KR102391786B1 - Apparatus for Gas Supply and Method for Connector Combining - Google Patents

Abstract

In this embodiment, when the valve connector of the gas storage container and the connecting pipe connector connected to the gas demanding point are fastened, a gas supply device that can detect whether an abnormal load occurs in the initial fastening section and determine whether a fastening abnormality occurs early And it relates to a connector fastening method.
The gas supply device of this embodiment for realizing this, but proceeds to fasten the connecting pipe connector and the valve connector or the cover and the valve connector by controlling the driving of the actuator, the connecting pipe connector and the valve connector or cover and the valve connector and a control unit that divides the total fastening section to be fastened into an initial fastening section and a late fastening section according to a preset standard, and determines whether a load greater than a preset abnormal load occurs in the initial fastening section.

Description

Gas supply device and connector coupling method {Apparatus for Gas Supply and Method for Connector Combining}

In the following description, when the valve connector of the gas storage container and the connecting pipe connector connected to the gas demanding point are fastened, a gas supply device that can detect whether an abnormal load occurs in the initial fastening section and determine whether a fastening abnormality occurs early And it relates to a connector fastening method.

The gas supply device is for supplying gas by connecting the valve connector of the gas storage container and the connecting pipe connector connected to the gas source, and the valve connector and the connecting pipe connector are generally coupled by a screw fastening method.

In general, in the case of a screw fastening system for fastening screws, a driving unit for providing rotational power by being engaged with any one of a pair of screws is provided, and the driving unit provides rotational power until the rotation of the screw is stopped and the fastening is determined. provides

At this time, as the fastening progress of the screw approaches the fastening completion state, a load is applied by the rotational power of the driving unit. The faster the rotation speed of the screw by the larger.

Accordingly, the screw fastening system is configured to appropriately limit the rotation speed by limiting the rotational power of the driving unit in order to prevent damage to the screw due to the applied load.

In addition, depending on a defective screw or an error in the coupling method, a large load is applied during fastening, and when a fastening abnormality occurs, such as the screw is not fully fastened or the screw thread is fastened in a misaligned state, load and damage to the screw and screw fastening system could occur.

In particular, in the gas supply device, when the connector is fastened using a screw fastening method, there is a risk that gas may leak depending on the degree of damage to each connector. came to be

As a prior art in which a connector fastening system of a gas supply device is described, there is Korean Patent Registration No. 10-2112763.

This embodiment was devised to solve the above-mentioned problems, and when the valve connector of the gas storage container and the connecting pipe connector connected to the gas demanding place are fastened, the gas supply that can detect and determine whether a fastening abnormality occurs early An object of the present invention is to provide an apparatus and a method for fastening a connector.

The gas supply device of this embodiment for implementing the object as described above includes a connector fastening part and the valve connector for connecting a connection pipe connector connected to a gas demanding point to a valve connector provided in the valve part of the gas storage container. an actuator configured to receive a covering cover and provide a rotational driving force to at least one of the cover fastening parts for fastening to the valve connector; And, by controlling the driving of the actuator to proceed with the fastening of the connecting pipe connector or the cover and the valve connector, the total fastening section in which the connecting pipe connector or the cover and the valve connector are fastened is initialized according to a preset standard A control section for dividing into a fastening section and a late fastening section, and determining whether a load greater than a preset abnormal load occurs in the initial fastening section; and a stop load for determining completion of fastening between the valve connector and a stop preparation load having a load value greater than the abnormal load and smaller than the stop load is set, and the control unit controls the driving of the actuator, It is determined whether a load greater than the stop preparation load is generated in the late fastening section, and when it is determined that a load greater than the stop preparation load has occurred, the rotation angular velocity of the actuator is reduced to a preset predetermined speed.

In addition, the initial fastening section may be set to 20% to 80% of the total fastening section, and the late fastening section may be set to a section remaining from the total fastening section except for the initial fastening section.

In addition, a transfer means for transferring at least one of the connector fastening part and the cover fastening part is provided under the control of the control unit, and the control part drives the transfer means to drive at least one of the connector fastening part and the cover fastening part A forward section is set for advancing toward the valve connector, and the forward section may be included in the initial fastening section.

In addition, the control unit may be configured to determine whether a fastening abnormality occurs according to the magnitude of the load generated in the total fastening section.

In addition, the controller determines that the fastening abnormality occurs when it is determined that a load greater than or equal to the abnormal load has occurred in the initial fastening section, and is normal when it is determined that a load greater than or equal to the abnormal load has not occurred in the initial fastening section It may be made to determine that the contract is in progress.

In addition, the controller determines whether a load more than the abnormal load occurs in the late fastening section, and when it is determined that a load more than the abnormal load occurs in the late fastening section, determines that the normal fastening is in progress, When it is determined that a load greater than the abnormal load has not occurred in the fastening section, it may be determined that the fastening abnormality has occurred.

In addition, the control unit determines whether a load greater than or equal to a preset stop load is applied to the connector fastening portion in the late fastening section, and when it is determined that a load greater than or equal to the stop load is generated in the late fastening section, the normal fastening is completed and, when it is determined that the load above the stop load does not occur until the end of the late fastening period, it may be determined that the fastening abnormality has occurred.

In addition, the control unit may be configured to stop the driving of the actuator when it is determined that the normal fastening is completed in the late fastening section.

In addition, when it is determined that the fastening abnormality has occurred, the control unit may be configured to stop driving of the actuator.

Also, when it is determined that the fastening abnormality has occurred, the control unit may be configured to generate a preset alarm signal through an alarm device.

In addition, the control unit may be configured to generate different alarm signals according to the section in which the fastening abnormality occurs and the magnitude of the load at the time when the fastening abnormality occurrence is determined.

In addition, the valve unit is provided with a valve provided to control the supply of gas, a valve shutter for opening and closing the valve, and a handle configured to open and close the valve by driving the valve shutter by rotation, It is configured to further include a valve opening and closing unit configured to open and close the valve by rotating the control unit, when it is determined that the fastening abnormality occurs, the control unit closes the valve by rotating the handle by driving the valve opening and closing unit to control the flow of gas can be made to block.

In addition, the abnormal load may be set to a load value of 30% to 70% of the stop load.

In addition, the stop load may be set to a load value of 40% to 70% of the maximum torque that can be generated by driving the actuator.

In addition, the abnormal load may be set to 10.5 Nm to 31.5 Nm, and the stop load may be set to 35 Nm to 45 Nm.

In addition, the control unit, by controlling the driving of the actuator, is made to control the rotation angular speed of the actuator to maintain a preset first rotation speed in the total fastening section, the first rotation speed of the rotating actuator It can be set to a stop speed, which is an appropriate angular speed that can smoothly and quickly stop the drive without damage.

In addition, the control unit controls the driving of the actuator to maintain the initial rotational speed at which the rotation angular velocity of the actuator is preset in the initial fastening section, and the rotational angular speed of the actuator in the late fastening section is the preset later rotational speed However, the latter rotation speed may be set to an angular velocity lower than the initial rotation speed.

In addition, the initial rotation speed may be set to an angular velocity of 4 to 20 times the latter rotation speed.

In addition, the late rotation speed may be set to a stop speed, which is an appropriate angular speed capable of smoothly suddenly stopping the driving of the rotating actuator.

In addition, the control unit, by controlling the driving of the actuator, maintaining the rotation angular speed of the actuator in the initial fastening section and the late fastening section at a preset second rotation speed, in the late fastening section, the stop preparation load or more It is determined whether a load is generated, and when it is determined that a load greater than or equal to the stop preparation load has occurred, the rotation angular speed of the actuator is reduced to a preset third rotation speed, wherein the third rotation speed is the second rotation speed It can be set to a lower speed.

In addition, the stop preparation load may be set to a load value of 50% to 90% of the stop load.

In addition, the stop load may be set to 35 Nm to 45 Nm, the abnormal load may be set to 10.5 Nm to 31.5 Nm, and the stop preparation load may be set to 17.5 Nm to 40.5 Nm.

In addition, the second rotation speed may be set to an angular speed of about 3 to 5 times the third rotation speed.

In addition, the third rotation speed may be set to a stop speed, which is an appropriate angular speed capable of smoothly suddenly stopping the driving of the rotating actuator.

In addition, the controller controls the driving of the actuator to maintain the rotation angular speed of the actuator at a preset initial rotation speed in the initial fastening section, and set the rotation angular speed of the actuator in the late fastening section to a preset second rotation The speed is decelerated and maintained, but it is determined whether a load greater than the stop preparation load is generated in the late fastening section, and when it is determined that a load greater than the stop preparation load has occurred, the rotation angular speed of the actuator is set to a preset fourth rotation speed , the second rotation speed may be set to a speed lower than the initial rotation speed, and the fourth rotation speed may be set to a speed lower than the second rotation speed.

In addition, the stop preparation load may be set to a load value of about 50% to about 90% of the stop load.

In addition, the stop load may be set to 35 Nm to 45 Nm, the abnormal load may be set to 10.5 Nm to 31.5 Nm, and the stop preparation load may be set to 17.5 Nm to 40.5 Nm.

In addition, the initial rotation speed may be set to an angular speed of 4/3 to 4 times the second rotation speed, and the second rotation speed may be set to an angular speed of about 3 to 5 times the fourth rotation speed. there is.

