cover clamping unit.

Description

Integrated link module and link system including the same

Technical Field

Embodiments relate to an integrated coupling module capable of opening and closing a cover of a container and discharging liquid, and a coupling system including the same.

Background

Various types of chemicals used in a semiconductor factory or a chemical factory are supplied in a state of being stored in a container such as a tub. Therefore, supplying the delivered chemicals to a semiconductor factory or the like requires opening a lid, coupling a coupler thereto, and storing the chemicals in a storage tank of the factory. Or conversely, a coupler may be coupled to the empty tub to fill the empty tub with the chemical.

However, in the related art, the opening/closing module and the coupling fixing module, which open and close the tub cover, are separately provided in the coupling module, which causes problems in that the size of the coupling module is large and the operation is troublesome.

Further, the coupling module in the related art includes: a first step in which the opening/closing module moves to the top of the tub, opens the cover, and then exits 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 chemical is filled into or discharged from the tub through the coupler of the coupler fixing module; a fourth step in which the coupler securing module is withdrawn from the top of the tub; and a fifth step in which the opening/closing module is moved to the top of the tub and coupled with the cover. However, the opening/closing module and the coupling fixing module need to be alternately moved to the operating position, which brings about a problem that the operating speed is relatively slow.

Further, the inability of the coupling module in the related art to adjust the tilting angle poses another problem in that it is difficult to accurately grip the cover or accurately insert the coupling into the outlet of the tub when the cover or the outlet is tilted.

Disclosure of Invention

Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide an integrated coupling module integrated with an opening/closing module and a coupling fixing module.

Further, an integrated coupling module capable of adjusting an angle of an opening/closing module and a coupling fixing module is provided.

The purpose that 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.

In order 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 for clamping a cover of a container; and a coupling fixing module for fixing a coupling which discharges the liquid in the container to the outside, wherein the coupling is disposed above the cover clamping unit.

The cover clamping unit may move from a first position where the cover clamping unit overlaps the coupler to a second position where the cover clamping unit does not overlap the coupler. When the cover holding unit is moved to the second position, the coupler may be lowered to be inserted into the outlet of the container.

A driving module connected to the coupling fixing module to move the opening/closing module from the first position to the second position may be included.

The coupler fixing module may include a holder fixing the coupler and a first rotating unit rotating the coupler or a key code of the coupler, the opening/closing module may include a first supporting portion supporting the cover gripping unit and a second rotating unit rotating the cover gripping unit, and the driving module may rotate the first supporting portion.

The first rotation unit may be disposed higher than the second rotation unit.

An angle adjusting module for adjusting an angle of the opening/closing module and the coupling fixing module may be included, wherein the angle adjusting module may include: a first adjusting unit that adjusts an inclination angle of the cover clamping unit and the coupler by axially rotating the holder with respect to the first direction; and a second adjusting unit that adjusts the inclination angles of the cover clamping unit and the coupler by axially rotating the holder with respect to a second direction intersecting the first direction.

The cover clamping unit and the coupler may be adjusted to the same inclination angle by the first and second adjusting units.

An ascending/descending module for ascending and descending the coupler fixing module may be further included, wherein the angle adjusting module may be disposed between the coupler fixing module and the ascending/descending module.

The angle adjusting module may further include a third supporting portion connecting the ascending/descending module and the coupling fixing module, wherein the second adjusting unit may be disposed between the ascending/descending module and the third supporting portion, and the first adjusting unit may be disposed between the third supporting portion and the coupling fixing module.

The third support portion may include one end portion connected to the ascending/descending module, the other end portion connected to the coupler fixing module, and a bent portion formed between the one end portion and the other end portion.

A sensing module for sensing a position and a tilt of the cover may be included, wherein the sensing module may include: a fourth support portion connected to the coupler fixing module; a first sensing unit disposed on the fourth supporting portion to sense a position of the cover; and a second sensing unit disposed on the fourth supporting portion to sense the inclination of the cover.

The cover clamping unit may include a plurality of slits into which the protrusions of the cover are inserted, and a latch unit to be coupled to the protrusions inserted into the slits.

