CN114074906B - Integrated coupling module and coupling system comprising the same - Google Patents
Integrated coupling module and coupling system comprising the same Download PDFInfo
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- CN114074906B CN114074906B CN202110924612.XA CN202110924612A CN114074906B CN 114074906 B CN114074906 B CN 114074906B CN 202110924612 A CN202110924612 A CN 202110924612A CN 114074906 B CN114074906 B CN 114074906B
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- 230000008878 coupling Effects 0.000 title claims abstract description 63
- 238000010168 coupling process Methods 0.000 title claims abstract description 63
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 63
- 239000007788 liquid Substances 0.000 claims abstract description 14
- 238000007599 discharging Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 9
- 239000000126 substance Substances 0.000 description 13
- 230000008569 process Effects 0.000 description 7
- 238000012546 transfer Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000002716 delivery method Methods 0.000 description 1
- 238000003703 image analysis method Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- 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
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sealing Of Jars (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Embodiments disclose an integrated coupling module and a coupling system including the same. The integrated coupling module includes: an opening/closing module including a cover clamping unit for clamping a cover of the container; and a coupler fixing module for fixing a coupler discharging the liquid in the container to the outside, wherein the coupler is disposed above the cover clamping unit.
Description
Technical Field
Embodiments relate to an integrated coupling module capable of opening and closing a lid 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 transferred chemical to the semiconductor factory or the like requires opening the tub cover, coupling the coupler thereto, and storing the chemical in a storage tank of the factory. Or conversely, the coupler may be coupled to the empty tub to fill the empty tub with chemicals.
However, in the related art, an opening/closing module for opening and closing the tub cover and a coupling fixing module are provided in the coupling module, respectively, which causes problems of a large size of the coupling module and troublesome operations.
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 chemical is filled into or discharged from the tub through the coupler of the coupler fixing module; 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 coupled with the cover. 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 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 an object of the present invention is to provide an integrated coupling module integrated with an opening/closing module and a coupler fixing module.
Furthermore, an integrated coupling module capable of adjusting the angle of the opening/closing module and the coupler fixing module is provided.
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 for clamping a cover of the container; and a coupler fixing module for fixing a coupler discharging the liquid in the container to the outside, wherein the coupler is disposed above the cover clamping unit.
The cover clamping unit is movable from a first position in which the cover clamping unit is stacked with the coupler to a second position in which the cover clamping unit is not stacked with the coupler. When the lid gripping unit is moved to the second position, the coupler may be lowered for insertion into the outlet of the container.
A drive module connected to the coupler fixing module may be included to move the opening/closing module from the first position to the second position.
The coupler fixing module may include a holder to fix the coupler and a first rotation unit to rotate the coupler or a key code of the coupler, the opening/closing module may include a first support portion to support the cover clamping unit and a second rotation unit to rotate the cover clamping unit, and the driving module may rotate the first support portion.
The first rotation unit may be disposed higher than the second rotation unit.
An angle adjusting module for adjusting angles of the opening/closing module and the coupler fixing module may be included, wherein the angle adjusting module may include: a first adjusting unit adjusting an inclination angle of the cover clamping unit and the coupler by axially rotating the holder with respect to a first direction; and a second adjusting unit adjusting an inclination angle 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 adjusting unit and the second adjusting unit.
The raising/lowering module may further include a raising/lowering module for raising and lowering the coupler fixing module, wherein the angle adjusting module may be disposed between the coupler fixing module and the raising/lowering module.
The angle adjusting module may further include a third supporting portion connecting the ascent/descent module and the coupler fixing module, wherein the second adjusting unit may be disposed between the ascent/descent module and the third supporting portion, and the first adjusting unit may be disposed between the third supporting portion and the coupler fixing module.
The third support portion may include one end portion connected to the ascent/descent module, the other end portion connected to the coupler fixing module, and a curved 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 tilting 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 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 cap and the container outlet, 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 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 invention.
Fig. 3 is a perspective view of the integrated coupling 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 cover coupled to a container.
Fig. 7 is a view showing a process of sensing flatness of a cover coupled to a container.
Fig. 8 is a view showing a state in which the cover gripping unit and the coupler are 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 rotated with respect to the second direction according to the inclination of the cover.
Fig. 10 is a view showing a state in which the cover clamping unit is lowered to be coupled to the cover.
Fig. 11A to 11C are views for describing an embodiment in which the cap holding unit holds the cap by rotation.