In addition, the fourth rotation speed may be set to a stop speed that is an appropriate angular speed capable of smoothly and suddenly stopping the driving of the rotating actuator.

In addition, the stopping speed may be set to π/60 rad/s to π/18 rad/s.

The connector fastening method according to this embodiment controls the driving of an actuator that provides a rotational driving force for fastening the connecting pipe connector to the valve connector of the gas storage container or fastening the cover fastening part for accommodating the cover to the valve connector, thereby connecting the connection. In the connector fastening method for fastening the pipe connector or the cover and the valve connector, a) the control unit determines the total fastening section in which the connecting pipe connector or the cover and the valve connector are fastened according to a preset standard. and a late fastening section, and proceeding with the initial fastening section, but determining whether a load greater than a preset abnormal load occurs in the initial fastening section; b) After the initial fastening section ends, the late fastening Including, in the controller, a stop load for determining completion of fastening between the valve connector and any one of the connecting pipe connector and the cover fastening part, and the stop load greater than the abnormal load A stop preparation load having a smaller load value is set, and in step b), the control unit controls the driving of the actuator to determine whether a load greater than the stop preparation load occurs in the late fastening section, When it is determined that a load greater than the stop preparation load is generated, the rotation angular speed of the actuator is controlled to be decelerated to a predetermined speed.

In addition, the step a) is the step of driving the fastening part transfer means to advance at least one of the cover fastening part in which the cover is accommodated and the connector fastening part for connecting the connecting pipe connector to the valve connector toward the valve connector. includes

In addition, when it is determined that a load greater than or equal to the abnormal load has occurred in step a), the control unit determines that a fastening abnormality has occurred, and when it is determined that a load greater than or equal to the abnormal load has not occurred in step a), normal fastening This can be considered as ongoing.

In addition, the step b) is configured as a step in which the control unit determines whether a load greater than or equal to the abnormal load occurs during the late fastening section, and the control unit includes a load greater than or equal to the abnormal load in step b). is determined to have occurred, it is determined that the normal fastening is in progress, and when it is determined that the load above the abnormal load has not occurred in step b), it can be determined that the fastening abnormality has occurred.

In addition, the step b) comprises a step of determining whether a load greater than or equal to a preset stop load is generated by the control unit during the late fastening section, and the control unit, in step b) When it is determined that the load has occurred, it is determined that the normal fastening has been completed, and when it is determined that the load greater than the stop load has not occurred until the step b) is finished, it can be determined that the fastening has occurred.

In addition, when it is determined that the fastening abnormality has occurred, the control unit may stop driving of the actuator.

Also, when it is determined that the fastening abnormality has occurred, the control unit may generate a preset alarm signal through an alarm device.

In addition, the controller may generate different alarm signals according to the section in which the fastening abnormality occurs and the magnitude of the load at the time when the fastening abnormality occurrence is determined.

In addition, when it is determined that the fastening abnormality has occurred, the control unit drives a valve opening and closing unit configured to open and close the valve of the gas storage container by rotating the handle of the gas storage container to close the valve by rotating the handle. can block the flow of

In addition, the control unit may be characterized in that when it is determined that the normal fastening is completed in the late fastening section, the driving of the actuator is stopped.

In addition, the control unit controls the driving of the actuator so that the rotation angular velocity of the actuator maintains a preset first rotation speed while steps a) and b) are performed, but the first rotation speed is It can be set to a stop speed, which is an appropriate angular speed that can smoothly and quickly stop the drive without damage to the rotating actuator.

In addition, the control unit controls the driving of the actuator to maintain the initial rotational speed at which the rotational angular velocity of the actuator is preset while the step a) is performed, and the rotational angular velocity of the actuator while the step b) is performed to maintain a preset late rotation speed, the latter rotation speed may be set to an angular velocity lower than the initial rotation speed.

In addition, the initial rotational speed is set to an angular velocity of 4 to 20 times the latter rotational speed, and the latter rotational speed may be set to a stop speed, which is an appropriate angular velocity that can smoothly and quickly stop the drive without damage to the actuator. there is.

In addition, in step b), the control unit determines whether a load greater than or equal to the stop preparation load occurs during the late fastening section, and the control unit controls the stop load or more during the late fastening section. It is sequentially configured to determine whether a load is generated, and the control unit controls the driving of the actuator to set the rotation angular velocity of the actuator during the steps a) and b) to a preset second rotation However, when it is determined that a load greater than or equal to the stop preparation load has occurred in step b), the rotation angular speed of the actuator is reduced to a preset third rotation speed, and the third rotation speed is the second rotation speed. It can be set to a speed lower than the speed.

In addition, the second rotation speed is set at an angular speed of about 3 to 5 times the third rotation speed, and the third rotation speed is a stop speed that is an appropriate angular speed capable of smoothly stopping the drive without damaging the actuator. can be set to

In addition, in step b), the control unit determines whether a load greater than or equal to the stop preparation load occurs during the late fastening section, and the control unit controls the stop load or more during the late fastening section. It is sequentially configured to determine whether a load is generated, and the control unit controls the driving of the actuator to maintain the rotational angular velocity of the actuator at a preset initial rotational speed while the step a) is performed, and the When step b) is performed, the rotation angular speed of the actuator is reduced to a preset second rotation speed and maintained, but when it is determined that a load greater than the stop preparation load has occurred, the rotation angular speed of the actuator is reduced to a preset fourth rotation speed The second rotation speed may be set to a speed lower than the initial rotation speed, and the fourth rotation speed may be set to a speed lower than the second rotation speed.

In addition, the initial rotation speed is set at an angular speed of 4/3 to 4 times the second rotation speed, and the second rotation speed is set at an angular speed of about 3 times to 5 times the fourth rotation speed, The fourth rotation speed may be set to a stop speed, which is an appropriate angular speed capable of smoothly and suddenly stopping the driving of the rotating actuator.

According to this embodiment, when the valve connector of the gas storage container and the connecting pipe connector connected to the gas demanding point are fastened, the connector fastening that can detect whether an abnormal load occurs in the initial fastening section and determine whether the fastening abnormality occurs early A device and a method for fastening a connector may be provided.

In addition, when the valve connector of the gas storage container and the cover accommodated in the cover fastening part are fastened, a connector fastening device and connector fastening method that can detect whether an abnormal load occurs in the initial fastening section and determine whether fastening abnormality occurs early can provide

In addition, it is possible to provide a connector fastening device and a connector fastening method that can increase fastening stability by adjusting fastening speed, but shorten the fastening time required.

1 is a view showing a schematic configuration of a gas supply device according to the present embodiment.
2 is a view showing a valve opening and closing portion of the gas supply device according to the present embodiment.
3 is a view showing a connector fastening part and a cover fastening part of the gas supply device according to the present embodiment.
4 is a graph of the rotation angular velocity of the actuator per hour (top) and a graph of the load per hour (bottom) according to the first fastening embodiment;
5 is a flowchart of a connector fastening method according to the first fastening embodiment;
6 is a graph of rotational angular velocity of an actuator per hour (top) and a graph of load per hour (bottom) according to a second fastening embodiment;
7 is a flowchart of a connector fastening method according to a second fastening embodiment;
8 is a graph of the rotation angular velocity of the actuator per hour (top) and a graph of the load per hour (bottom) according to the third fastening embodiment;
9 is a flowchart of a connector fastening method according to a third fastening embodiment.
10 is a graph of the rotation angular velocity of the actuator per hour (top) and a graph of the load per hour (bottom) according to the fourth fastening embodiment;
11 is a flowchart of a connector fastening method according to a fourth fastening embodiment;

Hereinafter, the configuration and operation of the preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Herein, in referring to the direction, the X-axis shown in the drawings is the left-right direction, the Y-axis is the front-back direction, and the Z-axis is the vertical direction. In addition, the horizontal direction includes the left-right direction and the front-rear direction formed by the XY plane.

The gas supply device 1 of this embodiment will be described with reference to FIGS. 1 to 3 .

The gas supply device 1 of this embodiment is a connector fastening for connecting the connecting pipe connector 331 connected to the gas demanding point to the valve connector 30 provided in the valve part 20 of the gas storage container 10 . The part 330 and the actuator 600 providing a rotational driving force to the connector fastening part 330 in order to fasten the connecting pipe connector 331 to the valve connector 30, and driving of the actuator 600 control to proceed with the fastening of the connecting pipe connector 331 and the valve connector 30, but the total fastening section in which the connecting pipe connector 331 and the valve connector 30 are fastened is initialized according to a preset standard It divides into a fastening section (P1) and a late fastening section (P2), and includes a controller (not shown) configured to determine whether a load greater than or equal to a preset abnormal load (L1) occurs in the initial fastening section (P1).

In addition, the gas supply device 1 may include a cover coupling part 320 for separating the cover 31 covering the valve connector 30 provided in the valve part at the upper end of the gas storage container 10 . can

The actuator 600 may be configured to provide a rotational driving force to the cover coupling part 320 in order to fasten the cover 31 to the valve connector 30 .