According to this embodiment, the integration of the opening/closing module and the coupler securing module can speed up the operation and reduce the installation area.

Further, since the inclination angles of the opening/closing module and the coupling fixing module can be adjusted according to the inclination of the cover and the outlet of the container, the cover can be accurately clamped, and the coupling can be accurately inserted into the outlet.

Various advantageous advantages and effects of the present invention are not limited to the above description and will be more easily understood in describing specific embodiments of the present invention.

Drawings

FIG. 1 is a conceptual diagram of a coupling system according to an embodiment of the invention.

Fig. 2 is a conceptual diagram of an integrated link module according to an embodiment of the present invention.

Fig. 3 is a perspective view of the integrated link module of fig. 2 viewed from another direction.

Fig. 4 and 5 are views illustrating a process of bringing a plurality of containers to at least one integrated coupling module.

Fig. 6 is a view illustrating a process of sensing a position of a cap coupled to a container.

Fig. 7 is a view illustrating a process of sensing flatness of a cover coupled to a container.

Fig. 8 is a view illustrating a state in which the cover clamping unit and the coupler are rotated with respect to the first direction according to the inclination of the cover.

Fig. 9 is a view illustrating a state in which the cover clamping unit and the coupler are rotated with respect to the second direction according to the inclination of the cover.

Fig. 10 is a view illustrating a state in which the cover clamping unit descends to be coupled to the cover.

Fig. 11A to 11C are views for describing an embodiment in which the cover holding unit holds the cover by rotating.

Fig. 12A to 12D are views for describing another embodiment in which the cover holding unit holds the cover by rotating.

Fig. 13 is a view showing a state in which the cover clamping unit separates the cover from the container.

Fig. 14 is a perspective view of the cover holding unit.

Fig. 15 is a perspective view of the cover holding unit viewed from another direction.

Fig. 16 is a view showing a state where the cover holding unit is rotated to avoid overlapping with the coupler.

Fig. 17 is a view of the cover holding unit in fig. 16 viewed from another direction.

Fig. 18A is a view showing a state in which the key code of the coupler and the groove of the outlet are aligned with each other.

Fig. 18B is a view showing the top surface of the outlet.

Fig. 19 is a view showing a state where the coupling is inserted into the outlet.

Fig. 20 is a view showing a state in which the cover holding unit is returned to the initial position.

Fig. 21 is a view showing a state in which the cap holding unit is rotated to couple the cap to the container.

Fig. 22 is a view showing a state where the cover holding unit is raised to complete the operation.

Detailed Description

Since the present invention can be modified in various ways and has various embodiments, specific embodiments will be shown and described in the drawings. However, it is not intended to limit the present invention to the specific embodiments, and should be construed to include all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

Terms such as first and/or second may be used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one element from another. For example, according to the concept of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component, without departing from the scope of the claims. The term "and/or" includes a combination of a plurality of the related items listed or one of a plurality of the related items listed.

When a component is referred to as being "connected" or "coupled" to another component, it can be directly connected or coupled to the other component, but it is understood that other components may be present therebetween. On the other hand, when it is referred to one element as being "directly connected" or "directly coupled" to another element, it is understood that there are no other elements between them.

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 invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprising" or "having" are intended to indicate the presence of stated features, integers, steps, actions, components, parts, or combinations thereof, and should not be construed as precluding the presence or addition of one or more other features, integers, steps, actions, components, parts, or combinations thereof in advance.

Unless otherwise defined, 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 a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The same reference numerals are assigned to the same or equivalent parts regardless of the reference numerals, and a repetitive description thereof is omitted.

Fig. 1 is a conceptual diagram of a coupling system according to an embodiment of the present invention, fig. 2 is a conceptual diagram of an integrated coupling module according to an embodiment of the present invention, and fig. 3 is a perspective view of fig. 2 viewed from another direction.

Fig. 1 shows that a coupling system according to an embodiment may comprise: a pair of first transmission members 210 disposed to face each other in a first direction (X-axis direction); a pair of second transmission 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 100 disposed on the second transmission input 220; and a control unit 300 controlling the first transmission member, the second transmission member and the integrated link module.