Fig. 12A to 12D are views for describing another embodiment in which the cap holding unit holds the cap by rotation.
Fig. 13 is a view showing a state in which the cap is separated from the container by the cap holding unit.
Fig. 14 is a perspective view of the cover clamping unit.
Fig. 15 is a perspective view of the cover holding unit viewed from another direction.
Fig. 16 is a view showing a state in which the cover clamping unit is rotated to avoid overlapping with the coupler.
Fig. 17 is a view of the cover clamping unit in fig. 16 viewed from another direction.
Fig. 18A 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. 18B is a view showing the top surface of the outlet.
Fig. 19 is a view showing a state in which the coupling is inserted into the outlet.
Fig. 20 is a view showing a state in which the cover gripping 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 in which the cover gripping unit is raised 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 these 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 a plurality of related items listed or one of a plurality of related items listed.
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 may be present therebetween. On the other hand, when referring to one component as being "directly connected" or "directly coupled" to another component, it should be understood that there are no other components 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 indicates otherwise. In this specification, terms such as "comprises" or "comprising" are intended to specify the presence of stated features, integers, steps, actions, components, parts, or groups thereof, and are not to be construed as excluding in advance the presence or addition of one or more other features, integers, steps, actions, components, parts, or groups 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 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 repeated descriptions thereof are 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 illustrates that a coupling system according to an embodiment may include: 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 link module 100 disposed on the second transport conveyor 220; and a control unit 300 that controls the first transmission member, the second transmission member, and the integrated coupling module.
The integrated coupling 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 movable in the first and second directions by the first and second transmission 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 provided on the 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 that opens/closes the cover of the container and the coupler fixing module 130 that supports 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 accommodating the coupler 120, a first rotating unit 133 rotating 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 a first support plate 135 and a second support plate 136 to which the coupler 120 is fixed, and a plurality of connection members 137 to connect the first support plate 135 and the second support plate 136. The connection member 137 may have elasticity, but is not necessarily limited thereto. The first support plate 135 and the second support plate 136 may have a disk shape, but are not necessarily limited thereto, and may be designed in various shapes.
The coupler 120 may include a nozzle 121 inserted into an 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 rotation unit 133 may include a motor and a driving belt to rotate the coupling 120. Thus, rotating the key code 125 by the first rotating unit 133 allows alignment with the grooves of the outlet.
The opening/closing module 110 may include a cover clamping unit 111 clamping the cover 11 of the container 10, a first supporting portion 113 supporting the cover clamping unit 111, a second rotating unit 114 rotating 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 clamping unit 111 may clamp and rotate the cover 11 of the container 10 to open and close the cover 11 of the container 10. The cover clamping unit 111 may have various shapes capable of clamping the cover 11. For example, the cover clamping unit 111 may have a plurality of protrusions 112 protruding in the radial direction. An accommodating 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 move 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 the 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 clamping 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.
The driving belt 115 may be disposed between the horizontal frame 113a and the cover clamping unit 111 to transmit the rotation power of the second rotation unit 114 to the cover clamping unit 111. Since the coupling 120 is provided on the cover clamping unit 111, the first rotating unit 133 may be provided higher than the second rotating unit 114.
The driving module 140 may rotatably connect the vertical frame 113b of the first support portion 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 113b. 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 rotate.
Rotation of the vertical frame 113b rotates the cover clamping unit 111. Accordingly, the cover clamping unit 111 may be moved from the first position MA1 disposed below the coupler 120 to the second position where rotation is terminated. However, the present invention is not necessarily limited thereto. The cover clamping unit 111 may be moved from the first position to the second position by horizontal movement rather than rotation. Alternatively, the coupler 120 may move downward through the horizontal frame 113a and the cover clamping unit 111.
The angle adjustment module 150 may include a third supporting portion 153 connecting the raising/lowering module 170 and the coupler fixing module 130, a first adjustment unit 151 axially rotating the holder 131 with respect to a first direction (X-axis direction), and a second adjustment 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 (153 a) connected to the raising/lowering module 170, the other end portion 153b connected to the coupler 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 perpendicularly to each other by a curved portion 153c disposed therebetween.
