KR101894482B1 - Automatic insertion system of the automatic clean quick coupler device for transporting the chemical - Google Patents

Abstract

The present invention relates to an automatic clean-up device for temporarily connecting a transfer line from a transfer tank to a storage tank to use a liquid toxic chemical (hereinafter referred to as "chemical") in a manufacturing process, The present invention relates to an automatic insertion system for an automatic clean connection apparatus for automatically transferring and disassembling a feed pipe, (EN) An automatic insertion system for an automatic clean connection device in which a male connector is transferred to a female connector (5) side of an ACQC, and an arm and a male connector are connected to each other. The automatic insertion system includes a square frame housing (6) 4), and a male connector is mounted and fixed in a vertical direction in two-axis driving A mounting module 1 is mounted on the upper portion of the frame housing 6 so that the male connector 4 mounted on the mounting module 1 is gripped by the gripper and hung in the direction of the female connector 5 of the opposite ACQC, An ACQC located opposite to the mounting module 1 of the frame housing 6 and a sealing module 3 for opening and closing the inflow hole of the ACQC female connector 5. [ And is integrally coupled to the rectangular frame housing (6).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic insertion system for an automatic clean connection device for transferring a chemical,

The present invention relates to an automatic clean-up device for temporarily connecting a transfer line from a transfer tank to a storage tank to use a liquid toxic chemical (hereinafter referred to as "chemical") in a manufacturing process, And more particularly, to an automatic insertion system for an automatic clean connection apparatus that transfers a chemical that is configured to automatically connect and disconnect a delivery pipe.

As is well known, semiconductor and LCD manufacturing plants use many types of liquid chemicals. These chemicals are mainly carried in tank lorries and transferred to specific storage facilities (tanks) of factories.

The above-mentioned chemicals are required to have an extremely high level of leakage prevention measures in all aspects of transportation, transportation and use, and there is a problem in that a chemical which is a poisonous substance in a leakage accident causes a lot of social cost loss in life- Toxic chemical leakage has already become a social issue, and such a chemical spill has a problem of causing high cost of disaster prevention treatment and damaging the corporate image.

Especially, when liquid chemical, which is a poisonous substance or a dangerous substance, leaks out of the factory, it is spread to environmental pollution and secondary damage, so its handling should be very sophisticated and strictly done.

In order to safely transport the chemicals, such as the above-mentioned dangerous substances, a cargo handling device equipped with an automatic clean quick coupler device (hereinafter referred to as ACQC) is suitable for mass transfer from the conveying tank to the storage tank of the factory. And the ACQC is installed in the outer wall of the factory by a distance of 1 to 2 m (blocked by a partition wall) to perform the transportation operation.

This can be regarded as a countermeasure to prevent the leakage of the factory outside by holding the effluent chemical in the factory in case of a leak accident. However, the problem of leakage can not be solved only by such a barrier facility, and at the same time, the operator directly connects the transfer hose of the tank to the ACQC There is a problem in that it is difficult to prevent the risk of harming the safety of the worker due to the manual operation of fixing and disassembling and recovering and there is a problem that it is difficult to operate due to heavy weight of the male connector combined with the chemical hose and hose end, There is a problem that much care is required to prevent the number of erroneous insertion.

A description will be given of a conventional technique in which the problem of manual operation is partially improved.

A specialized ACQC device has been developed and known for safe and convenient transfer of the chemical.

According to Korean Patent Registration No. 1572537 "Automated fastening system between chemical tank and ACQC unit ", a first male connector provided at the end of a chemical hose for supplying a chemical from the tank to the ACQC unit can be mounted 1 movable unit; A first male connector cap removing means capable of removing the cap of the first male connector with the first male connector held in the first movable unit; A first female connector cap removing means capable of removing a cap of a first female connector provided at a chemical injection port of the ACQC unit; The first movable connector is linearly fed to the ACQC unit in a state where the cap of the first male connector and the cap of the first female connector are removed to fasten the first male connector to the first female connector of the ACQC unit Conveying means; A second movable unit capable of mounting a second male connector at the end of a nitrogen hose for supplying nitrogen for chemical extrusion from the ACQC unit to the tank in a state where the cap is engaged; A second male connector cap removing means capable of removing the cap of the second male connector in a state in which the second male connector is mounted on the second movable unit; A second female connector cap removing means capable of removing a cap of a second female connector provided at a nitrogen outlet of the ACQC unit; A second feed mechanism for linearly feeding the second movable unit to the ACQC in a state in which the cap of the second male connector and the cap of the second female connector are removed to fasten the second male connector to the second female connector of the ACQC unit Way; A first female connector and a second female connector of the ACQC are wrapped around the first female connector and the second female connector so as to prevent the chemical from being scattered and to prevent external contamination when the chemical leaks at the first female connector and the first female connector of the ACQC unit A clean booth provided with a shutter that is opened only when the first movable unit and the second movable unit enter or return to the ACQC unit; And a second male connector cap removing means, a first female connector cap removing means, a second female connector cap removing means, and a second female connector cap removing means. 2 conveying means and a clean booth inside the ACQC unit so that the ACQC unit can be disposed in front of the ACQC unit.

According to this prior art, a plurality of fastening units for transferring two kinds of chemicals are formed, a male connector is mounted and fixed to the movable unit, the movable unit is linearly moved, inserted and fixed in the ACQC female connector at the opposite position, And the male connector provided at the end of the tank hose is linearly moved toward the ACQC female connector at the opposed position while being mounted on the cradle, so that the male connector is forcibly inserted into the female connector.

The cradle for mounting and fixing the male connector is difficult to grip the male connector to be inserted into the female connector so that external force such as tension is applied to the female connector.

In other words, the female coupling tolerance is formed extremely close to 0.25 mm to 0.4 mm or less in consideration of the chemical leakage, and it is possible to prevent the unevenness in the horizontal transfer process, The male and female connectors spaced apart from each other can not be inserted exactly within the clearance.

If unequal insertion is unstable, ACQC durability may be shortened due to eccentric sealing damage, uneven wear, etc., which may shorten the life span and increase the risk of leakage.

KR 10-1572537 B1 KR 2001-0053914 A KR 10-0505060 B1

SUMMARY OF THE INVENTION The present invention has been accomplished in view of the above-described problems of the prior art, and has the following problems.

The present invention relates to an ACQC automatic inserting device for preventing an outflow of an ACQC and a peripheral device by preventing the leakage of the chemical by allowing the female and male connector opposed fasteners to accurately connect the male connector holding devices within a permissible range, Which is capable of eliminating the shortening of the service life of the automatic clean-connection apparatus.

Disclosure of Invention Technical Problem [8] The present invention provides an automatic insertion system of an automatic clean-up apparatus for transferring a chemical, which prevents inconveniences by preventing operator convenience and chemical misconnection.