The integrated link module 100 may be connected to the second transmission member 220 to be moved in the first direction (X-axis direction) by the second transmission module 221. Further, the second transfer member 220 may be moved in the second direction (Y-axis direction) by the first transfer module 211.

Accordingly, the integrated link module 100 may be freely moved in the first and second directions by the first and

second transfer modules

211 and 221. The integrated link module 100 may be provided on each of the pair of second transmission members 220, but is not necessarily limited thereto.

A plurality of containers 10 may be disposed on holder 20. The container 10 may store chemicals for a semiconductor display, 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 of the container 10. Accordingly, the control unit 300 may control the integrated coupling module 100 so as to open the cover 11 and insert the coupler into the outlet, thereby discharging the liquid stored in the container 10 to the outside.

Fig. 2 and 3 show that the opening/closing module 110 opening/closing the cover of the container and the coupler fixing module 130 supporting the coupler 120 may be coupled to each other to form one integrated coupling module 100.

The coupler fixing module 130 may include a holder 131 to receive the coupler 120, a first rotating unit 133 to rotate the coupler 120, and a support structure 134. The retainer 131 may be configured with an upper retainer 131a and a lower retainer 131b to accommodate the coupler 120. However, the holder structure is not necessarily limited thereto. There is no particular limitation as long as the configuration can support the coupler 120.

The support structure 134 may include first and

second support plates

135 and 136 to which the coupler 120 is fixed and a plurality of connection members 137 connecting the first and

second support plates

135 and 136. The connection member 137 may have elasticity, but is not necessarily limited thereto. The first and

second support plates

135 and 136 may have a disk shape, but are not necessarily limited thereto, and may be designed in various shapes.

The coupling 120 may include a nozzle 121 inserted into the outlet of the container 10, a transfer tube 126 connected to the nozzle 121, and at least one key 125. The key code 125 may be inserted into a groove formed on the outlet of the container 10.

The first rotating unit 133 may include a motor and a driving belt that rotate the coupling 120. Thus, rotating the key code 125 by the first rotating unit 133 allows alignment with the groove of the outlet.

The opening/closing module 110 may include a cover clamping unit 111 that clamps the cover 11 of the container 10, a first supporting portion 113 that supports the cover clamping unit 111, a second rotating unit 114 that rotates the cover clamping unit 111, and a driving belt 115 connected to the cover clamping unit 111 and the second rotating unit 114.

The cover holding unit 111 may hold and rotate the cover 11 of the container 10 to open and close the cover 11 of the container 10. The cover holding unit 111 may have various shapes capable of holding the cover 11. For example, the cover clamping unit 111 may have a plurality of protrusions 112 protruding in a radial direction. An accommodation groove 111a accommodating the cover 11 may be formed in a lower portion of the cover clamping unit 111, and a slit 112a may be formed in the protrusion 112 so that the protrusion of the cover may be inserted.

For example, a plurality of protrusions 112 may be manufactured to be moved in a radial direction by a cylinder or the like. This configuration allows the plurality of protrusions 112 to be coupled to the cover while the protrusions are advanced in a radial direction as much as possible to maximize the diameter of the receiving groove 111a and then returned to the original position, so that the cover can be effectively clamped.

The first support portion 113 may include a horizontal frame 113a supporting the grip unit 111 and a vertical frame 113b connected to the coupler fixing module 130. The cover clamping unit 111 may be rotatably supported by the horizontal frame 113 a.

A driving belt 115 may be disposed between the horizontal frame 113a and the cover holding unit 111 to transmit the rotational power of the second rotating unit 114 to the cover holding unit 111. Since the coupler 120 is disposed on the cover clamping unit 111, the first rotating unit 133 may be disposed higher than the second rotating unit 114.

The driving module 140 may rotatably connect the vertical frame 113b of the first support part 113 to the coupler fixing module 130. The driving module 140 may include a second supporting portion 141 fixed to the coupler fixing module 130 and a third rotating unit 142 provided on the second supporting portion 141 to axially rotate the vertical frame 113 b. This configuration allows the vertical frame 113b of the opening/closing module 110 to be connected to the rotation shaft of the third rotation unit 142 to be rotated.