The second adjusting unit 152 may be disposed between the raising/lowering 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 coupler 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 coupler 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 coupler fixing module 130 by the driving module 140, the angle of the opening/closing module 110 may also be adjusted when the angle of the coupler fixing module 130 is 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 coupler 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 coupler 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 angle of the cover clamping unit 111 and the coupler 120 can be adjusted with one angle adjusting module 150 at a time. Therefore, 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 a position of the cover, and a second sensing unit 162 disposed on the fourth supporting part 163 to sense 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 the position coordinates of the cover through the image of the top image and output driving signals to the first and second transmission modules 211 and 221 to move the cover clamping 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 heights from the cover. The control unit may check the inclination degree of the cover using a plurality of height signals from the sensing unit 162. 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 ascent/descent 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 ascent/descent unit 171 ascending and descending the sliding unit 172. The cover clamping unit 111 and the coupler 120 may be raised and lowered by the raising/lowering module 170.
Fig. 4 and 5 are views illustrating a process of bringing a plurality of containers to at least one integrated coupling module.
Fig. 4 and 5 illustrate that a plurality of containers 10 may be brought into an operative position defined by a pair of first transfer members 210 and a pair of second transfer members 220. A plurality of containers 10 may be brought to an operative position by the transfer member while being placed on the holder 20. Various transfer devices that can move the container 10, such as conveyors, rollers, conveyor belts, forklifts, manual lifts, motorized lifts, carts, bogies, rails, 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 the two containers 10 disposed in the first row, and the second integrated coupling module 100B may perform a coupling operation on the 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 vary 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 showing a process of sensing a position of a cap coupled to a container, and fig. 7 is a view showing a process of sensing flatness of a cap 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 the position coordinates of the cover 11 through the image of the top image, and output driving signals to the first and second transmission members 210 and 220 to move the cover clamping 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 the position coordinates of the cover using the image of the top image acquired by the first sensing unit 161 and check the protrusion position of the cover. This process may be performed by various image analysis methods.
Fig. 7 shows that the second sensing unit 162 may 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 heights from the cover 11. The control unit 300 may check the inclination degree of the cover 11 using a plurality of height signals from the sensing unit 162. 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 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 link module 100 may be adjusted accordingly. 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. 8 is a view showing a state in which the cover clamping 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 clamping 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 clamping unit is lowered to be coupled to the cover.
Fig. 7 and 8 illustrate that the cover 11 coupled to the container 10 may be obliquely disposed for various reasons. Containers such as pails may require chemical resistance depending on the type of chemical, so that 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, errors in adjusting the pressure of the injected gas after filling the container with the chemical may result in tilting, and failure to vent the gas from the container when filling the chemical may result in tilting. Furthermore, when a small amount of pressurized gas is filled while the chemical is being expelled from the container 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 obliquely placed for various reasons as described, if the cover clamping unit 111 is vertically lowered, it may be difficult to accurately clamp the inclined cover 11. Accordingly, the integrated coupling module 100 according to this embodiment employs the angle adjustment module 150 to adjust the angle of the cap clamping unit 111.
The angle adjustment module 150 may include a third supporting portion 153 connecting the raising/lowering module 170 and the coupler fixing module 130, a first adjustment unit 151 axially rotating the holder 131 with respect to a first direction (X-axis direction), and a second adjustment unit 152 axially rotating the holder 131 with respect to a second direction.
Fig. 8 shows that the coupler fixing module 130 may be axially rotated with respect to a first direction (X-axis direction) by the rotation of the first adjustment unit 151. At this time, since the opening/closing module 110 may also be adjusted when adjusting the angle of the coupler fixing module 130, the cover clamping unit 111 and the coupler 120 may be disposed obliquely at a predetermined angle θ1 with respect to the vertical direction X1.
Fig. 9 shows that the coupler fixing module 130 may be axially rotated with respect to the second direction (Y-axis direction) by the second adjustment unit 152. Since the second adjusting unit 152 axially rotates the third supporting portion 153 with respect to the second direction, the coupler fixing module 130 and the opening/closing module 110 connected to the third supporting portion 153 may simultaneously axially rotate with respect to the second direction. Accordingly, the cover clamping unit 111 and the coupler 120 may be disposed obliquely at a predetermined angle θ2 with respect to the vertical direction X1.
This configuration allows rotation with respect to the X-axis and the Y-axis, so that adjustment having the same angle as the inclination angle of the cover 11 is possible.
Fig. 10 shows that since the cover clamping 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 clamped 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 cylinder. This configuration allows the plurality of protrusions 112 to be coupled to the cover while the protrusions are advanced in the 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 clamping unit 111 may be rotated by the second rotating unit 114 while the cover 11 is clamped to separate the cover 11 from the container 10.