The control unit controls the driving of the actuator 600 to proceed with the coupling of the cover coupling part 320 and the valve connector 30 , but the cover coupling part 320 and the valve connector 30 are coupled The total fastening section to be used is divided into an initial fastening section (P1) and a late fastening section (P2) according to a preset standard, and it can be made to determine whether a load greater than a preset abnormal load occurs in the initial fastening section (P1). there is.

A current sensor (not shown) may be provided at the output terminal of the actuator 600, and the control unit receives a load greater than or equal to the abnormal load L1 in the initial fastening section P1 through the current value measured from the current sensor. It can be determined whether or not this has occurred.

In addition, a load sensor or torque sensor for measuring a load or torque imposed on the actuator 600 or the connector fastening part 300 and the connection pipe connector 331 or the valve connector 30 sensor) may be provided separately.

The control unit may receive a load or torque measurement value measured from each load sensor or torque sensor to determine whether a load greater than or equal to the abnormal load L1 occurs in the initial fastening section P1.

The gas storage container 10 is configured to store and supply process gas supplied to a gas demanding place such as a semiconductor device, and the valve unit 20 may be provided on the gas storage container 10 . there is.

The valve unit 20 includes a valve (not shown) for controlling the supply of gas, the valve connector 30 provided on one side of the valve, and the cover 31 coupled to the valve connector 30 . ), a valve shutter (not shown) for opening and closing the valve, and a handle 50 connected to the upper portion of the valve shutter and configured to open and close the valve by rotating the valve shutter by rotation.

The valve connector 30 may be configured to be fastened to the connecting pipe connector 331 and the cover 31 in a screw fastening method by rotation.

The cover 31, the inner surface of the valve connector 30, the outer surface of the screw thread and the screw thread to be engaged with the screw thread and the screw bone are formed, the outer surface is a polygon that is fitted to the inner surface of the cover fastening part 120 It may be formed in a shape that is inserted into the cover fastening part 320 to be stably supported and rotated.

1 schematically shows the overall configuration of the gas supply device 1 according to the present embodiment.

The gas supply device 1 may include an upper module 2 and a lower module 3 .

The upper module 2 includes a transfer guide (not shown) provided to transport the lower module 3 in the X-axis, Y-axis, and Z-axis directions, respectively, and opening and closing the valve of the gas storage container 10 . A valve opening and closing unit 400 may be provided.

The transfer guide may be provided so that when an operator holds the lower module 3 by hand and applies a force in the axial direction, the lower module 3 is transferred in any one of the X-axis, Y-axis, and Z-axis direction. .

In addition, although not shown in the drawings, a lower module driving unit (not shown) for transporting the lower module 3 in the X-axis, Y-axis and Z-axis directions, respectively, under the control of the controller may be provided.

2 schematically shows the valve opening and closing part 400 .

The valve opening and closing part 400 may be provided at a position spaced upward from the valve part, and a plurality of handle locking parts 412 caught on the handle 50 and the handle locking part 412 are rotated. It may be configured to include a handle driving unit 420 that provides a driving force for the.

The valve opening and closing part 400 may be configured to be independently transportable in a vertical direction and a horizontal direction.

To this end, the valve opening and closing unit vertical transfer means 440 including a vertical guide line (not shown) and a vertical drive unit (not shown) for transporting the valve opening and closing unit 400 in the vertical direction may be provided. A valve opening/closing unit horizontal transfer means 430 including a horizontal guide line (not shown) and a horizontal driving unit (not shown) for horizontally transporting the valve opening/closing unit 400 may be further provided.

Driving of the handle driving unit 420, the vertical driving unit, and the horizontal driving unit may be controlled by the control unit.

As the valve opening/closing part 400 descends from the upper side of the handle 50 by the driving of the vertical drive unit, the plurality of handle locking parts 412 are inserted between the curved outlines of the handle 50 and , the valve is opened and closed by rotating by driving the handle driving unit 420 and supporting and rotating the handle 50 .

Opening and closing of the valve is performed while the valve connector 30 is connected to the connecting pipe connector 331 , thereby preventing gas leakage.

2 (a) shows a state in which the valve opening and closing part 400 is provided at a position spaced apart from the upper side of the valve part, and in FIG. A state in which the part 412 is caught on the handle 50 is shown.

The lower module 3 may be provided with a fastening part transfer means 350 for transferring the connector fastening part 330 and the cover fastening part 320 .

3 schematically shows the connector fastening part 330 , the cover fastening part 320 , and the fastening part transfer means 350 .

The connector coupling part 330 and the cover coupling part 320 are configured to rotate by rotational driving of the actuator 600 .

The rotational driving of the actuator 600 may be transmitted to the cover fastening part 320 and the connector fastening part 330 by a plurality of gears 610 , 620 , 630 , and 640 .

The plurality of gears 610 , 620 , 630 , 640 includes a first gear 610 connected to the actuator 600 , a second gear 620 gear-coupled to the first gear 610 , and the second gear 620 ). A third gear 630 coupled to the outer surface of the cover coupling part 320 and gear coupled to the second gear 620 and gear coupled to the outer surface of the connector coupling part 330 . The fourth gear 640 may be included.

Accordingly, the first to fourth gears 610 , 620 , 630 , and 640 are meshed and rotated according to the rotational driving of the actuator 600 , thereby simultaneously rotating the connector coupling part 330 and the cover coupling part 320 . According to the configuration as described above, it is possible to simplify the overall configuration of the gas supply device by simplifying the driving structure for driving the rotation of the cover fastening part 320 and the connector fastening part 330 .

In addition, although not shown in the drawing, the actuator 600 may be configured as a separate actuator that provides rotational driving force to the connector fastening part 330 and the cover fastening part 320 , respectively. According to the above configuration, independent rotation of the connector fastening part 330 and the cover fastening part 320 is possible, so that the gas supply device can be operated more flexibly.

The cover coupling part 320 also rotates in a clockwise or counterclockwise direction by driving the actuator 600 to couple or separate the cover 31 and the valve connector 30 .

The connector fastening part 330 is provided to rotate together by supporting the connecting pipe connector 331 on the inside. And nasa-gol may be formed.

Accordingly, the connecting pipe connector 331 rotates together as the connector fastening part 330 rotates clockwise or counterclockwise by the driving of the actuator 600 to engage the valve connector 30 or are separated

The cover fastening part 320 is configured to accommodate the cover 31 inside, and the inner surface of the cover fastening part 320 may have a polygonal shape matching the outer surface of the cover 31, It is provided to support the cover 31 accommodated inside and rotate together.

Accordingly, the cover 31 rotates together as the cover fastening part 320 rotates in a clockwise or counterclockwise direction by the driving of the actuator 600 so as to be engaged with or separated from the valve connector 30 . .

The fastening part transfer means 350 supports the connector fastening part 330 and the cover fastening part 320 and provides an X-axis guide line 351 and an X-axis drive part (not shown) for transporting them in the X-axis direction. ) Y-axis transport including an X-axis transport means, and a Y-axis guideline 352 and a Y-axis driving unit (not shown) for supporting the X-axis guideline 351 and transporting it in the Y-axis direction. can be done by means of

The X-axis direction driving unit and the Y-axis direction driving unit may be driven under the control of the controller.

The connector fastening part 330 and the cover fastening part 320 may be transported together by the fastening part transfer means 350 . To this end, a fastening part supporting part 340 for supporting the connector fastening part 330 and the cover fastening part 320 to be transported together by the conveying means 350 may be provided.

Next, the connector fastening method in which the connector fastening part 330 or the cover fastening part 320 is fastened to the valve connector 30 of the gas storage container 10 by the gas supply device with reference to FIGS. 4 to 11 . explain about

According to this embodiment, in the control unit of the gas supply device, the connector fastening part 330 or the cover fastening part 320 comes into contact with the valve connector 30 so that the screw fastening is performed and the total amount until the fastening is completed. The fastening section P may be divided into an initial fastening section P1 and a late fastening section P2 and set.

At this time, in the total fastening section P, the initial fastening section P1 and the late fastening section P2, the connector fastening part 330 or the cover fastening part 320 is connected to the valve connector 30 and It may be set based on a case in which it is normally fastened.

The initial fastening section P1 proceeds prior to the late fastening section P2, and the load gradually increases as the fastening is neared in the normal fastening process. is set to

The initial fastening section P1 and the late fastening section P2 are the total number of revolutions or total rotation distance in which the connector fastening part 330 or the cover fastening part 320 rotates within the total fastening section P. may be set to a certain ratio of, and may be set to a certain ratio of the total fastening distance, which is a straight line distance where the connector fastening part 330 or the cover fastening part 320 is fastened with the valve connector 30 and overlaps. .

At this time, if the fastening progress is less than 20% of the total fastening section, there is not a sufficient section for screw threads to be fastened, so it is difficult to determine whether the fastening is abnormal. As it approaches, the stop load L2 is issued, and an error may occur in determining whether the fastening is abnormal.

Accordingly, the initial fastening section P1 is set to 20% to 80% of the total fastening section P, and the late fastening section P2 is the initial fastening section P1 in the total fastening section P. ) can be set to the rest of the section.

More preferably, the initial fastening section P1 may be set to 60% of the total fastening section P, and the late fastening section P2 may be set to 40% of the total fastening section P. .