The rotation of the vertical frame 113b rotates the cover holding unit 111. Accordingly, the cover holding unit 111 can be moved from the first position MA1 provided below the coupler 120 to the second position where the rotation is terminated. However, the present invention is not necessarily limited thereto. The cover holding unit 111 may be moved from the first position to the second position by horizontal movement instead of rotation. Alternatively, the coupler 120 may be moved downward through the horizontal frame 113a and the cover clamping unit 111.

The angle adjusting module 150 may include a third supporting portion 153 connecting the ascending/descending module 170 and the coupling fixing module 130, a first adjusting unit 151 axially rotating the holder 131 with respect to a first direction (X-axis direction), and a second adjusting unit 152 axially rotating the holder 131 with respect to a second direction (Y-axis direction).

The third supporting portion 153 may include one end portion (153a) connected to the ascending/descending module 170, the other end portion 153b connected to the coupling fixing module 130, and a bent portion between the one end portion 153a and the other end portion 153 b. The one end portion 153a and the other end portion 153b may be disposed perpendicular to each other by a bent portion 153c disposed therebetween.

The second adjusting unit 152 may be disposed between the ascending/descending module 170 and one end portion 153a of the third supporting portion 153, and the first adjusting unit 151 may be disposed between the other end portion 153b of the third supporting portion 153 and the coupling fixing module 130. That is, the rotation axis of the first adjusting unit 151 and the rotation axis of the second adjusting unit 152 may be perpendicular to each other. Accordingly, the inclination angle of the coupling fixing module 130 may be adjusted by the respective rotations of the first and second adjusting

units

151 and 152 with respect to the X and Y axes.

At this time, since the opening/closing module 110 is fixed to the coupling fixing module 130 by the driving module 140, when the angle of the coupling fixing module 130 is adjusted, the angle of the opening/closing module 110 may also be adjusted. Therefore, according to this embodiment, the angles of the cover clamping unit 111 and the coupler 120 can be simultaneously adjusted to the same inclination angle by the angle adjustment module 150.

Since the opening/closing module and the coupling fixing module of the conventional structure are separately manufactured, there is a problem in that a configuration for adjusting the angle of the opening/closing module and a configuration for adjusting the angle of the coupling fixing module are required, respectively.

However, since the opening/closing module 110 and the coupler fixing module 130 are integrally manufactured according to the embodiment, there is an advantage in that the angles of the cover clamping unit 111 and the coupler 120 can be adjusted by one angle adjusting module 150 at a time. Therefore, the manufacturing cost can be reduced, and miniaturization can be achieved.

The sensing module 160 may include a fourth supporting part 163 connected to the coupler fixing module 130, a first sensing unit 161 disposed on the fourth supporting part 163 to sense the position of the cover, and a second sensing unit 162 disposed on the fourth supporting part 163 to sense the flatness of the cover.

The first sensing unit 161 may acquire an image of a top image of the container 10 to check the position of the cover. The control unit 300 may acquire position coordinates of the cover through an image of the top image and output driving signals to the first and

second transfer modules

211 and 221 to move the cover holding unit 111 over the cover 11. The first sensing unit 161 may be a camera capable of capturing an image, but is not necessarily limited thereto. Various devices capable of acquiring images may be selected.

The second sensing unit 162 may measure the flatness of the cover. For example, the second sensing unit 162 may be composed of a plurality of height sensors that respectively measure the height from the cover. The control unit may check the degree of inclination of the cover using a plurality of height signals from the sensing unit 162. The number of height sensors is not particularly limited. For example, four height sensors may be provided, but fewer or more height sensors may be provided.

The ascending/descending module 170 may include a fifth supporting portion 173 connected to the second transmission member 220, a sliding unit 172 disposed on the fifth supporting portion 173 and connected to the coupling fixing module 130, and an ascending/descending unit 171 that ascends and descends the sliding unit 172. The cover holding unit 111 and the coupler 120 may be ascended and descended by the ascent/descent module 170.