The present invention provides an automatic inserting system for an automatic clean connection device that transfers a chemical which can be installed on the spot by simple movement since the arm and male connector connection structure is integrated in a single frame housing.

The present invention provides an automatic insertion system of an automatic clean connection device that transfers a chemical that minimizes damage to the apparatus due to chemical leakage drop by eliminating the bottom of the frame housing constituting the automatic insertion system as much as possible.

The present invention provides an automatic insertion system of an automatic clean connection apparatus that transfers a chemical which is capable of eliminating automatic insertion deviation due to external factors such as temperature change, impact and vibration, or inserting incapability after installation of the automatic insertion system.

The present invention provides an automatic insertion system for an automatic clean connection apparatus that transfers a chemical having ease of operation and ease of installation so that the mounting position of the male connector can be set arbitrarily and variably according to the situation of the construction site.

The present invention can mount a connector and suspend it so that the inside of the frame housing constituting the skeleton of the automatic insertion system can be emptied so that the operator enters the inside of the frame housing in case of need, And an automatic insertion system of an automatic clean connection device.

More specifically, the present invention provides technical means for solving the following problems.

The present invention relates to a vehicle comprising a male connector attached to a tank lorry of a transportation vehicle, a mounting module for mounting a male connector, a traveling module for gripping and lifting the male connector mounted on the mounting module and moving linearly, and an ACQC And a sealing module for opening and closing the inlet.

In order to automatically insert the male and female connectors spaced apart from each other without problems, the following requirements must be taken into consideration and a solution thereof is provided.

a1) The traveling module grasps the male connector correctly and moves it toward the female connector, and inserts the male connector into the female connector hole into the female connector hole at a position and angle within the error range (0.25mm to 0.4mm in the female connector hole and male connector) It should stop at a constant insertion depth.

a2) In order to prevent corrosion damage caused by direct contact during chemical leakage, it is preferable that the traveling module is located on the upper part of the male connector.

a3) When inserting the male connector, the key groove of the male connector and the chemical key of the female connector are to be combined to prevent erroneous connection between the female and male connectors.

a4) When the travel module grasps the male connector, the position / angle of the male connector and the position and angle of the female connector hole are precisely adjusted and adjusted, and this state must be maintained permanently regardless of the installation and operation conditions .

If the setting is disturbed by any factor (holding of the male connector, installation condition of the female connector, dimensional fluctuation due to temperature change, external force, shock, etc.), the ACQC It is possible to predict that an operation failure or an early breakage of the battery is caused.

Once the position of the insertion hold of the ACQC female connector and male connector has been set once, the position and angle in the X, Y, Z axis direction should not change within the range of the clearance.

a5) During the unloading operation after the male connector is inserted. When the connector is firmly gripped by the gripping device of the automatic insertion system, the female connector's concave portion of the female connector is coupled to the convex portion of the male connector Accurate centering between the two is essential, so that after the male connector is inserted into the female connector hole, it is essential that the male connector is freely provided with a degree of freedom in the male connector holding device so as to flow through the hole of the female connector.

When the male connector holding device is given a degree of freedom, the male connector is automatically self-aligned to the center of the female connector hole.

a6) After inserting the male connector into the female connector, the lever of the cam stopper mounted on the ACQC female connector should be operated as it is originally, so that the male connector is not detached during chemical transfer.

a7) When not in operation, the plug of the sealing module should be plugged into the female connector hole to maintain the shut off state from the outside.

a8) The automatic insertion system is usually installed between the building exterior wall and the cargo unit.

a9) The position of the male connector grip is made stable by lifting and running, and firmly supported by the high load load, by gripping the two parts of the socket ring and the rear part flange of the connector with the gripper.

The above-mentioned problem solving means is performed as follows.

A male connector attached to an end of a tank lorry hose of a chemical transportation vehicle and an automatic insertion system of an automatic clean connection device in which male and female connectors are connected by transferring a male connector on the side of a female connector of an ACQC A mounting module for mounting and fixing a male connector in a front-rear direction and a vertical-direction two-axis driving to a mounting position of a male connector at a lower portion of a front face of the frame housing approaching an operator of the frame housing, A traveling module that grips the mounted male connector with a gripper and hung it in the direction of the female connector of the opposite ACQC to perform two-axis driving in the up-down direction and the front-rear direction; ACQC facing the mounting module of the frame housing; And a sealing module for opening and closing the hole.

The mounting module includes a jig constituting a positioning plunger for presetting a key groove engagement position of the male connector before the chemical key of the female connector is coupled to the key groove of the male connector, and a mount panel for fixing the jig A vertical drive unit for linearly and vertically moving the mount panel up and down, and a front and rear drive unit.

The jig includes a pedestal formed with a U-shaped opening coinciding with an outer diameter of the male connector, a swing clamp for opening and closing the pedestal, and a clamp cylinder for performing lift and swivel driving to provide opening and closing power to the swing clamp. Wherein the positioning plunger is formed by projecting a plunger projection projecting inwardly, the spring being engaged with the key groove of the male connector.

The mounting panel of the mounting module may be formed with a number of pedestals of equal number for mounting a plurality of male connectors.

The up-and-down drive unit and the back-and-forth drive unit are composed of a cylinder and a linear guide.

The up-down driving unit and the back-and-forth driving unit may be composed of an electric motor and a linear guide.

The traveling module includes a lifting plate formed on the frame housing and lifting and lowering the lifting plate, a cylinder for driving the lifting plate vertically, and a guide rod guiding and supporting the lifting and lowering of the lifting plate are coupled to the four corners of the lifting plate, And a holding device linearly moving in the longitudinal direction of the lifting plate and having a male connector gripper.

The gripping device is composed of a pair of gripping devices which are suspended from a lifting plate and are engaged with forward and backward driving units that make linear movement in the forward and backward directions on the lifting plate, And a grip unit having a gripper.

The gripping unit is provided with a self-aligning block so as to provide a freedom of locking to lock out or clear the gap to form a clearance 360 degrees horizontally when engaged with the lifting plate and to create a clearance.

The self-aligning block is composed of a pair of cylinders for releasing or locking the clearance and blocks spaced apart from the cylinder at the bottom by opposing each other, and between the cylinder and the block facing the cylinder, the clearance is formed by the contraction and expansion of the cylinder By locking it.

The gripping unit is composed of a gripping cylinder in which a gripper matching the gripping outer diameter of the male connector is engaged.

The gripping unit may be composed of a single or a plurality of loads by calculating a load according to the weight of the male connector and the diameter of the chemical transfer pipe as a load.

The plurality of gripping units are formed by joining two gripping units by further adding a joint block assembly assembly under the automatic care block, and the grippers of the two gripping units are aligned to be concentric.

The sealing module includes a rotary cylinder coupled to the frame housing, and a sealing cap coupled to a rotary rod end portion extending from the rotary cylinder rotary shaft and extending to open and close the female connector hole of the ACQC.