In the initial fastening section P1, the fastening part transfer means 350 is driven to advance the connector fastening part 330 or the cover fastening part 320 in the valve connector 30 direction, that is, in the y-axis direction. The forward section P0 is transferred to (y (+)) so that the screw thread and the screw trough of the connector fastening part 330 or the cover fastening part 320 are engaged with the screw thread and the screw trough of the valve connector 30. may be included.

In the control unit, an abnormal load L1, which is a load reference for determining occurrence of a fastening abnormality between the connecting pipe connector 331 and the valve connector 30 or between the cover 31 and the valve connector 30, is set. .

The control unit, when a load greater than or equal to the abnormal load L1 occurs in the initial fastening section P1, between the connecting pipe connector 331 and the valve connector 30 or between the cover 31 and the valve connector ( 30), it is determined that a fastening abnormality has occurred, and when a load greater than or equal to the abnormal load L1 does not occur in the initial fastening section P1, it is determined that the normal fastening is in progress.

In addition, the control unit may be configured to determine whether a load greater than or equal to the abnormal load L1 occurs in the late fastening section P2.

The control unit, when the load above the abnormal load L1 does not occur in the late fastening section P2, between the connecting pipe connector 331 and the valve connector 30 or between the cover 31 and the valve connector ( 30), it is determined that a fastening abnormality has occurred, and when a load greater than or equal to the abnormal load L1 occurs in the late fastening section P2, it is determined that the normal fastening is in progress.

In addition, in the control unit, the stop load (L2), which is a load criterion for determining completion of fastening between the connection pipe connector 331 and the valve connector 30 or between the cover 31 and the valve connector 30 is set

The stop load (L2) is, in a state in which the generation of the stop load (L2) is sensed, the actuator 600 is suddenly stopped and the connection pipe connector 331 is provided by surplus rotational driving until the angular velocity becomes 0. Alternatively, it may be set to a load value at which the cover 31 and the valve connector 30 can be completely fastened.

At this time, when the actuator 600 is driven to generate a torque of less than about 40% of the maximum torque that can be generated, an appropriate load for fastening may not occur, and about 70% of the maximum torque may not be generated. In the case of driving to generate excessive torque, excessive force may be applied to the actuator 600, which may cause damage or reduced lifespan.

Accordingly, the stop load L2 may be set to a load value of 40% to 70% of a maximum torque that can be generated by driving the actuator 600 .

In addition, the abnormal load L1 is a load greater than a general load generated when the connection pipe connector 331 or the cover 31 and the valve connector 30 are normally fastened in the initial fastening section P1. It can be set to a value.

At this time, when the abnormal load L1 is set to less than 30% of the stop load L2, the control unit determines that the occurrence of a small load that does not affect the fastening is also a fastening abnormality, so the fastening abnormality determination range is unnecessary becomes broadly

In addition, when the abnormal load L1 is set to exceed 70% of the stop load L2, the actuator 600 and the valve connector until the control unit determines the fastening abnormality and stops the actuator 600 (30) and the connection pipe connector 331 or the cover 31, etc. are subjected to a large load, damage may occur.

Accordingly, the abnormal load L1 may be set to a load value of 30% to 70% of the stop load L2.

For example, the stopping load L2 may be set to 35 Nm (Newton meter) to 40 Nm, and the abnormal load L1 may be set to 10.5 Nm to 31.5 Nm, preferably, the stopping load L2 ) may be set to 40 Nm, and the abnormal load L1 may be set to 20 Nm.

The control unit may be configured to determine whether a load greater than or equal to the stop load L2 occurs in the late fastening section P2.

The control unit is, in the latter fastening section P2, between the connecting pipe connector 331 and the valve connector 30 or between the cover 31 and the valve connector 30 when a load greater than or equal to the stop load L2 does not occur. .

The control unit, when it is determined that the normal fastening is completed as described above in the late fastening section P2, stops the driving of the actuator 600, between the connecting pipe connector 331 and the valve connector 30 or the cover The fastening process between (31) and the valve connector (30) is completed.

When it is determined that the above fastening abnormality occurs in the initial fastening section P1 or the late fastening section P2 , the controller may stop the actuator 600 from driving.

Accordingly, the rotation of the cover fastening part 320 or the connector fastening part 330 in which the corresponding load is generated is stopped, so that the actuator 600 and the valve connector 30 and the corresponding connector fastening part ( 330) or the corresponding cover fastening part 320 can be prevented from being damaged.

In addition, when it is determined that the fastening abnormality occurs, the controller may generate a preset alarm signal through a preset alarm device (not shown).

The alarm device may be a device included in the gas supply device or separately provided outside the gas supply device, and may be a device provided to communicate with the control unit by wireless or wired connection.

The alarm signal may be configured in various ways, such as text, sound, and an LED light source.

Accordingly, the manager of the gas supply device can take measures such as stopping the driving of the actuator 600 by detecting the signal, and the actuator 600 and the valve connector 30 and the corresponding due to a fastening abnormality. It is possible to prevent damage to the connector fastening part 330 or the corresponding cover fastening part 320 from occurring.

In addition, the control unit may be configured to generate different alarm signals according to the section in which the fastening abnormality occurs and the magnitude of the load at the time when the fastening abnormality occurrence is determined.

For example, the controller generates a set first alarm signal when it is determined that a load greater than or equal to the abnormal load L1 is generated in the initial fastening section P1, and the abnormal load L1 in the late fastening section P2. ), a set second alarm signal is generated when the occurrence of an abnormal load is not determined, and a set third alarm signal is generated when the occurrence of a load exceeding the stop load L2 is not determined in the late fastening section P2. there is.

Accordingly, the manager of the gas supply device can detect the corresponding signal and take appropriate action according to each signal, thereby increasing the efficiency of the processing operation.

In addition, when it is determined that the fastening abnormality occurs, the control unit drives the handle driving unit 420, the vertical driving unit (not shown) and the horizontal driving unit (not shown) to drive the handle 50 of the gas storage container 10 . By rotating the valve, the gas flow can be blocked by closing the valve.

Accordingly, it is possible to prevent gas leakage due to damage caused to the valve connector 30 and the corresponding connector fastening part 330 or the corresponding cover fastening part 320 and prevent a safety accident.

4 and 5 show a first fastening embodiment according to the connector fastening method described above.

4 shows a graph of the rotational angular velocity V of the actuator 600 per time T and a graph of the load L per time T according to the first fastening embodiment.

According to the first fastening embodiment, a first rotation speed V1 is set in the control unit at the rotation angular speed of the actuator 600 in the total fastening section P, and the actuator (V1) is controlled by the control unit ( The rotation angular speed of 600 is maintained as the first rotation speed V1.

Accordingly, when the initial fastening section P1 is started (t0) by the start command of the control unit, the angular speed of the actuator 600 increases from 0 rad/s to the first rotation speed V1 and is maintained, When the load L satisfies the stop load L2 in the late fastening section P2 (t2), the angular speed of the actuator 600 is changed from the first rotation speed V1 by the stop command of the controller. By decreasing to 0 rad/s, the fastening process is terminated (t3).

The first rotational speed V1 is the actuator ( 600) can be set to an appropriate angular speed that can smoothly and quickly stop the rotational drive without damage.

Hereinafter, an appropriate angular velocity capable of smoothly stopping the driving without damage to the actuator 600 rotating as described above is referred to as a stop velocity V0.

At this time, when the angular velocity of the actuator 600 is less than 1° per second, the speed is slow and the fastening time is unnecessarily increased, and when it exceeds 10° per second, as the generated load rapidly increases, the actuator 600 ) and the valve connector 30 and the connecting pipe connector 331 or the cover 31 may be damaged.

Accordingly, the first rotation speed V1, that is, the stop speed V0 may be set to 1° to 10° per second, that is, π/60 rad/s to π/18 rad/s, More preferably, it may be set to 5° per second, that is, π/36 rad/s.

According to the first fastening embodiment, as the control unit determines whether the abnormal load L1 occurs in the initial fastening section P1, the occurrence of a fastening abnormality can be detected early and appropriate processing can be performed, so that the actuator It is possible to prevent damage to 600 and the valve connector 30 and the connecting pipe connector 331 or the cover 31 from occurring.

5 is a flowchart of a connector fastening method according to the first fastening embodiment.

Step S1 is a step in which the actuator 600 is rotationally driven at an angular speed of the first rotation speed V1 as the initial fastening section P1 proceeds according to a start command of the control unit.

While the step S1 is in progress, the control unit drives the fastening part transfer means 350 to advance the connector fastening part 330 or the cover fastening part 320 toward the valve connector 30 , so that the connection The pipe connector 331 or the cover 31 may be engaged with the valve connector 30 .

The driving of the fastening unit transfer means 350 as described above is performed in parallel with the driving of the actuator 600 rotating at an angular speed of the first rotational speed V1.

The driving of the fastening unit transfer means 350 as described above includes step S9 (see FIG. 7) according to a second fastening embodiment to be described later, step S17 (refer to FIG. 9) according to a third fastening embodiment to be described later, and to be described later. The same applies to step S28 (refer to FIG. 11) according to the fourth fastening embodiment.

Step S2 is a step in which the controller determines whether the abnormal load L1 occurs while the initial fastening section P1 is in progress.

When it is determined that the abnormal load L1 has occurred, the controller determines that a fastening abnormality has occurred and proceeds to step S8 to be described later. Step S3 to be described later is performed.