Fig. 4 and 5 show that a plurality of containers 10 can be brought into an operating position defined by a pair of first transfer members 210 and a pair of second transfer members 220. A plurality of containers 10 can be brought into an operating position by the transfer member while being placed on the holder 20. Various conveying devices that can move the container 10, such as a conveyor, rollers, a conveyor belt, a forklift, a manual elevator, a motorized elevator, a cart, a bogie, a track, etc., can 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 100A may perform a coupling operation on two containers 10 disposed in the first row, and the second integrated coupling module 100B may perform a coupling operation on two containers 10 disposed in the second row. However, the present invention is not necessarily limited thereto, and the number of containers that can be operated at one time may be changed in consideration of the amount of chemical to be used or the operation space. For example, three or less, or five or more containers may be provided.

Fig. 6 is a view illustrating a process of sensing a position of a cover coupled to a container, and fig. 7 is a view illustrating a process of sensing a flatness of a cover coupled to a container.

Fig. 6 shows that the first sensing unit 161 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 position coordinates of the cover 11 through an image of the top image and output driving signals to the first and

second transfer members

210 and 220 to move the cover holding unit 111 over the cover 11. The first sensing unit 161 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 and check a protrusion position of the cover using an image of the top image acquired by the first sensing unit 161. This process may be performed by various image analysis methods.

Fig. 7 shows that the second sensing unit 162 can measure the flatness of the cover 11. For example, the second sensing unit 162 may be composed of a plurality of height sensors that respectively measure the height from the cover 11. The control unit 300 may check the degree of inclination of the cover 11 using a plurality of height signals from the sensing unit 162. The number of height sensors is not particularly limited. For example, four height sensors may be provided, but fewer or more height sensors may be provided.

The control unit 300 may calculate the degree of inclination of the cover 11 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 coupling module 100 may be adjusted accordingly. If the measurement result of the flatness indicates that the tilt of the cover 11 is out of the predetermined tilt range, an error message may be output without performing the separating operation of the cover 11.

Fig. 8 is a view showing a state in which the cover gripping unit and the coupler are axially rotated with respect to the first direction according to the inclination of the cover, fig. 9 is a view showing a state in which the cover gripping unit and the coupler are axially rotated with respect to the second direction according to the inclination of the cover, and fig. 10 is a view showing a state in which the cover gripping unit is lowered to be coupled to the cover.

Fig. 7 and 8 show that the cover 11 coupled to the container 10 may be disposed obliquely for various reasons. Containers such as drums may require chemical resistance depending on the type of chemical substance, and thus relatively weak resin materials (e.g., PP, PE) may be used. Therefore, there is a possibility that the cap or the outlet is inclined when the container is manufactured.

Further, an error in adjusting the pressure of the injected gas after filling the container with the chemical may cause the inclination, and failure to discharge the gas from the container when filling the chemical may cause the inclination. Furthermore, when the chemical is expelled from the container while filling with a small amount of pressurized gas to maintain the proper pressure, failure to adjust the pressure may cause the container to collapse, thereby creating a tilt in the cap or outlet.

When the cover is placed obliquely for the various reasons described above, if the cover holding unit 111 is lowered vertically, it may be difficult to accurately hold the inclined cover 11. Therefore, the integrated coupling module 100 according to this embodiment employs the angle adjusting module 150 to adjust the angle of the cover clamping unit 111.

The angle adjusting module 150 may include a third supporting portion 153 connecting the ascending/descending module 170 and the coupling fixing module 130, a first adjusting unit 151 axially rotating the holder 131 with respect to the first direction (X-axis direction), and a second adjusting unit 152 axially rotating the holder 131 with respect to the second direction.

Fig. 8 shows that the coupling fixing module 130 can be axially rotated with respect to the first direction (X-axis direction) by the rotation of the first adjusting unit 151. At this time, since the opening/closing module 110 can be adjusted also when the angle of the coupler fixing module 130 is adjusted, the cover clamping unit 111 and the coupler 120 can be disposed to be inclined at a predetermined angle θ 1 with respect to the vertical direction X1.