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, 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 cap holding unit holds the cap by rotation, and fig. 12A to 12D are views for describing another embodiment in which the cap holding unit holds the cap by rotation.
Fig. 11A and 11B illustrate that the cover clamping unit 111 may be rotated to have the same angle as the inclination of the cover 11 by the angle adjusting module 150, and may be vertically lowered to clamp the cover by the raising/lowering module 170, as shown in fig. 11C. In this case, the angle adjustment module 150 may be disposed between the holder 131 of the coupler fixing module and the raising/lowering module 170.
This configuration allows the application of a structure in which the cover clamping unit 111 is vertically lowered or various structures for obliquely moving the cover clamping unit 111.
For example, fig. 12A shows that the angle adjustment module 150 may be disposed behind the raising/lowering module 170. That is, the angle adjustment module 150 may be disposed between the ascent/descent module 170 and the second transmission member (220 in fig. 10).
Fig. 12B illustrates that the ascent/descent module 170 may be rotated together with the cover clamping unit 111 by the angle adjustment module 150. Thereafter, the cover clamping unit 111 may be horizontally moved according to the center of the cover 11 and the center of the cover clamping unit 111, as shown in fig. 12C. Thereafter, the cover clamping unit 111 may be lowered by the raising/lowering module 170 to clamp the cover 11, as shown in fig. 12D. As described above, since the cover clamping unit 111 and the raising/lowering module 170 are rotated together by the angle adjusting module 150, the cover clamping unit 111 can be obliquely lowered to accurately clamp the cover 11.
Fig. 13 is a view showing a state in which the cap holding unit separates the cap from the container, fig. 14 is a perspective view of the cap holding unit, fig. 15 is a perspective view of the cap holding unit seen from another direction, fig. 16 is a view showing a state in which the cap holding unit rotates, and fig. 17 is a view seen from another direction, fig. 16.
Fig. 13 shows that the raising/lowering module 170 may raise the cap clamping unit 111 when the cap 11 is separated from the container 10 by the rotation of the cap clamping unit 111. Accordingly, the cover clamping unit 111 may be lifted while clamping 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 clamping unit 111 can be withdrawn from under the coupler 120 (first position) while clamping the cover 11. As described above, the driving module 140 may axially rotate the first supporting portion 113 of the opening/closing module 110.
Although the coupler 120 and the cap holding unit 111 are coaxially arranged and then integrally implemented, such a configuration can prevent failure of the cap holding 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 clamping unit 111 from the first position is not limited thereto. The driving module 140 may horizontally move the first supporting 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 clamping unit 111 and the coupler 120 are not stacked in the vertical direction.
Fig. 18A is a view showing a state in which the key code of the coupling and the key code of the outlet are aligned with each other, fig. 18B is a view showing the top surface of the outlet, and fig. 19 is a view showing a state in which the coupling 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 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 rotation 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 can be applied to the alignment of the key codes.
When the key 125 is determined to be 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 delivery methods may be applied to deliver the liquid of the container 10 to the storage tank.
Fig. 20 is a view showing a state in which the cover clamping unit is returned to the initial position, fig. 21 is a view showing a state in which the cover clamping unit is rotated to couple the cover to the container, and fig. 22 is a view showing a state in which the cover clamping unit is raised to complete the operation.
Fig. 20 shows that when the liquid discharge in the container 10 is completed, the coupling 120 may be raised by the raising/lowering module 170, and the cover clamping unit 111 may be returned to the original position under the coupling 120 by the driving module 140.
Fig. 21 shows that the cap clamping unit 111 clamping the cap 11 may be lowered by the raising/lowering module 170, and the cap clamping unit 111 may couple the cap 11 to the outlet again while being rotated by the second rotating unit 114 to complete the operation.
Fig. 22 shows that the cover clamping unit 111 is raised and the integrated coupling 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 serve only as illustrative examples 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.
Reference numerals
10: container
11: cover for a container
100: integrated connection module
110: opening/closing module
111: cover clamping unit
114: second rotary unit
120: coupling device
125: key code
130: connector fixing module
133: first rotary unit
140: driving module
150: angle adjusting module
151: first adjusting unit
152: second adjusting unit
170: a raising/lowering module.