Step S3 is a step of determining the end of the initial fastening section P1 and the start time of the later fastening section P2 according to a preset criterion.

For example, the initial fastening section P1 may be set to about 60% of the total fastening section P, and the controller determines that the current fastening progress has reached about 60% of the total fastening section P If it is determined that the end time of the initial fastening section (P1) has arrived, and when it is determined that the progress of the current fastening has not reached about 60% of the total fastening section (P), the end of the initial fastening section (P1) It can be judged that the time has not arrived.

Determination of the end timing of the initial fastening section P1 as described above includes step S11 (refer to FIG. 7) according to a second fastening embodiment to be described later, step S19 (refer to FIG. 9) according to a third fastening embodiment to be described later, and The same applies to step S30 (refer to FIG. 11 ) according to the fourth fastening embodiment, which will be described later.

When it is determined that the end time of the initial fastening section P1 has not arrived, the control unit proceeds to step S1, and when it is determined that the end time of the initial fastening section P1 has arrived, a step S4 to be described later proceed with

Step S4 is a step in which the actuator 600 is rotationally driven at an angular speed of the first rotation speed V1 as the later fastening section P2 progresses.

Step S5 is a step in which the controller determines whether the stop load L2 is generated while the late fastening section P2 is in progress.

When it is determined that the stop load L2 is not generated, the control unit proceeds to step S6 to be described later, and when it is determined that the stop load L2 is generated, the control unit determines that the fastening is complete and performs step S7 described later proceed

Step S6 is a step of determining the end time of the late fastening section P2 according to a preset criterion.

For example, the late fastening section P2 may be set to about 40% of the total fastening section P, and the controller determines that the current fastening progress has reached 100% of the total fastening section P If it is determined that the end time of the late fastening section P2 has arrived, and it is determined that the progress of the current fastening has not reached 100% of the total fastening section P, the end time of the late fastening section P2 is It can be judged that it has not arrived.

The determination of the end timing of the late fastening section P2 as described above is determined in step S14 (see FIG. 7) according to the second fastening embodiment to be described later, and steps S22 and S25 (refer to FIG. 9) according to the third fastening embodiment to be described later. ) and steps S33 and S36 (see FIG. 11 ) according to the fourth fastening embodiment to be described later are equally applied.

The controller proceeds to step S4 when it is determined that the end time of the late fastening section P2 has not arrived, and when it is determined that the end time of the late fastening section P2 has arrived, a fastening abnormality occurs It is determined that there is, and step S8 to be described later is performed.

Step S7 is a step in which rotational driving of the actuator 600 is stopped by the end command of the controller.

According to the step S7, the rotational driving of the actuator 600 is completely stopped, so that the late fastening section P2 is terminated, and the fastening process is completed.

Step S8 is a step in which a response to the occurrence of a fastening abnormality is performed under the control of the controller.

According to step S8, the control unit stops the driving of the actuator 600 to forcibly terminate the fastening process, or generates a preset alarm signal through a preset alarm device so that the administrator can detect the occurrence of a fastening abnormality. there is. Also, the control unit may close the valve of the gas storage container 10 by driving the valve opening/closing unit 400 .

The response to the occurrence of a fastening abnormality as described above is step S16 (see FIG. 7) according to the second fastening embodiment to be described later, step S27 (refer to FIG. 9) according to the third fastening embodiment to be described later, and a fourth to be described later. The same applies to step S38 (refer to FIG. 11) according to the fastening embodiment.

6 and 7 show a second fastening embodiment according to the connector fastening method described above.

6 shows a graph of the rotational angular velocity V of the actuator 600 per time T and a graph of the load L per time T according to the second fastening embodiment.

According to the second fastening embodiment, an initial rotational speed V2 is set in the control unit at the rotational angular velocity of the actuator 600 in the initial fastening section P1, and in the latter fastening section P2, the A later rotational speed V3 that is a lower angular velocity than the initial rotational speed V2 is set at the rotational angular velocity of the actuator 600 .

Accordingly, when the start command of the control unit is input and the initial fastening period P1 starts (t0), the angular velocity of the actuator 600 increases from 0 rad/s to the initial rotation speed V2 and is maintained.

Then, when the late fastening section P2 starts (t4), the angular speed of the actuator 600 is reduced to the late rotation speed V3 by the speed conversion command of the control unit and maintained, and the load L is When the stop load L2 is satisfied (t5), the angular speed of the actuator 600 is reduced from the late rotation speed V3 to 0 rad/s by the stop command of the control unit, thereby ending the fastening process (t6) .

The initial rotational speed V2 may be set to an appropriate angular velocity that can be smoothly converted to the latter rotational speed V3, for example, to be set at an angular velocity of about 6 times the latter rotational speed V3. can

In addition, the late rotation speed V3 may be preferably set to the stop speed V0.

For example, the stop speed V0 may be set to π/60 rad/s to π/18 rad/s, and in an embodiment, the initial rotation speed V2 is 30° per second, that is, π/6 rad/s, and the late rotation speed V3 may be set to 5° per second, that is, π/36 rad/s.

In the above case, the total fastening time t6 according to the second fastening embodiment is the first fastening embodiment in which the first rotation speed V1 is set to π/36 rad/s (refer to FIG. 4 ) It can be reduced to about 1/2 of the total fastening time t3 by

That is, according to the second fastening embodiment, the actuator 600 has an angular speed higher than the stop speed V0 during the required time t4 for the initial fastening section P1. The initial rotation speed V2 ) to drive rotation.

Therefore, the total fastening time t6 according to the second fastening embodiment is significantly reduced compared to the total fastening time t3 according to the first fastening embodiment, thereby providing a more efficient connector fastening method. can

7 is a flowchart of a connector fastening method according to the second fastening embodiment.

Step S9 is a step in which the actuator 600 is rotationally driven at an angular speed of the initial rotation speed V2 as the initial fastening section P1 proceeds according to a start command of the controller.

While the step S9 is being performed, the driving of the fastening part transfer means 350 as described in the step S1 (see FIG. 5 ) according to the first fastening embodiment may be performed in parallel.

Step S10 is a step in which the controller determines whether the abnormal load L1 occurs while the initial fastening section P1 is in progress.

When it is determined that the abnormal load L1 has occurred, the control unit determines that a fastening abnormality has occurred and proceeds to step S16 to be described later. Step S11 to be described later is performed.

Step S11 is a step of determining an end time of the initial fastening section P1 and a start time of the late fastening section P2 according to a preset criterion.

The determination of the end timing of the initial fastening section P1 by the step S11 is the same as described in the step S3 (refer to FIG. 5 ) according to the first fastening embodiment.

When it is determined that the end time of the initial fastening section P1 has not arrived, the control unit proceeds to step S9, and when it is determined that the end time of the initial fastening section P1 has arrived, a step S12 to be described later proceed with

Step S12 is a step in which the actuator 600 decelerates to the angular speed of the late rotation speed V3 and rotates as the late fastening section P2 progresses.

Step S13 is a step in which the controller determines whether the stop load L2 is generated while the late fastening section P2 is in progress.

When it is determined that the stop load L2 is not generated, the control unit proceeds to step S14 to be described later, and when it is determined that the stop load L2 is generated, the control unit determines that the fastening is complete and performs step S15 to be described later proceed

Step S14 is a step of determining the end time of the late fastening section P2 according to a preset criterion.

The determination of the end timing of the late fastening section P2 by the step S14 is the same as described in the step S6 (refer to FIG. 5 ) according to the first fastening embodiment.

When it is determined that the end time of the late fastening section P2 has not arrived, the control unit proceeds to step S12, and when it is determined that the end time of the late fastening section P2 has arrived, a fastening abnormality has occurred It is determined that there is, and step S16 to be described later is performed.

Step S15 is a step in which rotational driving of the actuator 600 is stopped by the end command of the controller.

According to the step S15, the rotational driving of the actuator 600 is completely stopped, so that the late fastening section P2 is terminated, and the fastening process is completed.

Step S16 is a step in which a response to the occurrence of a fastening abnormality is performed under the control of the controller.

The response to the occurrence of a fastening abnormality by the control unit in step S16 is the same as described in step S8 (refer to FIG. 5) according to the first fastening embodiment.

8 and 9 show a third fastening embodiment according to the connector fastening method described above.

8 shows a graph of the rotational angular velocity V of the actuator 600 per time T and a graph of the load L per time T according to the third fastening embodiment.

According to the third fastening embodiment, the stop preparation load L3 is set in the control unit, and the load L satisfies the stop preparation load L3 from the time t0 of the total fastening period P. The second rotational speed V4 is set to the rotational angular velocity of the actuator 600 until the preparation period t8, Until t9), a third rotational speed V5, which is a lower angular velocity than the second rotational speed V4, is set at the rotational angular velocity of the actuator 600.

The stop preparation load (L3) is set to a load value greater than the abnormal load (L1) and smaller than the stop load (L2), and accordingly, the preparation period (t8) is generated during the late fastening period (P2) will do

The stop preparation load L3 may be set to a load value of 50% to 90% of the stop load L2.