The sealing module further comprises a lock notch for restricting the detachment of the connector to be inserted into the female connector hole, and a cylinder for rotating the notch.

According to the present invention as described above, the male and female connectors of the automatic insertion device of the ACQC can be accurately and flexibly connected to each other by allowing the male connector holding device to move within the permissible range of allowable clearance, And it is possible to prevent the ACQC and the peripheral device from being damaged due to breakage of the coupling center of the male connector and to shorten the service life due to abrasion. In order to facilitate mounting of the male connector of the tank lorry, If the plunger protrusion of the plunger for positioning the mounting module and the key groove of the male connector are not coupled, the system operation is interrupted, so that the chemical misconnection is interrupted and mixed. Can be prevented.

In addition, since the present invention integrates the female and male connector assembling devices in a single frame housing, the automatic insertion system of the present invention can be easily moved and installed on the field, so that the construction is easy and the disassembly for repair or replacement is extremely convenient. , It is possible to minimize the damage of the apparatus due to the fall of the chemical outflow, and at the same time, the automatic insertion system can prevent the occurrence of automatic insertion deviation or incapability of insertion due to external factors such as temperature change, shock and vibration after construction There is an effect that can be done.

Further, according to the present invention, the mounting position (ground height) of the male connector can be set arbitrarily and variably in accordance with the situation of the construction site, so that the convenience of the operation and the ease of installation can be achieved. The present invention has various excellent effects such as being able to empty the inner space of the frame housing constituting the skeleton of the automatic insertion system so that the operator can enter the inner space of the frame housing in case of need so that the manual connecting operation space can be secured.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a frontal state configuration diagram showing an automatic insertion system of the present invention. FIG.
2 is a side view of the automatic insertion system of the present invention.
3 is a configuration diagram showing a mounting module of the present invention.
4 is a configuration diagram showing a travel module of the present invention.
5 is a configuration diagram showing a sealing module of the present invention.
6 is a flowchart showing an operation example of the automatic insertion system of the present invention.
FIG. 7 is a schematic diagram illustrating an operation example of the automatic insertion system according to the present invention, schematically illustrating the various operation sequences.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 and 2, the present invention is characterized in that a male connector 4, which is attached to the end of a tank liner hose of a chemical transportation vehicle and has a key groove 45, is mounted and transferred to the opposite side of the female connector 5 of the ACQC An automatic insertion system of an automatic clean connection device in which a chemical key formed on a female connector 5 to be coupled to the key groove 45 and a female key connector 45 are coupled by a key groove 45 of the male connector 4, , A mounting module (1) for mounting and fixing a male connector in a front-rear direction and a vertical two-axis driving with the mounting position of the male connector (4) below the front face of the frame approaching the operator of the frame housing, The upper and lower parts of the frame housing 6 are vertically and horizontally bi-axially driven so as to grip the male connector 4 mounted on the mounting module 1 with a gripper and to be hung in the direction of the female connector 5 of the opposite ACQC The traveling module (2) An ACQC located opposite to the mounting module 1 of the base frame housing 6 and a sealing module 3 for opening and closing the inlet hole of the ACQC female connector 5. [

3, before the chemical key of the female connector 5 is coupled to the key groove 45 of the male connector, the mounting module 1 sets the engagement position of the key groove 45 of the male connector in advance A vertical drive unit 11 for forming a mount panel 100 for fixing the jig and carrying the mount panel up, down, forward, and backward, a jig 10 constituting a positioning plunger 140 for positioning, And a front and rear drive unit 12.

The jig 10 includes a pedestal 110 having a U-shaped opening corresponding to the outer diameter of the male connector, a swing clamp 120 for opening and closing the pedestal, a clamp cylinder 130 for providing opening and closing power to the swing clamp, A position setting plunger 140 is formed on the swing clamp 120.

The swing clamp 120 is a clamping cylinder and performs upward and downward driving. The positioning key plunger 140 has a plunger protrusion, which is engaged with a key groove 45 of the male connector, .

The mount panel 100 of the mounting module 1 may be formed with a pedestal 110 of the same number for mounting a plurality of male connectors 4. [

Since a plurality of cradles 110 are made to be able to classify the chemical by the difference in diameter of the male connector in order to carry out heterogeneous chemical transfer, a plurality of male connector bases for chemical transfer of the standards 20A and 50A are formed, In the case of the same (or no big difference), chemical division is possible depending on whether the plunger protrusion of the position setting plunger 140 and the key groove 45 of the male connector are engaged.

The up-down driving unit 11 and the back-and-forth driving unit 12 are composed of a cylinder and a linear guide.

The cylinder of each of the two drive units 11 and 12 is formed of a pneumatic cylinder. The linear guide includes a jig 10 mounted on the mount panel 100, a male coupler 4 coupled to the jig, And is linearly driven so as to be guided, and is vertically and horizontally coupled so as to be orthogonal to each other.

The driving of the up-and-down driving unit 11 and the front-rear driving unit 12 may be combined with an electric motor and a linear guide.

4, the traveling module 2 includes a lifting plate 200 formed on the frame housing 6 and lifting and lowering the lifting plate 200 and a cylinder 210 driving the lifting plate up and down. A lifting device 20 having a guide rod 220 guiding and guiding the lifting plate 220 to the four corners of the lifting plate and supported by a guider 222 supporting the guide rod 220 on the frame housing 6, (22) having a male connector grip gripper linearly moving in the front-rear direction in the housing (200).

The gripping device 22 is moved upward, downward, backward and forward by a front-rear drive unit 25 which is hung on a lifting plate 200 which is driven up and down, and which linearly moves in the fore-and- And gripping units (23, 24) having a pair of grippers (231) for gripping a male connector to the front and rear drive unit.

The gripping units 23 and 24 are formed through a self-aligning block 26 that forms a clearance that flows 360 degrees in the horizontal direction when engaging with the lifting plate and forms a clearance, and forms a degree of freedom to form a degree of freedom.

The automatic care block 26 includes a pair of fluid cylinders 262 for releasing or locking the clearance and a pair of guide blocks 264 spaced apart from each other by a predetermined clearance on the bottom surface of the fluid cylinder. Between the flow cylinder and the opposed coarse block 264, balls are inserted into the opposed face to form three ball insertion holes so as to create or lock clearance by contraction and expansion of the flow cylinder.

The ball is made of a steel ball, and the clearance is formed to prevent the ball from departing in the fully expanded state. The downward expansion of the fluid cylinder 262 causes the coarse block 264 to closely contact with the ball to restrict the flow.

The number of ball insertion holes may be three or more, but the expansion of the flow cylinder and the freedom of shrinkage separation are limited to achieve a geometrically stable operation.

The gripping units 23 and 24 are formed of gripping cylinders 230 and 240 having grippers 231 and 241 fitted to the outer diameter of the male connector 4, respectively.

The gripping units 23 and 24 may be made of a single or a plurality of loads by calculating a load according to the weight of the male connector and the diameter of the chemical transfer pipe as a load.