Claims (13)
1. An integrated coupling module, comprising:
an opening/closing module including a cover clamping unit for 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,
wherein the coupler is disposed higher than the cover clamping unit,
wherein the cover clamping unit is movable from a first position, in which the cover clamping unit overlaps the coupler in a vertical direction, to a second position, in which the cover clamping unit does not overlap the coupler, and,
when the cap holding unit is moved to the second position, the coupler descends to be inserted into the outlet of the container.
2. The integrated coupling module of claim 1, comprising a drive module connected to the coupler securing module to move the opening/closing module from the first position to the second position.
3. The integrated coupling module of claim 2, wherein the coupler fixing module includes a holder to fix the coupler and a first rotation unit to rotate the coupler or a key code of the coupler,
the opening/closing module includes a first support portion supporting the cover clamping unit and a second rotation unit rotating the cover clamping unit, and
the drive module moves the first support portion to the second position.
4. The integrated coupling module of claim 3, wherein the first rotary unit is disposed higher than the second rotary unit.
5. 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 support portion connected to the coupler fixing module, a first sensing unit disposed on the fourth support portion to sense a position of the cover, and a second sensing unit disposed on the fourth support portion to sense an inclination of the cover.
6. 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 latch unit to be coupled to the protrusions inserted into the slits.
7. An integrated coupling module, comprising:
an opening/closing module including a cover clamping unit for clamping a cover of the container;
a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside; and
an angle adjusting module for adjusting the inclination angle of the opening/closing module and the coupler fixing module,
wherein the coupler is disposed higher than the cover clamping unit,
wherein the angle adjustment module comprises: a first adjusting unit adjusting 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 adjusting 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.
8. The integrated coupling module of claim 7, wherein the cover clamping unit and the coupler are adjusted to the same inclination angle by the first and second adjusting units.
9. The integrated coupling module of claim 7, further comprising a raising/lowering module for raising and lowering the coupler securing module, wherein the angle adjustment module is disposed between the coupler securing module and the raising/lowering module.
10. The integrated coupling module of claim 9, wherein the angle adjustment module further comprises a third support portion connecting the raising/lowering module and the coupler fixing module, wherein the second adjustment unit is disposed between the raising/lowering module and the third support portion, and
the first adjustment unit is disposed between the third support portion and the coupler fixing module.
11. The integrated coupling module of claim 10, wherein the third support portion includes one end portion connected to the ascent/descent module, another end portion connected to the coupler fixing module, and a curved portion formed between the one end portion and the other end portion.
12. 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;
an integrated coupling module 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 comprises:
an opening/closing module including a cover clamping unit for 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, wherein the coupler is inserted into an outlet of the container,
wherein the coupler is disposed higher than the cover clamping unit
Wherein the cover clamping unit is movable from a first position, in which the cover clamping unit overlaps the coupler in a vertical direction, to a second position, in which the cover clamping unit does not overlap the coupler, and,
when the cap holding unit is moved to the second position, the coupler descends to be inserted into the outlet of the container.
13. A method of coupling, comprising:
separating the cap from the container by rotating the cap holding unit in a first position;
withdrawing the cap clamping unit from the first position and aligning a coupler disposed above the cap clamping unit with an outlet of the container;
draining the liquid stored in the container by inserting the coupler into the outlet; and
by returning the cap holding unit to the first position, fastening the cap to the container,
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 vertically overlap.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2020-0101219 | 2020-08-12 | ||
| KR20200101220 | 2020-08-12 | ||
| KR20200101219 | 2020-08-12 | ||
| KR10-2020-0101220 | 2020-08-12 | ||
| KR10-2020-0185863 | 2020-12-29 | ||
| KR1020200185863A KR102551792B1 (en) | 2020-08-12 | 2020-12-29 | Integrated coupling module and coupling system including the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114074906A CN114074906A (en) | 2022-02-22 |
| CN114074906B true CN114074906B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110924612.XA Active CN114074906B (en) | 2020-08-12 | 2021-08-12 | Integrated coupling module and coupling system comprising the same |
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| CN (1) | CN114074906B (en) |
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| KR102092609B1 (en) * | 2019-01-10 | 2020-03-24 | 한양이엔지 주식회사 | Coupling apparatus for drum container |
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| US6871566B2 (en) * | 2001-09-20 | 2005-03-29 | Aloka Co., Ltd. | Cap opening system and method for opening cap |
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| CN101377516A (en) * | 2007-08-29 | 2009-03-04 | 霍夫曼—拉罗奇有限公司 | Decapping system |
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| Publication number | Publication date |
|---|---|
| CN114074906A (en) | 2022-02-22 |
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