For example, the stop load (L2) is set to 35 Nm to 45 Nm, the abnormal load (L1) is set to 10.5 Nm to 31.5 Nm, the stop preparation load (L3) is set to 17.5 Nm to 40.5 Nm can be

Preferably, the stop load L2 may be set to 40 Nm, the abnormal load L1 may be set to 20 Nm, and the stop preparation load L3 may be set to 30 Nm.

Accordingly, when the initial fastening section P1 is started (t0) by the start command of the controller, the angular velocity of the actuator 600 increases from 0 rad/s to the second rotation speed V4 and is maintained.

Thereafter, when the preparation period t8 is reached, the angular velocity of the actuator 600 is reduced to the third rotational speed V5 by the speed conversion command of the control unit and maintained, and when the stationary period t9 is reached, the control unit's As the angular velocity of the actuator 600 decreases from the third rotational speed V5 to 0 rad/s by the stop command, the fastening process is terminated (t10).

The second rotation speed V4 may be set to an appropriate angular speed that can be smoothly converted to the third rotation speed V5, for example, about 3 to 5 times the third rotation speed V5. It can be set to the angular velocity of the ship.

In addition, the third rotation speed V5 may be preferably set to the stop speed V0.

For example, the stop speed V0 may be set to π/60 rad/s to π/18 rad/s, and in an embodiment, the second rotation speed V4 is 15° to 20° per second, that is, , π/12 rad/s to π/9 rad/s may be set, and the third rotation speed V5 may be set to 5° per second, that is, π/36 rad/s.

In the above case, the total fastening time t10 according to the third fastening embodiment is the first fastening embodiment in which the first rotation speed V1 is set to π/36 rad/s (refer to FIG. 4 ) can be reduced to about 1/3 of the total fastening time t3 by

That is, according to the third fastening embodiment, the actuator 600 operates at the stop speed V0 during the required time t8 from the time t0 when the initial fastening section P1 starts to the preparation period t8. ) is driven to rotate at the second rotational speed V4 having a higher angular velocity.

Therefore, the total fastening time t10 according to the third fastening embodiment is significantly reduced compared to the total fastening time t3 according to the first fastening embodiment, thereby providing a more efficient connector fastening method. can

9 is a flowchart of a connector fastening method according to the third fastening embodiment.

Step S17 is a step in which the actuator 600 is rotationally driven at an angular speed of the second rotation speed V4 as the initial fastening section P1 proceeds according to a start command of the control unit.

While the step S18 is performed, the driving of the fastening part transfer means 350 as described in the step S1 (refer to FIG. 5 ) according to the first fastening embodiment may be performed in parallel.

Step S18 is a step in which the controller determines whether the abnormal load L1 occurs while the initial fastening section P1 is in progress.

When it is determined that the abnormal load L1 has occurred, the controller determines that a fastening abnormality has occurred and proceeds to step S27 to be described later. Step S19 to be described later is performed.

Step S19 is a step of determining the end of the initial fastening section P1 and the start time of the later fastening section P2 according to a preset criterion.

The determination of the end timing of the initial fastening section P1 by the step S19 is the same as described in the step S3 (refer to FIG. 5 ) according to the first fastening embodiment.

When it is determined that the end time of the initial fastening section P1 has not arrived, the control unit proceeds to step S17, and when it is determined that the end time of the initial fastening section P1 has arrived, a step S20 to be described later proceed with

Step S20 is a step in which the actuator 600 is rotationally driven at an angular speed of the second rotation speed V4 as the late fastening section P2 progresses.

Step S21 is a step in which the control unit determines whether the stop preparation load L3 occurs while the late fastening section P2 is in progress.

When it is determined that the stop preparation load (L3) is not generated, the control unit proceeds to step S22 to be described later, and when it is determined that the stop preparation load (L3) is generated, proceeds to a step S23 to be described later.

Step S22 is a step of determining the end time of the late fastening section P2 according to a preset criterion.

The determination of the end timing of the late fastening section P2 by the step S22 is the same as described in the step S6 (refer to FIG. 5 ) according to the first fastening embodiment.

When it is determined that the end time of the late fastening section P2 has not arrived, the control unit proceeds to step S20, and when it is determined that the end time of the late fastening section P2 has arrived, a fastening abnormality occurs It is determined that this is the case, and step S27, which will be described later, is performed.

Step S23 is a step in which the actuator 600 decelerates to the angular speed of the third rotational speed V5 to rotate.

Step S24 is a step in which the controller determines whether the stop load L2 is generated while the actuator 600 is rotationally driven at an angular speed of the third rotation speed V5.

When it is determined that the stop load L2 is not generated, the controller proceeds to step S25 to be described later, and when it is determined that the stop load L2 is generated, proceeds to step S26 to be described later.

Step S25 is a step of determining the end time of the late fastening section P2 according to a preset criterion.

The determination of the end timing of the late fastening section P2 by the step S25 is the same as described in the step S6 (refer to FIG. 5 ) according to the first fastening embodiment.

The controller proceeds to step S23 when it is determined that the end time of the late fastening section P2 has not arrived, and when it is determined that the end time of the late fastening section P2 has arrived, a fastening abnormality occurs It is determined that this is the case, and step S27, which will be described later, is performed.

Step S26 is a step in which rotational driving of the actuator 600 is stopped by the end command of the controller.

According to the step S26, the rotation driving of the actuator 600 is completely stopped, so that the late fastening period P2 is terminated, and the fastening process is completed.

Step S27 is a step in which a response to the occurrence of a fastening abnormality is performed under the control of the controller.

The response of the control unit to the occurrence of a fastening abnormality in the step S27 is the same as described in the step S8 (refer to FIG. 5 ) according to the first fastening embodiment.

10 and 11 show a fourth fastening embodiment according to the connector fastening method described above.

10 shows a graph of the rotational angular velocity (V) of the actuator 600 per time (T) and a graph of the load (L) per time (T) according to the fourth fastening embodiment.

The fourth fastening embodiment has a mixed configuration of the second fastening embodiment (see FIGS. 6 and 7 ) and the third fastening embodiment (see FIGS. 8 and 9 ).

According to the fourth fastening embodiment, the stop preparation load (L3) is set in the control unit, the initial rotation speed (V2) is applied in the initial fastening section (P1), and in the initial fastening section (P1) The second rotational speed V4 is applied from the section switching period t11 leading to the late fastening period P2 to the preparation period t12 in which the load L satisfies the stop preparation load L3, A fourth rotational speed V6, which is an angular velocity lower than the second rotational speed V4, is applied from the preparation period t12 to a stationary period t13 in which the load L satisfies the stop load L2.

Accordingly, when the initial fastening section P1 is started (t0) by the start command of the control unit, the angular velocity of the actuator 600 increases from 0 rad/s to the initial rotation speed V2 and is maintained, and the When the section changer T11 is reached, the angular speed of the actuator 600 is reduced to the second rotation speed V4 by the speed conversion command of the controller and is maintained.

Thereafter, when the preparation period t12 is reached, the angular velocity of the actuator 600 is reduced to the fourth rotation speed V6 and maintained by the speed conversion command of the controller, and then, when the stationary period t13 is reached, the controller As the angular velocity of the actuator 600 decreases from the fourth rotational speed V6 to 0 rad/s by the stop command of , the fastening process is terminated (t14).

The initial rotation speed V2 may be set to an appropriate angular speed that can be smoothly converted into the second rotation speed V4, for example, 4/3 to 4 times the second rotation speed V4. It can be set to the angular velocity of the ship.

In addition, the second rotation speed V4 may be set to an appropriate angular speed that can be smoothly converted to the fourth rotation speed V6, for example, three times to the fourth rotation speed V6. It can be set to 5 times the angular velocity.

In addition, the fourth rotation speed V6 may be preferably set to the stop speed V0.

As an example, the stop speed V0 may be set to π/60 to π/18 rad/s, and in an embodiment, the initial rotation speed is set to 30° per second, that is, π/6 rad/s, and , the second rotation speed V4 is set to 15° to 20° per second, that is, π/12 rad/s to π/9 rad/s, and the fourth rotation speed V6 is 5° per second , that is, it may be set to π/36 rad/s.

In the above case, the total fastening time t14 according to the fourth fastening embodiment is the first fastening embodiment in which the first rotation speed V1 is set to π/36 rad/s (refer to FIG. 4 ) It can be reduced to about 1/4 of the total fastening time t3 by

That is, according to the fourth fastening embodiment, rotation is driven at the initial rotation speed V2 from the time t0 when the initial fastening section P1 starts to the preparation period t12, and the preparation period t12 ) to the stationary period t13, the rotation is driven at the second rotational speed V4, and the initial rotational speed V2 and the second rotational speed V4 are angular velocities higher than the stopping speed V0. is set to

Therefore, the total fastening time t14 according to the fourth fastening embodiment can be significantly reduced compared to the total fastening time t3 according to the first fastening embodiment, so that a more efficient connector fastening method is provided. can provide

11 is a flowchart of a connector fastening method according to the fourth fastening embodiment.

Step S28 is a step in which the actuator 600 is rotationally driven at an angular speed of the initial rotation speed V2 as the initial fastening section P1 proceeds by the start command of the control unit.

While the step S28 is performed, the driving of the fastening part transfer means 350 as described in the step S1 (see FIG. 5 ) according to the first fastening embodiment may be performed in parallel.