The gripping unit 23 is made of 20A standard and the gripping unit 24 is made of 50A standard and can be made of a plurality of gripping units 23 or gripping units 24 of the same size.

The gripping unit may be formed of gripping units 23a and gripping units 24 of different sizes.

The plurality of gripping units 23a and 24 having different specifications are formed by joining two gripping units 23a and 24 by further adding a joint block assembly 27 under the automatic gripping block 26, The grippers 231 and 241 of the unit are arranged so as to be concentric.

The joint block assembly 27 includes a plurality of joint blocks 272 symmetrical in the left and right direction and a gripping cylinder 240 for operating a gripper 241 between the joint blocks. The joint block assembly 27 includes a joint rod 274 and a joint panel 276 for integrally fastening one end of the joint rod 274 are interposed between the joint block 272 and the joint panel 276 via compression springs 278, A cylinder 279 for limiting the protrusion of the joint rod 274 is formed at the other end of the penetrating joint rod so that the cylinder 279 rod and the other end of the joint rod 274 are in contact with each other.

A plate 280 for fastening a joint block under the joint block 272 and a pair of grippers 241 coupled to a hinge 283 and forming a long hole 284 for guiding the left and right expansion about the hinge A drive rod 282 that is lifted and lowered by the force of the gripping cylinder 240 is formed between the pair of guide plates 281 and the guide plate so that the elongated holes 284 of the guide plate 281 and the elongated holes of the gripper 241, The gripper 241 is extended and retracted in the gripping cylinder 240 by engaging and disengaging the gripping cylinder 240 with the pin 285 passing through the gripping cylinder 282 sequentially.

The joint panel 276 is coupled to the gripping cylinder 230 of the gripping unit 23a.

The gripping cylinder 230 adopts an angle-opening type cylinder (PH05-50) manufactured by a pneumatic cylinder manufacturer and can be selectively changed according to the gripping load.

The gripping units 23 and 23a constitute substantially the same angle-open type ready-made cylinder and the left and right extended structures of the joint block 27 and the gripper 241 are designed for driving the grippers 231 and 241 of different sizes Respectively.

In addition, the grip unit 23a is coupled to one end of the joint block assembly 27 so as to shrink the relative distance with respect to the gripper 241 so as to reduce the gripping position of the male connector, thereby enabling stable gripping.

The grippers 231 and 241 of the gripping unit 23a and the gripping unit 24 grip the portions of the thread ring 43 and the flange 41 of the male connector 4 by the relative spacing distance.

The front and rear drive unit 25 is composed of a combination of a stepping motor and a lead screw.

The front and rear drive unit 25 may be formed of a pneumatic cylinder and a linear guide. When the combination of the stepping motor and the lead screw is used, the differential position control is easy and accurate. When the pneumatic cylinder and the linear guide are combined, And they can be selectively applied according to the kind of chemicals to be treated.

The front and rear drive unit is a mechanical component that linearly moves the gripping units 23, 23a, 24 in the Y-axis direction in a state where the drive unit is mounted on the frame housing 6, and various structures are known, .

5, the sealing module 3 includes a rotary cylinder 31 coupled to the frame housing 6, and a sealing cap 33 coupled to an end of the rotary rod 32, which is orthogonally coupled to the rotary cylinder rotary shaft, And the hole of the female connector 5 of the ACQC is opened and closed.

The sealing module 3 further comprises a locking notch 34 for restricting the detachment of the connector to be inserted into the female connector hole, and a cylinder 35 for engaging the locking and unlocking rotation of the notch.

The male connector 4 is provided with a flange 41, a ring 43 and a chemical key groove 45 in a part of the surface of the ring.

Hereinafter, the operation of the present invention forming the technical idea as described above will be described in more detail.

ACQC is developed for safe transport of chemicals, has a female connector hole and has multiple projections corresponding to chemical keys.

The key groove corresponding to the projection, which is the chemical key of the female connector, is formed in the male connector, and when the groove and the projection coincide with each other, they can be fastened to the correct coupling position and the chemical is transported only after the fastening is completed.

The chemicals for transport are typically carried by tank lorries, the chemicals are carried by hoses from the lorries, and the hose ends are provided with male couplers for connection to female connectors.

First, the operation process for the chemical transfer using the present invention will be schematically described with reference to FIG. 6 (the circles in FIG. 6 are the same as the number of steps in the following operation process).

A plurality of grasping units 23a and 24 having different specifications are mainly used for 50A chemical ACQC, and a single standard grasping unit 23 can be applied to 20A nitrogen ACQC.

Hereinafter, the operation will be described focusing on the embodiment applied to the ACQC for the 50A chemical comprising the plurality of holding units 23a, 24.

The direction in which the external operator on which the male connector is mounted is referred to as forward and the direction opposite to the ACQC is referred to as rear, and the forward and backward directions are referred to as the Y axis direction and the up and down direction as the Z axis direction.

1. The system of the present invention is in a standby state (the system home position-running module is in an upward position, the mounting module is in a downward position, the swing clamp 120 of the jig 10 is in a peeled state), the ACQC female connector hole sealing cap 33), and the notch (34) is released.

2. When the system is turned on, the mounting module (1) moves forward to the operator side (Y axis).

3. The operator mounts the male connector (4) at the end of the hose to the U-shaped opening of the jig (10) in alignment with the reference pin.

4. Swing clamp (120) Clamp the U-shaped opening after rotating 90 ° to clamp cylinder (130).

5. Male coupler (4) Manually rotate the chemical key to match (key groove and plunger projection fit).

6. Male connector mounting and positional completion.

7. Mounting module (1) Move back from the operator side to the ACQC, and wait at the grip position of the gripper (22).

8. Female connector (5) Sealing cap (33) Open drive.

9. Y-axis and Z-axis movement to the gripping position of the upper travel module (2).

10. Moving the Z-axis upward to the gripping position of the lower mounting module (1).

11. Holding the male connector 4 by the gripping device 2 (flange 41 and the surface of the ring 43).

12. Movement of the lowering position of the jig (10) in the Z axis after the swing clamp (120) of the mounting module (1) is opened.

13. Travel module (2) Reversing in ACQC direction The cylinder (279) of the joint block assembly (279) is released from air after first pulling into the threading ring (43) female connector (5) hole of the connector (4).

14. After gripping the ACQC surface with the gripping cylinder 230 of the gripping unit 23a, the gripper 231 is lifted after the second withdrawal distance by the backward distance of the joint rod 274.

15. Shrinkage of the flow cylinder (262) of the self-aligning block (26), providing a free configuration between the male connector and the female connector due to the clearance composition.

16. Match the chemical key system with the chemical key groove of the male connector and the projection of the female connector. (If there is a mismatch, the last stroke can not be inserted and an alarm is generated.)