Fig. 9 shows that the coupling fixing module 130 can be axially rotated with respect to the second direction (Y-axis direction) by the second adjusting unit 152. Since the second adjusting unit 152 axially rotates the third supporting portion 153 with respect to the second direction, the coupling fixing module 130 and the opening/closing module 110 connected to the third supporting portion 153 may be simultaneously axially rotated with respect to the second direction. Therefore, the cover clamping unit 111 and the coupler 120 may be disposed to be inclined at a predetermined angle θ 2 with respect to the vertical direction X1.

This configuration allows rotation with respect to the X-axis and the Y-axis, so that adjustment with the same angle as the inclination angle of the cover 11 can be performed.

Fig. 10 shows that, since the cover holding unit 111 can be axially rotated with respect to the X-axis and the Y-axis by the first and second adjusting

units

151 and 152 to have the same angle as the inclination angle of the cover 11, the cover 11 can be accurately held even when the cover 11 is inclined.

At this time, the plurality of protrusions 112 may be manufactured to be moved in a radial direction by the air cylinder. This configuration allows the plurality of protrusions 112 to be coupled to the cover while the protrusions are advanced in a radial direction as much as possible to maximize the diameter of the receiving groove and then returned to the original position, so that the cover can be effectively clamped.

The cover holding unit 111 may be rotated by the second rotating unit 114 while the cover 11 is held to separate the cover 11 from the container 10.

The opening/closing module and the coupling fixing module of the conventional structure are separately manufactured, which brings about a problem that a configuration for adjusting the angle of the opening/closing module and a configuration for adjusting the angle of the coupling fixing module are required, respectively.

However, since the opening/closing module 110 and the coupler fixing module 130 according to this embodiment may be integrally manufactured, the angles of the cover clamping unit 111 and the coupler 120 may be adjusted by one angle adjusting module 150 at a time.

Fig. 11A to 11C are views for describing an embodiment in which the cover holding unit holds the cover by rotating, and fig. 12A to 12D are views for describing another embodiment in which the cover holding unit holds the cover by rotating.

Fig. 11A and 11B illustrate that the cover clamping unit 111 can be rotated to have the same angle as the inclination of the cover 11 by the angle adjusting module 150, and can be vertically lowered to clamp the cover by the ascending/descending module 170, as shown in fig. 11C. In this case, the angle adjusting module 150 may be disposed between the holder 131 of the coupler fixing module and the ascending/descending module 170.

Such a configuration allows application of a structure in which the cover holding unit 111 is vertically lowered or various structures for moving the cover holding unit 111 obliquely.

For example, fig. 12A shows that the angle adjustment module 150 may be disposed behind the ascent/descent module 170. That is, the angle adjusting module 150 may be disposed between the ascending/descending module 170 and the second transmission member (220 in fig. 10).

Fig. 12B shows that the ascending/descending module 170 may be rotated together with the cover clamping unit 111 by the angle adjusting module 150. Thereafter, the cover holding unit 111 may be horizontally moved according to the center of the cover 11 and the center of the cover holding unit 111, as shown in fig. 12C. Thereafter, the cover holding unit 111 may be lowered by the ascent/descent module 170 to hold the cover 11, as shown in fig. 12D. As described above, since the cover clamping unit 111 and the ascent/descent module 170 are rotated together by the angle adjustment module 150, the cover clamping unit 111 may be inclinedly descended to accurately clamp the cover 11.

Fig. 13 is a view showing a state where the cover holding unit separates the cover from the container, fig. 14 is a perspective view of the cover holding unit, fig. 15 is a perspective view of the cover holding unit viewed from another direction, fig. 16 is a view showing a state where the cover holding unit is rotated, and fig. 17 is a view of fig. 16 viewed from another direction.

Fig. 13 shows that the ascent/descent module 170 may lift the cover holding unit 111 when the cover 11 is separated from the container 10 by the rotation of the cover holding unit 111. Accordingly, the cover holding unit 111 can be lifted while holding the cover 11.