Step S29 is a step in which the control unit determines whether the abnormal load L1 occurs while the initial fastening section P1 is in progress.

When it is determined that the abnormal load L1 has occurred, the control unit determines that a fastening abnormality has occurred and proceeds to step S38 to be described later. Step S30 to be described later is performed.

Step S30 is a step of determining the end of the initial fastening section P1 and the start time of the late fastening section P2 according to a preset criterion.

The determination of the end timing of the initial fastening section P1 by the step S27 is the same as described in the step S3 (refer to FIG. 5 ) according to the first fastening embodiment.

When it is determined that the end time of the initial fastening section P1 has not arrived, the control unit proceeds to step S28, and when it is determined that the end time of the initial fastening section P1 has arrived, a step S31 to be described later proceed with

Step S31 is a step in which the actuator 600 is rotationally driven at an angular speed of the second rotation speed V4 as the late fastening section P2 progresses.

Step S32 is a step in which the control unit determines whether the stop preparation load L3 occurs while the late fastening section P2 is in progress.

When it is determined that the stop preparation load (L3) is not generated, the control unit proceeds to step S33 to be described later, and when it is determined that the stop preparation load (L3) is generated, proceeds to a step S34 to be described later.

Step S33 is a step of determining the end time of the late fastening section P2 according to a preset criterion.

The determination of the end timing of the late fastening section P2 by the step S33 is the same as described in the step S6 (refer to FIG. 5 ) according to the first fastening embodiment.

The controller proceeds to step S31 when it is determined that the end time of the late fastening section P2 has not arrived, and when it is determined that the end time of the late fastening section P2 has arrived, a fastening abnormality occurs It is determined that there is, and step S38 to be described later is performed.

Step S34 is a step in which the actuator 600 decelerates to the angular speed of the fourth rotational speed V6 to rotate.

Step S35 is a step in which the controller determines whether the stop load L2 is generated while the actuator 600 is rotationally driven at an angular speed of the fourth rotation speed V6.

When it is determined that the stop load L2 is not generated, the control unit proceeds to step S36 to be described later, and when it is determined that the stop load L2 is generated, the control unit determines that the fastening is complete and performs step S37 described later proceed

Step S36 is a step of determining the end time of the late fastening section P2 according to a preset criterion.

The determination of the end timing of the late fastening section P2 by the step S36 is the same as described in the step S6 (refer to FIG. 5 ) according to the first fastening embodiment.

The controller proceeds to step S34 when it is determined that the end time of the late fastening section P2 has not arrived, and when it is determined that the end time of the late fastening section P2 has arrived, a fastening abnormality occurs It is determined that there is, and step S38 to be described later is performed.

Step S37 is a step in which rotational driving of the actuator 600 is stopped by the end command of the controller.

According to the step S37, the rotational driving of the actuator 600 is completely stopped, so that the late fastening period P2 is terminated, and the fastening process is completed.

Step S38 is a step in which a response to the occurrence of a fastening abnormality is performed under the control of the controller.

The response of the control unit to the occurrence of a fastening abnormality according to the step S38 is the same as described in the step S8 (refer to FIG. 5 ) according to the first fastening embodiment.

As described above, according to the gas supply device 1 and the connector fastening method according to this embodiment, when the valve connector 30 of the gas storage container 10 and the connecting pipe connector 331 connected to the gas demanding place are fastened , by detecting whether an abnormal load occurs in the initial fastening section P1, it is possible to determine whether fastening abnormality occurs early.

In addition, when the valve connector 30 of the gas storage container 10 and the cover 31 accommodated in the cover fastening part 320 are fastened, whether an abnormal load occurs in the initial fastening section P1 is detected to determine whether a fastening abnormality occurs can be determined early.

In addition, fastening stability can be improved by adjusting the fastening speed, but fastening efficiency can be increased by shortening the fastening time required.

As described above, the present invention is not limited to the above-described embodiments, and obvious modifications can be made by those of ordinary skill in the art to which the invention pertains without departing from the technical spirit of the invention as claimed in the claims. It is possible, and such modifications fall within the scope of the present invention.

1: gas supply device 2: upper module
3: lower module 10: gas storage container
20: valve part 30: valve connector
31: cover 50: handle
320: cover fastening part 330: connector fastening part
331: connecting pipe connector 400: valve opening and closing part
600: actuator

Claims (47)