17. Travel module (2) Male connector is pulled up to the last section.

18. The notch (34) of the sealing module (3) is locked in the released state.

19. Completion of automatic insertion of male connector.

20. Automatic operation of ACQC in unloading unit (not shown).

21. Sealing module (3) Cylinder (35) operation, notch (34) release.

22. The male connector 4 is moved in the retracted state by the compression spring 278 and the cylinder 279 and the gripper 231 (The floating cylinder and the caulking block are fixed) by the expansion of the flow cylinder 262 of the self-aligning block 26. In this case,

23. Travel module (2) Y-axis direction forward drive standby.

24. Mounting module (1) Rising jig (10), swing clamp (120) locked after reverse mounting on male connector jig (male connector restraint).

25. Release the gripper (231, 241).

26. Mounting module (1) Jig (10) descending.

27. Retention device (20) raised home position.

28. Jig (10) Reverse operation to the operator side (initial mounting position).

29. Swing clamp open drive (operator number connector recycle).

28. Module with jig (10) (10) Starting to the initial standby position.

29. Drive the rotary cylinder 31 of the sealing module 3 (closed with the female connector hole sealing cap 33).

7 (b) and 7 (c), the operating position of each module, such as the selection of the waiting position of each module in the initial state and the position of the male connector, Can be changed to fit the scene.

The detailed operation of the present invention will be supplemented with respect to necessary portions during each operation process.

2. When the system is turned on, the loading module 1 moves forward (Y-axis, Z-axis) on the operator's side, which allows the operator to easily handle heavy hose and connector, And act to move the mount panel 100 to the outside as close as possible to the operator.

4. Swing Clamp 120 After closing the U-shaped opening by 90 ° to the clamp cylinder 130, the opening of the U-shaped opening is manually operated in consideration of safety of the operator. After the rotation of 90 °, the clamp cylinder 130 The swing clamp 120 is lowered and the swing clamp clamps the male coupler to the suspension ring 43, and the clearance enough to turn the male coupler in place is maintained.

Closing of the swing clamp 120 may be automatically performed.

5. The chemical key matching operation by manually rotating the male coupler (4) is for preventing the erroneous injection of the chemical. The key groove 45 formed in the seal ring 43 and the projections of the positioning plunger 140 coincide with each other The dog of the position setting plunger 140 and the adjacent sensor are recognized and recognized as the mounting of the corresponding male connector, the groove alignment state based on the chemical key is maintained, and then the reference groove alignment state is maintained in the process of gripping and inserting into the ACQC It matches the chemical key of the female connector.

In case of discrepancy, the protrusion of the position setting plunger can not descend and the corresponding dog can not move to the sensor recognizing position. Therefore, a chemical key matching process is performed in which the discrepancy chemical is recognized and reordering or chemical feed stopping is selected.

8. Opening of the sealing cap 33 of the female connector 5 is performed by driving the rotary cylinder 31 so that the sealing cap 33 at the end of the rotary rod 32 is rotated downwardly from the hole of the female connector 5 State.

9. The upper traveling module 2 is moved in the Y axis and Z axis to the gripping position of the male connector of the mounting module 1. At this time, the Y axis driving is performed by the front and rear driving unit 25, And the lowering position is limited by a stopper provided on the housing frame 6. [

10. The lower mounting module (1) moves from a low position to a certain position in the Y-axis direction for waiting for the operator's convenience. It is preferable to select the position of movement (gripping position) in the Z axis direction where the ACQC and the central axis coincide with each other in the Z axis movement to the grip position so as to abut the grip units 23a and 24 at the same point in the Y axis direction , So that the gripping device is linearly moved in the Y-axis direction after gripping and inserted into the female connector immediately.

11. The gripping of the male connector 4 by the gripping device 2 is performed by setting the intervals between the grippers 241 and 231 to grip the flange 41 provided on the male connector and two surfaces of the ring 43, Considerable load is taken into account when considering the weight of the male connector and the transferring chemical, and the male and female connector insertion tolerances are very small, so that the male connector gripped for the insertion of the correct male connector functions to firmly grip the male connector.

13 to 17 In operation, the present invention provides the first to third insertion of the male connector.

In the first pulled-in state, the two grippers 231 and 241 are spaced apart at regular intervals and a part of the suspending ring 43 of the male connector 4 is partly inserted into the hole of the female connector 5, The gripper 231 can not be inserted by the gripper 231 when the gripping cylinder 231 of the gripping unit 23a contacts the surface of the ACQC 230. Therefore, The compression spring 279 is compressed by the backward distance of the joint rod, so that the gripper 231 is maintained in the gripped state and the second drawing is performed.

In the first and second pull-in operations, the portion of the male ring 43 of the male connector is relatively small in comparison with the diameter of the opening of the female connector 5, so that the insertion clearance is large.

However, in the process of releasing the gripper 231 after the second pull-in and finally making the third pull-in, the tolerance of the female and male connectors becomes extremely small (tolerance of 0.2 to 0.5 mm, The self-aligning block 26 releases the state of restraint of the male connector to form a clearance, so that a degree of freedom is relatively given between the male connector and the female connector.

In order to impart the degree of freedom, a clearance is formed between the flow cylinder 262 and the caulking block 264 in the automatic caulking block 26, and a groove is formed in a part of the caulking block 264, Therefore, when the flow cylinder expands, the clearance through the steel ball is constrained to come into close contact with the coarse block, and in the opposite case, clearance is generated between the coarse block and the free block.

When the gripping unit 24 having the degree of freedom is further pushed and inserted, the gripping cylinder 230 is pushed to the position where the gripping cylinder 230 can not retreat to the side of the joint block 272, thereby achieving complete arm / thread engagement.

If it is determined that the insertion is impossible due to the chemical key system inconsistency of the female and male connectors in the operation step 16, mechanical resistance is generated, and by detecting the increase in the rotational torque of the motor of the front and rear drive unit 25, System stop due to inconsistency, return to the home position, and alarm fermentation.

When the front and rear drive unit is formed of a pneumatic cylinder, it can be detected by an increase of the forward force by a load cell (not shown) for detecting a resistance force, and measures such as system stop are taken.

The subsequent action is clear and inverse to the process described above.

The construction and operation of the present invention have been described with reference to the chemical transport structure of the 50A standard in which a plurality of grippers are formed. Considering this description, as shown in FIGS. 1 and 2, The structure and operation of the nitrogen transfer structure are also the same, so that the explanation thereof is omitted.

As described above, the present invention solves various problems required in the solution means of the above-mentioned problems and achieves the object.

Finally, according to the present invention, the male connector holding unit considering the slight tolerance in the male and female connector inserting process is imparted with the degree of freedom and, in the case of the male connector of 50A standard, And it is very important that the degree of freedom by the caulking block and the gripper gripping position of the flange and the suspending portion are very important and the structure specified by the claims is only an example It will be understood that various modifications may be made by those skilled in the art, and such modifications fall within the technical scope of the present invention.