Fig. 14 and 15 show that the protrusion 11a of the cover 11 may be inserted into the slit 112a formed in the protrusion 112 of the cover clamping unit 111, and the inserted protrusion 11a may be fixed by the latch unit 111 b. The latch unit 111b may be retracted when the protrusion 11a of the cover 11 is inserted into the groove, and then protruded again by an elastic member (not shown) after the protrusion 11a is inserted to fix the protrusion 11a of the cover 11 in the slit 112 a.

Fig. 16 and 17 show that the cover gripping unit 111 can be withdrawn from below the coupler 120 (first position) while gripping the cover 11. As described above, the driving module 140 may axially rotate the first support portion 113 of the opening/closing module 110.

Although the coupler 120 and the cover clamping unit 111 are coaxially arranged and then integrally implemented, such a configuration may prevent a failure of the cover clamping unit 111 to insert the nozzle 121 of the coupler 120 into the outlet 12 of the container 10.

However, the structure of withdrawing the cover holding unit 111 from the first position is not limited thereto. The driving module 140 may horizontally move the first support portion 113 to which the cover clamping unit 111 is connected, and thus switch from the first position to the second position. The second position may be a position where the cover holding unit 111 and the coupler 120 are not overlapped in the vertical direction.

Fig. 18A is a view showing a state where key codes of the coupler and the outlet are aligned with each other, fig. 18B is a view showing a top surface of the outlet, and fig. 19 is a view showing a state where the coupler is inserted into the outlet.

Fig. 18A, 18B and 19 show that the first sensing unit 161 can acquire an image of the outlet 12 from which the cover 11 is removed and check whether the key code 125 is aligned with the groove 12B of the outlet 12. If it is determined that the key code 125 and the groove 12b are not aligned, the key code 125 may be rotated by the first rotating unit 133.

For example, in the image of the outlet 12, the key code may be rotated clockwise or counterclockwise with respect to a reference point R1 provided on the top surface of the outlet 12, so 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.

When it is determined that the key code 125 is aligned, the coupler 120 may be lowered by the ascent/descent module 170 to insert the nozzle 121 of the coupler 120 into the discharge groove 12a of the outlet 12, so that the liquid stored in the container 10 may be discharged into the storage tank. Various liquid transfer methods may be applied to transfer the liquid of the container 10 to the storage tank.

Fig. 20 is a view showing a state in which the cover holding unit is returned to the initial position, fig. 21 is a view showing a state in which the cover holding unit is rotated to couple the cover to the container, and fig. 22 is a view showing a state in which the cover holding unit is raised to complete the operation.

Fig. 20 shows that, when the liquid in the container 10 is completely discharged, the coupler 120 may be ascended by the ascending/descending module 170, and the cover clamping unit 111 may be returned to the original position below the coupler 120 by the driving module 140.

Fig. 21 shows that the cover clamping unit 111 clamping the cover 11 may be lowered by the ascending/descending module 170, and the cover clamping unit 111 may couple the cover 11 to the outlet again while being rotated by the second rotating unit 114 to complete the operation.

Fig. 22 shows that the cover holding unit 111 is raised and the integrated link module 100 can be moved over the top of the next container 10 to perform the same operation.

So far, the description has focused on embodiments, which are only intended as illustrative examples and do not limit the invention. The configurations of the various embodiments depicted in the figures may be applied without limitation.

Those skilled in the art to which the invention relates will appreciate that various modifications and applications are possible which are not illustrated above without departing from the essential characteristics of the present embodiments. For example, each component specific to the embodiment may be modified for implementation. And differences associated with such modifications and applications should be construed as being included in the scope of the present invention as defined in the appended claims.

Reference numerals

10: container with a lid

11: cover

100: integrated coupling module

110: opening/closing module

111: cover holding unit

114: second rotating unit

120: coupling device

125: key code

130: connector fixing module

133: first rotating unit

140: drive module

150: angle adjusting module

151: first adjusting unit

152: second regulating unit

170: an up/down module.