At least among a connector fastening part for connecting a connecting pipe connector connected to a gas demanding point to a valve connector provided in the valve part of the gas storage container, and a cover fastening part for receiving and fastening the cover covering the valve connector to the valve connector an actuator providing rotational driving force to one; and,
Control the driving of the actuator to proceed with the fastening of the connecting pipe connector or the cover and the valve connector, but the total fastening section in which the connecting pipe connector or the cover and the valve connector are fastened according to a preset standard initial fastening section and a control unit that divides into a late fastening section, and determines whether a load greater than a preset abnormal load occurs in the initial fastening section;
In the control unit, a stop load for determining the completion of fastening between the valve connector and any one of the connecting pipe connector and the cover fastening unit, and a stop preparation load having a load value greater than the abnormal load and smaller than the stop load. is set,
The control unit controls the driving of the actuator to determine whether a load greater than the stop preparation load is generated in the late fastening section, and when it is determined that a load greater than or equal to the stop preparation load has occurred, the rotation angular velocity of the actuator is recorded A gas supply device, characterized in that it is configured to decelerate to a set predetermined speed. According to claim 1,
The initial fastening section is set to 20% to 80% of the total fastening section, and the late fastening section is set to a section remaining from the total fastening section except for the initial fastening section. According to claim 1,
a transfer means for transferring at least one of the connector fastening part and the cover fastening part is provided under the control of the control unit;
A forward section is set in the control unit to advance at least one of the connector fastening part and the cover fastening part toward the valve connector by driving the transfer means, wherein the forward section is included in the initial fastening section gas supply. According to claim 1,
The control unit is configured to determine whether a fastening abnormality occurs according to the magnitude of the load generated in the total fastening section. 5. The method of claim 4,
The controller determines that the fastening abnormality occurs when it is determined that a load greater than or equal to the abnormal load has occurred in the initial fastening section, and when it is determined that a load greater than or equal to the abnormal load has not occurred in the initial fastening section, normal fastening is performed A gas supply device, characterized in that it is determined that it is in progress. 5. The method of claim 4,
The controller determines whether a load more than the abnormal load occurs in the late fastening section, and determines that normal fastening is in progress when it is determined that a load more than the abnormal load occurs in the late fastening section, and the late fastening section In the gas supply apparatus, characterized in that it is determined that the fastening abnormality occurs when it is determined that a load greater than the abnormal load has not occurred. 5. The method of claim 4,
The control unit determines whether a load greater than a preset stop load is applied to the connector fastening section in the late fastening section, and when it is determined that a load larger than the stop load is generated in the late fastening section, it is determined that the normal fastening is completed and, when it is determined that the load more than the stop load has not occurred until the end of the late fastening section, it is determined that the fastening abnormality has occurred. 8. The method of claim 7,
The control unit is configured to stop the driving of the actuator when it is determined that the normal fastening is completed in the late fastening section. 5. The method of claim 4,
The control unit is configured to stop driving of the actuator when it is determined that the fastening abnormality has occurred. 5. The method of claim 4,
The control unit is configured to generate a preset alarm signal through an alarm device when it is determined that the fastening abnormality has occurred. 11. The method of claim 10,
The control unit is configured to generate different alarm signals according to a section in which the fastening abnormality occurs and a magnitude of a load at a time when the fastening abnormality is determined. 5. The method of claim 4,
a valve provided to control the supply of gas, a valve shutter for opening and closing the valve, and a handle configured to open and close the valve by driving the valve shutter by rotation;
and a valve opening/closing unit configured to open and close the valve by rotating the handle;
The control unit is configured to close the valve by rotating the handle by driving the valve opening/closing unit to block the flow of gas when it is determined that the fastening abnormality occurs. According to claim 1,
The gas supply device, characterized in that the abnormal load is set to a load value of 30% to 70% of the stop load. 14. The method of claim 13,
The gas supply device, characterized in that the stop load is set to a load value of 40% to 70% of the maximum torque that can be generated by driving the actuator. 15. The method of claim 14,
The abnormal load is set to 10.5 Nm to 31.5 Nm,
The gas supply device, characterized in that the stop load is set to 35 Nm to 45 Nm. 14. The method of claim 13,
The control unit is configured to control the driving of the actuator to control the rotation angular speed of the actuator to maintain a preset first rotation speed in the total fastening section,
The first rotational speed is a gas supply device, characterized in that set to a stop speed that is an appropriate angular speed capable of smoothly and rapidly stopping the driving without damage to the rotating actuator. 14. The method of claim 13,
The control unit controls the driving of the actuator, and maintains the initial rotational speed at which the rotational angular velocity of the actuator is preset in the initial fastening section, and the rotational angular speed of the actuator in the late fastening section maintains the preset late rotational speed The gas supply device, characterized in that the latter rotation speed is set to an angular velocity lower than the initial rotation speed. 18. The method of claim 17,
The initial rotation speed is a gas supply device, characterized in that set to 4 to 20 times the angular speed of the latter rotation speed. 19. The method of claim 18,
The late rotation speed is a gas supply device, characterized in that set to a stop speed that is an appropriate angular speed capable of quickly stopping the driving of the rotating actuator smoothly. 14. The method of claim 13,
The control unit controls the driving of the actuator to maintain the rotation angular speed of the actuator at a preset second rotation speed in the initial fastening section and the late fastening section, but in the late fastening section, a load greater than or equal to the stop preparation load It is determined whether or not it occurs, and when it is determined that a load greater than the stop preparation load has occurred, the rotation angular speed of the actuator is reduced to a preset third rotation speed,
The third rotation speed is a gas supply device, characterized in that set to a speed lower than the second rotation speed. 21. The method of claim 20,
The stop preparation load is a gas supply device, characterized in that set to a load value of 50% to 90% of the stop load. 21. The method of claim 20,
The stop load is set to 35 Nm to 45 Nm, the abnormal load is set to 10.5 Nm to 31.5 Nm, and the stop preparation load is set to 17.5 Nm to 40.5 Nm. 21. The method of claim 20,
The second rotational speed is set to an angular velocity of about 3 to 5 times the third rotational speed. 24. The method of claim 23,
The third rotational speed is a gas supply device, characterized in that set to a stop speed that is an appropriate angular speed capable of smoothly and rapidly stopping the driving of the rotating actuator. 14. The method of claim 13,
The control unit controls the driving of the actuator to maintain the rotation angular speed of the actuator at a preset initial rotation speed in the initial fastening section, and sets the rotation angular speed of the actuator in the late fastening section to a preset second rotation speed The deceleration is maintained, but it is determined whether a load greater than the stop preparation load is generated in the late fastening section, and when it is determined that a load greater than the stop preparation load has occurred, the rotation angular speed of the actuator is reduced to a preset fourth rotation speed is done so as to
The second rotation speed is set to a speed lower than the initial rotation speed, and the fourth rotation speed is set to a speed lower than the second rotation speed. 26. The method of claim 25,
The gas supply apparatus according to claim 1, wherein the stop preparation load is set to a load value of about 50% to 90% of the stop load. 27. The method of claim 26,
The stop load is set to 35 Nm to 45 Nm, the abnormal load is set to 10.5 Nm to 31.5 Nm, and the stop preparation load is set to 17.5 Nm to 40.5 Nm. 26. The method of claim 25,
The initial rotation speed is set at an angular speed of 4/3 to 4 times the second rotation speed, and the second rotation speed is set at an angular speed of about 3 times to 5 times the fourth rotation speed. gas supply. 29. The method of claim 28,
The fourth rotational speed is a gas supply device, characterized in that set to a stop speed that is an appropriate angular speed capable of smoothly and suddenly stopping the driving of the rotating actuator. 30. The method of any one of claims 16 and 19 and 24 and 29,
The stop speed is a gas supply device, characterized in that set to π/60 rad/s to π/18 rad/s. The connecting pipe connector or the cover and the valve connector by controlling the driving of an actuator that provides a rotational driving force for fastening the connecting pipe connector to the valve connector of the gas storage container or fastening the cover fastening part for accommodating the cover to the valve connector In the connector fastening method for fastening,
a) The control unit divides the total fastening section in which the connecting pipe connector or the cover and the valve connector are fastened into an initial fastening section and a late fastening section according to a preset standard, and proceeds with the initial fastening section, but in the initial fastening section determining whether a load greater than or equal to a preset abnormal load occurs;
b) performing the later fastening section after the initial fastening section ends;
including,
In the control unit, a stop load for determining the completion of fastening between the valve connector and any one of the connecting pipe connector and the cover fastening unit, and a stop preparation load having a load value greater than the abnormal load and smaller than the stop load. being set
In step b), the control unit controls the driving of the actuator to determine whether a load greater than the stop preparation load is generated in the late fastening section, and when it is determined that a load greater than or equal to the stop preparation load has occurred, the A connector fastening method, characterized in that controlling the rotation angular speed of the actuator to be decelerated to a predetermined speed. 32. The method of claim 31,
The step a) includes the step of driving the fastening part transfer means to advance at least one of the cover fastening part in which the cover is accommodated and the connector fastening part for connecting the connecting pipe connector to the valve connector toward the valve connector. Connector fastening method, characterized in that. 32. The method of claim 31,
When it is determined that the load above the abnormal load has occurred in step a), the control unit determines that a fastening abnormality has occurred, and when it is determined that the load above the abnormal load does not occur in step a), normal fastening is in progress A connector fastening method, characterized in that it is determined that it is. 32. The method of claim 31,
The step b) consists of a step in which the control unit determines whether a load greater than or equal to the abnormal load occurs while the late fastening section is in progress;
The controller determines that normal fastening is in progress when it is determined that a load greater than or equal to the abnormal load has occurred in step b), and when it is determined that a load greater than or equal to the abnormal load has not occurred in step b) A connector fastening method, characterized in that it is determined that it is. 32. The method of claim 31,
The step b) comprises the step of determining whether a load greater than or equal to a preset stop load is generated by the control unit while the late fastening section is in progress;
When it is determined that the normal fastening is completed when it is determined that the load greater than or equal to the stop load has occurred in step b), and when it is determined that the load greater than or equal to the stop load has not occurred until step b) is completed A connector fastening method, characterized in that it is configured to determine that a fastening abnormality has occurred. 36. The method according to any one of claims 33 to 35,
The control unit, when it is determined that the fastening abnormality occurs, connector fastening method, characterized in that to stop the driving of the actuator. 36. The method according to any one of claims 33 to 35,
The controller is configured to generate a preset alarm signal through an alarm device when it is determined that the fastening abnormality occurs. 38. The method of claim 37,
The connector fastening method, characterized in that the control unit is configured to generate different alarm signals according to the section in which the fastening abnormality occurs and the magnitude of the load at the time when the fastening abnormality occurrence is determined. 36. The method according to any one of claims 33 to 35,
When it is determined that the fastening abnormality has occurred, the control unit drives a valve opening and closing unit configured to open and close the valve of the gas storage container by rotating the handle of the gas storage container to close the valve by rotating the handle to allow the flow of gas Connector fastening method, characterized in that to block. 36. The method of claim 35,
The control unit, when it is determined that the normal fastening is completed in the late fastening section, connector fastening method, characterized in that to stop the driving of the actuator. 32. The method of claim 31,
The control unit controls the driving of the actuator,
While the steps a) and b) are performed, the rotation angular speed of the actuator maintains a preset first rotation speed,
The first rotational speed is a connector fastening method, characterized in that set to a stop speed that is an appropriate angular speed capable of smoothly stopping the drive without damage to the rotating actuator. 32. The method of claim 31,
The control unit controls the driving of the actuator,
While the step a) is performed, the rotation angular speed of the actuator maintains a preset initial rotation speed,
While the step b) is performed, the rotation angular speed of the actuator maintains a preset late rotation speed,
The late rotation speed is a connector fastening method, characterized in that set to an angular speed lower than the initial rotation speed. 43. The method of claim 42,
the initial rotational speed is set at an angular velocity of 4 to 20 times the latter rotational speed;
The late rotation speed is a connector fastening method, characterized in that set to a stop speed that is an appropriate angular speed that can smoothly and quickly stop the drive without damage to the actuator. 32. The method of claim 31,
In the step b), the control unit determines whether a load greater than or equal to the stop preparation load occurs during the late fastening section, and the control unit determines whether a load equal to or greater than the stop load is generated during the late fastening section. sequentially comprising the steps of determining whether or not it occurs;
The control unit controls the driving of the actuator,
While the steps a) and b) are performed, the rotation angular speed of the actuator is maintained at a second preset rotation speed,
When it is determined that a load greater than or equal to the stop preparation load has occurred in step b), the rotation angular speed of the actuator is reduced to a preset third rotation speed,
The third rotation speed is a connector fastening method, characterized in that set to a speed lower than the second rotation speed. 45. The method of claim 44,
the second rotational speed is set at an angular velocity of about 3 to 5 times the third rotational speed;
The third rotation speed is a connector fastening method, characterized in that set to a stop speed that is an appropriate angular speed capable of smoothly stopping the drive without damage to the actuator. 32. The method of claim 31,
In the step b), the control unit determines whether a load greater than or equal to the stop preparation load occurs during the late fastening section, and the control unit determines whether a load equal to or greater than the stop load is generated during the late fastening section. sequentially comprising the steps of determining whether or not it occurs;
The control unit controls the driving of the actuator,
Maintaining the rotation angular speed of the actuator at a preset initial rotation speed while the step a) is performed,
When step b) is performed, the rotation angular speed of the actuator is reduced to a preset second rotation speed and maintained, but when it is determined that a load greater than the stop preparation load has occurred, the rotation angular speed of the actuator is set to a preset fourth rotation speed made to slow down
The second rotation speed is set to a speed lower than the initial rotation speed, and the fourth rotation speed is set to a speed lower than the second rotation speed. 47. The method of claim 46,
The initial rotation speed is set at an angular speed of 4/3 times to 4 times the second rotation speed,
The second rotation speed is set at an angular speed of about 3 to 5 times the fourth rotation speed,
The fourth rotational speed is a connector fastening method, characterized in that it is set to a stop speed that is an appropriate angular speed capable of smoothly stopping the driving of the rotating actuator.

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