1: Mounting module 2: Traveling module
3: Sealing module 4: Male connector
5: female connector 6: frame housing
10: Jig 11: Up and down drive unit
12: front and rear drive unit 20:
22: a gripping device 23. 23a, 24: a gripping unit
25: front and rear drive unit 26:
27: joint block assembly 31: rotary cylinder
32: rotating rod 33: sealing cap
34: notch 35, 210, 279: cylinder
41: flange 43:
45: key groove 100: mount panel
110: pedestal 120: swing clamp
130: Clamp cylinder 140: Positioning plunger
200: lifting plate 220: guide rod
222: guider 230, 240: grip cylinder
231, 241: gripper 262: floating cylinder
264: Watch block 272: Joint block
274: joint rod 276: joint panel
278: Compression spring 280: Plate
281: guide plate 282: drive rod
283: Hinge 284: Long hole
285:

Claims (52)

The male connector 4 mounted on the end of the tank lorry hose of the chemical transportation vehicle and formed with the key groove 45 is transferred to the opposite side of the female connector 5 of the ACQC,
An automatic insertion system of an automatic clean connection device in which a chemical key formed on a female connector 5 to be coupled to the key groove 45 and an arm and male connector are coupled by a key groove 45 of the male connector 4 As a result,
The frame housing 6,
A mounting module 1 for mounting and fixing a male connector in a front-rear direction and a vertical-direction two-axis driving to a mounting position of the male connector 4 below the front face of the frame accessor,
The upper and lower parts of the frame housing 6 are vertically and horizontally bi-axially driven so as to grip the male connector 4 mounted on the mounting module 1 with a gripper and to be hung in the direction of the female connector 5 of the opposite ACQC (2),
An ACQC positioned opposite to the mounting module 1 of the frame housing 6 and a sealing module 3 for opening and closing an inlet hole of the ACQC female connector 5 and is internally coupled to the frame housing 6 ,
The mounting module 1 is provided with a positioning plunger 45 for presetting the engagement position of the key groove 45 of the male connector before the chemical key of the female connector 5 is coupled to the key groove 45 of the male connector. A vertical drive unit 11 which forms a mount panel 100 for fixing the jig and which carries the mount panel up, down, front, and rear, and a front and rear drive unit 12 ),
The jig 10 includes a pedestal 110 having a U-shaped opening that coincides with the outer diameter of the male connector, a swing clamp 120 for opening and closing the pedestal, a clamping cylinder 120 for providing lift and swivel driving force to the swing clamp, Wherein the positioning plunger 140 is formed on the swing clamp 120 and the positioning plunger 140 is configured such that the spring that is engaged with the key groove 45 of the male connector constitutes the resilient member 130, And a plunger protrusion protruding inwardly,
The traveling module 2 includes a lifting plate 200 formed on the frame housing 6 to move up and down and a cylinder 210 driving up and down the lifting plate, A lifting device 20 having a rod 220 coupled to four corners of the lifting plate and supported by a guider 222 which supports a guide rod 220 to the frame housing 6,
And a gripping device (22) linearly moving in the longitudinal direction on the lifting plate (200) and having a male connector grip gripper,
The gripping device 22 is moved up, down, forward and backward by a fore and aft driving unit 25 which is suspended from a lifting plate 200 which is driven up and down and which linearly moves the lifting plate in the forward and backward directions, And gripping units (23, 24) having a pair of grippers (231, 241) for gripping a male connector to the front and rear drive unit,
The gripping units 23 and 24 are provided with a self-aligning block 26 for forming a clearance that flows 360 degrees in the horizontal direction when engaging with the lifting plate and forming a clearance,
The sealing module 3 includes a rotary cylinder 31 coupled to the frame housing 6 and a sealing cap 33 coupled to an end of a rotary rod 32 extending orthogonally to the rotary cylinder rotary shaft and extending therethrough, 5) holes are opened or closed. The automatic insertion system of the automatic clean connection device for transporting the chemical. delete delete The method according to claim 1,
Wherein the up-down driving unit (11) and the back-and-forth driving unit (12) are coupled to each other by a pneumatic cylinder and a linear guide so as to be orthogonal to each other. The method according to claim 1,
Wherein the up-down driving unit (11) and the back-and-forth driving unit (12) are coupled to each other by an electric motor and a linear guide so as to be orthogonal to each other. delete delete delete The method according to claim 1,
The automatic care block 26 includes a pair of fluid cylinders 262 for releasing or locking the clearance and a pair of guide blocks 264 spaced apart from each other by a predetermined clearance on the bottom surface of the fluid cylinder. Characterized in that a ball is inserted between the flow cylinder and the opposing coarse block (264) so as to form or lock the clearance due to the contraction and expansion of the flow cylinder, Automatic insertion system of clean connection device. The method according to claim 1,
The gripping units 23 and 24 are gripping cylinders 230 and 240 having grippers 231 and 241 fitted to the outer diameter of the male connector 4. The gripping units 23 and 24 are connected to the male connector gripping weight The automatic insertion system of the automatic clean connection device for transferring the chemical. The method according to claim 1,
The gripping units 23a and 24 are formed by a plurality of gripping units 23a and gripping units 24 and the gripping units 23a and 24 further include joint block assemblies 27 under the automatic gripping blocks 26 And the grippers (231, 241) of the two gripping units are aligned so as to be concentric with each other. The method of claim 11,
The joint block assembly 27 includes a plurality of joint blocks 272 symmetrical in the left and right direction and a gripping cylinder 240 for operating a gripper 241 between the joint blocks. The joint block assembly 27 includes a joint rod 274 and a joint panel 276 for integrally fastening one end of the joint rod 274 are interposed between the joint block 272 and the joint panel 276 via compression springs 278, A cylinder 279 for restricting the protrusion of the joint rod 274 is formed at the other end of the penetrating joint rod so that the rod 279 and the other end of the joint rod 274 are in contact with each other,
A plate 280 for fastening a joint block under the joint block 272 and a pair of grippers 241 coupled to a hinge 283 and forming a long hole 284 for guiding the left and right expansion about the hinge A drive rod 282 that is lifted and lowered by the force of the gripping cylinder 240 is formed between the pair of guide plates 281 and the guide plate so that the elongated holes 284 of the guide plate 281 and the elongated holes of the gripper 241, The pin 285 that sequentially passes through the gripping cylinder 282 is coupled to the gripping cylinder 240 so that the gripping cylinder 241 is extended /
Wherein the joint panel (276) is coupled to a gripping cylinder (230) of a grip unit (23a). The method of claim 12,
The grippers 231 and 241 of the gripping unit 23a and the gripping unit 24 grip the portions of the thread ring 43 and the flange 41 of the male connector 4, respectively. Automatic insertion system of automatic cleaning connection device. The method according to claim 1,
Wherein the front and rear drive unit (25) comprises a combination of a stepping motor and a lead screw. The method according to claim 1,
Characterized in that the front and rear drive unit (25) comprises a combination of a pneumatic cylinder and a linear guide. delete The method according to claim 1,