Claims

1. An integrated link module comprising:

an opening/closing module including a cover clamping unit for clamping a cover of a container; and

a coupling fixing module for fixing a coupling for discharging liquid in a container to the outside, wherein the coupling is disposed higher than the cover holding unit.

2. The integrated coupling module of claim 1, wherein the cover clamping unit is movable from a first position in which the cover clamping unit is vertically stacked with the coupler to a second position in which the cover clamping unit is not stacked with the coupler, and,

when the cap holding unit is moved to the second position, the coupler is lowered to be inserted into the outlet of the container.

3. The integrated coupling module of claim 2, comprising a drive module connected to the coupling securing module to move the open/close module from the first position to the second position.

4. The integrated coupling module of claim 3, wherein the coupling fixing module includes a holder to which a coupling is fixed and a first rotating unit that rotates the coupling or a key code of the coupling,

the opening/closing module includes a first support part supporting the cover clamping unit and a second rotating unit rotating the cover clamping unit, and

the driving module moves the first support part to the second position.

5. The integrated coupling module of claim 4, wherein the first rotary unit is disposed higher than the second rotary unit.

6. The integrated coupling module of claim 1, comprising an angle adjusting module for adjusting a tilting angle of the opening/closing module and the coupling fixing module, wherein the angle adjusting module comprises: a first adjusting unit that adjusts an inclination angle of the cover clamping unit and the coupler by axially rotating the coupler fixing module with respect to a first direction; and a second adjusting unit that adjusts an inclination angle of the cover clamping unit and the coupler by axially rotating the coupler fixing module in a second direction intersecting the first direction.

7. The integrated coupling module of claim 6, wherein the cover clamping unit and the coupler are adjusted to the same inclination angle by the first and second adjusting units.

8. The integrated coupling module of claim 6, further comprising an ascending/descending module for ascending and descending the coupling securing module, wherein the angle adjusting module is disposed between the coupling securing module and the ascending/descending module.

9. The integrated coupling module of claim 8, wherein the angle adjusting module further comprises a third supporting portion connecting the ascending/descending module and the coupling fixing module, wherein the second adjusting unit is disposed between the ascending/descending module and the third supporting portion, and

the first adjusting unit is disposed between the third supporting portion and the coupling fixing module.

10. The integrated coupling module of claim 9, wherein the third supporting portion includes one end portion connected to the ascending/descending module, the other end portion connected to the coupling fixing module, and a bent portion formed between the one end portion and the other end portion.

11. The integrated coupling module of claim 1, comprising a sensing module for sensing a position and an inclination of the cover, wherein the sensing module comprises a fourth supporting portion connected to the coupler securing module, a first sensing unit disposed on the fourth supporting portion to sense the position of the cover, and a second sensing unit disposed on the fourth supporting portion to sense the inclination of the cover.

12. The integrated coupling module of claim 1, wherein the cover clamping unit includes a plurality of slits into which the protrusions of the cover are inserted and a latching unit to be coupled to the protrusions inserted into the slits.

13. A coupling system, comprising:

a pair of first transmission members facing each other in a first direction;

a pair of second transmission members facing each other in a second direction intersecting the first direction;

integrated coupling modules provided on the pair of second transmission members, respectively; and

a control unit that controls the first transmission member, the second transmission member, and the integrated coupling module, wherein the integrated coupling module includes: an opening/closing module including a cover clamping unit for clamping a cover of a container; and a coupling fixing module inserted into the outlet of the container to fix the coupling discharging the liquid in the container to the outside, and

the coupler is disposed higher than the cover clamping unit.

14. A method of interfacing, comprising:

separating the cap from the container by rotating the cap holding unit at the first position;

withdrawing the cap holding unit from the first position and aligning a coupler disposed above the cap holding unit with an outlet of a container;

discharging the liquid stored in the container by inserting the coupler into the outlet; and

securing the lid to the container by returning the lid-holding unit to the first position.

15. The coupling method according to claim 14, wherein in the step of separating the cover, the coupler is disposed above the cover clamping unit, and the cover clamping unit and the coupler are disposed to be vertically stacked.