Characterized in that the sealing module (3) further comprises a locking notch (34) which limits the detachment of the connector to be inserted into the female connector hole and a cylinder (35) which engages the locking and unlocking rotation of the notch Automatic insertion system of automatic cleaning connection device to transfer. The male connector 4 mounted on the end of the tank lorry hose of the chemical transportation vehicle and formed with the key groove 45 is transferred to the opposite side of the female connector 5 of the ACQC,
An automatic insertion system of an automatic clean connection device in which a chemical key formed on a female connector 5 to be coupled to the key groove 45 and an arm and male connector are coupled by a key groove 45 of the male connector 4 As a result,
The frame housing 6,
A mounting module 1 for mounting and fixing a male connector in a front-rear direction and a vertical-direction two-axis driving to a mounting position of the male connector 4 below the front face of the frame accessor,
An ACQC positioned opposite to the mounting module 1 of the frame housing 6 and a sealing module 3 for opening and closing an inlet hole of the ACQC female connector 5 are integrally connected to the frame housing 6 ,
The mounting module 1 is provided with a positioning plunger 45 for presetting the engagement position of the key groove 45 of the male connector before the chemical key of the female connector 5 is coupled to the key groove 45 of the male connector. A vertical drive unit 11 which forms a mount panel 100 for fixing the jig and which carries the mount panel up, down, front, and rear, and a front and rear drive unit 12 ),
The jig 10 includes a pedestal 110 having a U-shaped opening that coincides with the outer diameter of the male connector, a swing clamp 120 for opening and closing the pedestal, a clamp cylinder 120 for providing lift and swivel driving force to the swing clamp, Wherein the positioning plunger 140 is formed on the swing clamp 120 and the positioning plunger 140 is configured such that the spring that is engaged with the key groove 45 of the male connector constitutes the resilient member 130, And the plunger protrusion is protruded inward,
The sealing module 3 includes a rotary cylinder 31 coupled to the frame housing 6 and a sealing cap 33 coupled to an end of a rotary rod 32 extending orthogonally to the rotary cylinder rotary shaft and extending therethrough, 5) holes are opened or closed. The automatic insertion system of the automatic clean connection device for transporting the chemical. delete delete 19. The method of claim 18,
Wherein the up-down driving unit (11) and the back-and-forth driving unit (12) are coupled to each other by a pneumatic cylinder and a linear guide so as to be orthogonal to each other. 19. The method of claim 18,
Wherein the up-down driving unit (11) and the back-and-forth driving unit (12) are coupled to each other by an electric motor and a linear guide so as to be orthogonal to each other. delete 19. The method of claim 18,
Characterized in that the sealing module (3) further comprises a locking notch (34) which limits the detachment of the connector to be inserted into the female connector hole and a cylinder (35) which engages the locking and unlocking rotation of the notch Automatic insertion system of automatic cleaning connection device to transfer. The male connector 4 mounted on the end of the tank lorry hose of the chemical transportation vehicle and formed with the key groove 45 is transferred to the opposite side of the female connector 5 of the ACQC,
An automatic insertion system of an automatic clean connection device in which a chemical key formed on a female connector 5 to be coupled to the key groove 45 and an arm and male connector are coupled by a key groove 45 of the male connector 4 As a result,
The frame housing 6,
A mounting module 1 for mounting and fixing a male connector in a front-rear direction and a vertical-direction two-axis driving to a mounting position of the male connector 4 below the front face of the frame accessor,
The upper and lower parts of the frame housing 6 are vertically and horizontally bi-axially driven so as to grip the male connector 4 mounted on the mounting module 1 with a gripper and to be hung in the direction of the female connector 5 of the opposite ACQC (2), and is built in the frame housing (6)
The mounting module 1 is provided with a positioning plunger 45 for presetting the engagement position of the key groove 45 of the male connector before the chemical key of the female connector 5 is coupled to the key groove 45 of the male connector. A vertical drive unit 11 which forms a mount panel 100 for fixing the jig and which carries the mount panel up, down, front, and rear, and a front and rear drive unit 12 ),
The jig 10 includes a pedestal 110 having a U-shaped opening that coincides with the outer diameter of the male connector, a swing clamp 120 for opening and closing the pedestal, a clamp cylinder 120 for providing lift and swivel driving force to the swing clamp, Wherein the positioning plunger 140 is formed on the swing clamp 120 and the positioning plunger 140 is configured such that the spring that is engaged with the key groove 45 of the male connector constitutes the resilient member 130, And a plunger protrusion protruding inwardly,
The traveling module 2 includes a lifting plate 200 formed on the frame housing 6 to move up and down and a cylinder 210 driving up and down the lifting plate, A lifting device 20 having a rod 220 coupled to four corners of the lifting plate and supported by a guider 222 which supports a guide rod 220 to the frame housing 6,
And a gripping device (22) linearly moving in the longitudinal direction on the lifting plate (200) and having a male connector grip gripper,
The gripping device 22 is moved up, down, forward and backward by a fore and aft driving unit 25 which is suspended from a lifting plate 200 which is driven up and down and which linearly moves the lifting plate in the forward and backward directions, And gripping units (23, 24) having a pair of grippers (231, 241) for gripping a male connector to the front and rear drive unit,
The grip units 23 and 24 are formed through an automatic guiding block 26 that forms a clearance that flows 360 degrees in the horizontal direction when engaged with the lifting plate and forms a clearance, Automatic insertion system of automatic cleaning connection device for transferring chemicals. delete delete 26. The method of claim 25,
Wherein the up-down driving unit (11) and the back-and-forth driving unit (12) are coupled to each other by a pneumatic cylinder and a linear guide so as to be orthogonal to each other. 26. The method of claim 25,
Wherein the up-down driving unit (11) and the back-and-forth driving unit (12) are coupled to each other by an electric motor and a linear guide so as to be orthogonal to each other. delete delete delete 26. The method of claim 25,
The automatic care block 26 includes a pair of fluid cylinders 262 for releasing or locking the clearance and a pair of guide blocks 264 spaced apart from each other by a predetermined clearance on the bottom surface of the fluid cylinder. Characterized in that a ball is inserted between the flow cylinder and the opposing coarse block (264) so as to form or lock the clearance due to the contraction and expansion of the flow cylinder, Automatic insertion system of clean connection device. 26. The method of claim 25,
The gripping units 23 and 24 are gripping cylinders 230 and 240 having grippers 231 and 241 fitted to the outer diameter of the male connector 4. The gripping units 23 and 24 are connected to the male connector gripping weight The automatic insertion system of the automatic clean connection device for transferring the chemical. 26. The method of claim 25,
The gripping units 23a and 24 are formed by a plurality of gripping units 23a and gripping units 24 and the gripping units 23a and 24 further include joint block assemblies 27 under the automatic gripping blocks 26 And the grippers (231, 241) of the two gripping units are aligned so as to be concentric with each other. 36. The method of claim 35,
The joint block assembly 27 includes a plurality of joint blocks 272 symmetrical in the left and right direction and a gripping cylinder 240 for operating a gripper 241 between the joint blocks. The joint block assembly 27 includes a joint rod 274 and a joint panel 276 for integrally fastening one end of the joint rod 274 are interposed between the joint block 272 and the joint panel 276 via compression springs 278, A cylinder 279 for restricting the protrusion of the joint rod 274 is formed at the other end of the penetrating joint rod so that the rod 279 and the other end of the joint rod 274 are in contact with each other,
A plate 280 for fastening a joint block under the joint block 272 and a pair of grippers 241 coupled to a hinge 283 and forming a long hole 284 for guiding the left and right expansion about the hinge A drive rod 282 that is lifted and lowered by the force of the gripping cylinder 240 is formed between the pair of guide plates 281 and the guide plate so that the elongated holes 284 of the guide plate 281 and the elongated holes of the gripper 241, The pin 285 that sequentially passes through the gripping cylinder 282 is coupled to the gripping cylinder 240 so that the gripping cylinder 241 is extended /
Wherein the joint panel (276) is coupled to a gripping cylinder (230) of a grip unit (23a). 37. The method of claim 36,
The grippers 231 and 241 of the gripping unit 23a and the gripping unit 24 grip the portions of the thread ring 43 and the flange 41 of the male connector 4, respectively. Automatic insertion system of automatic cleaning connection device. 26. The method of claim 25,
Wherein the front and rear drive unit (25) comprises a combination of a stepping motor and a lead screw. 26. The method of claim 25,
Characterized in that the front and rear drive unit (25) comprises a combination of a pneumatic cylinder and a linear guide. The male connector 4 mounted on the end of the tank lorry hose of the chemical transportation vehicle and formed with the key groove 45 is transferred to the opposite side of the female connector 5 of the ACQC,
An automatic insertion system of an automatic clean connection device in which a chemical key formed on a female connector 5 to be coupled to the key groove 45 and an arm and male connector are coupled by a key groove 45 of the male connector 4 As a result,
The frame housing 6,
A male connector 4 mounted on a mounting module 1 provided on the frame housing 6 is gripped by a gripper and is mounted on the frame housing 6 so as to be hung in the direction of the female connector 5 of the opposite ACQC, A traveling module 2 that forms two-axis driving in forward and backward directions,
An ACQC positioned opposite to the mounting module 1 of the frame housing 6 and a sealing module 3 for opening and closing an inlet hole of the ACQC female connector 5 are integrally connected to the frame housing 6 ,
The traveling module 2 includes a lifting plate 200 formed on the frame housing 6 to move up and down and a cylinder 210 driving up and down the lifting plate, A lifting device 20 having a rod 220 coupled to four corners of the lifting plate and supported by a guider 222 which supports a guide rod 220 to the frame housing 6,
And a gripping device (22) linearly moving in the longitudinal direction on the lifting plate (200) and having a male connector grip gripper,
The gripping device 22 is moved up, down, forward and backward by a fore and aft driving unit 25 which is suspended from a lifting plate 200 which is driven up and down and which linearly moves the lifting plate in the forward and backward directions, And gripping units (23, 24) having a pair of grippers (231, 241) for gripping a male connector to the front and rear drive unit,
The gripping units 23 and 24 are formed through a self-aligning block 26 that forms a clearance that flows 360 degrees in the horizontal direction when engaging with the lifting plate and forms a clearance,
The sealing module 3 includes a rotary cylinder 31 coupled to the frame housing 6 and a sealing cap 33 coupled to an end of a rotary rod 32 extending orthogonally to the rotary cylinder rotary shaft and extending therethrough, 5) holes are opened or closed. The automatic insertion system of the automatic clean connection device for transporting the chemical. delete delete delete 41. The method of claim 40,
The automatic care block 26 includes a pair of fluid cylinders 262 for releasing or locking the clearance and a pair of guide blocks 264 spaced apart from each other by a predetermined clearance on the bottom surface of the fluid cylinder. Characterized in that a ball is inserted between the flow cylinder and the opposing coarse block (264) so as to form or lock the clearance due to the contraction and expansion of the flow cylinder, Automatic insertion system of clean connection device. 41. The method of claim 40,
The gripping units 23 and 24 are gripping cylinders 230 and 240 having grippers 231 and 241 fitted to the outer diameter of the male connector 4. The gripping units 23 and 24 are connected to the male connector gripping weight The automatic insertion system of the automatic clean connection device for transferring the chemical. 41. The method of claim 40,
The gripping units 23a and 24 are formed by a plurality of gripping units 23a and gripping units 24 and the gripping units 23a and 24 further include joint block assemblies 27 under the automatic gripping blocks 26 And the grippers (231, 241) of the two gripping units are aligned so as to be concentric with each other. 47. The method of claim 46,
The joint block assembly 27 includes a plurality of joint blocks 272 symmetrical in the left and right direction and a gripping cylinder 240 for operating a gripper 241 between the joint blocks. The joint block assembly 27 includes a joint rod 274 and a joint panel 276 for integrally fastening one end of the joint rod 274 are interposed between the joint block 272 and the joint panel 276 via compression springs 278, A cylinder 279 for restricting the protrusion of the joint rod 274 is formed at the other end of the penetrating joint rod so that the rod 279 and the other end of the joint rod 274 are in contact with each other,
A plate 280 for fastening a joint block under the joint block 272 and a pair of grippers 241 coupled to a hinge 283 and forming a long hole 284 for guiding the left and right expansion about the hinge A drive rod 282 that is lifted and lowered by the force of the gripping cylinder 240 is formed between the pair of guide plates 281 and the guide plate so that the elongated holes 284 of the guide plate 281 and the elongated holes of the gripper 241, The pin 285 that sequentially passes through the gripping cylinder 282 is coupled to the gripping cylinder 240 so that the gripping cylinder 241 is extended /
Wherein the joint panel (276) is coupled to a gripping cylinder (230) of a grip unit (23a). 48. The method of claim 47,
The grippers 231 and 241 of the gripping unit 23a and the gripping unit 24 grip the portions of the thread ring 43 and the flange 41 of the male connector 4, respectively. Automatic insertion system of automatic cleaning connection device. 41. The method of claim 40,
Wherein the front and rear drive unit (25) comprises a combination of a stepping motor and a lead screw. 41. The method of claim 40,
Characterized in that the front and rear drive unit (25) comprises a combination of a pneumatic cylinder and a linear guide. delete 41. The method of claim 40,
Characterized in that the sealing module (3) further comprises a locking notch (34) which limits the detachment of the connector to be inserted into the female connector hole and a cylinder (35) which engages the locking and unlocking rotation of the notch Automatic insertion system of automatic cleaning connection device to transfer.

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