KR102551792B1 - Integrated coupling module and coupling system including the same - Google Patents

Abstract

Embodiments include an opening/closing module including a cap gripper holding a lid of a container; and a coupler fixing module fixing a coupler for discharging the liquid in the container to the outside, wherein the coupler is disposed above the cap gripper and an integral coupling module and a coupling system including the same are disclosed.

Description

Integrated coupling module and coupling system including the same {INTEGRATED COUPLING MODULE AND COUPLING SYSTEM INCLUDING THE SAME}

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

Various types of chemicals used in semiconductor factories or chemical factories are supplied in a container such as a drum. Therefore, in order to supply the supplied chemical to a semiconductor factory or the like, it is necessary to open the lid of the drum and combine the coupler to store the chemical in a storage tank inside the factory. Alternatively, a coupler may be coupled to an empty drum to fill the chemical.

However, in the conventional coupling module, an opening and closing module for opening and closing the lid of the drum and a coupler fixing module are separately provided. Therefore, there is a problem in that the size of the coupling module increases and the operation is cumbersome.

In addition, the conventional coupling module is a first step in which the opening and closing module moves to the top of the drum to open the lid and then leaves the top of the drum, and the coupler fixing module moves to the top of the drum and inserts the coupler into the drum. , The third step of filling or discharging the drug in the drum through the coupler of the coupler fixing module, the fourth step of separating the coupler fixing module from the top of the drum, and the opening and closing module moving to the top of the drum again to couple the lid. It consists of 5 stages. However, since the opening and closing module and the coupler fixing module must be moved to the working position alternately, the working speed is relatively slow.

In addition, since the inclination angle of the conventional coupling module cannot be adjusted, it is difficult to accurately grip the lid or insert the coupler into the outlet when the lid or outlet of the drum is tilted.

Embodiments provide an integrated coupling module in which an opening/closing module and a coupler fixing module are integrated.

In addition, an integral coupling module capable of adjusting the angle of the opening and closing module and the coupler fixing module is provided.

The problem to be solved in the embodiment is not limited thereto, and it will be said that the solution to the problem described below or the purpose or effect that can be grasped from the embodiment is also included.

An integrated coupling module according to one feature of the present invention includes an opening and closing module including a cap gripper for holding a lid of a container; and a coupler fixing module fixing a coupler for discharging the liquid in the container to the outside, wherein the coupler is disposed above the cap gripper.

The cap gripping part is movable from a first position overlapping the coupler in a vertical direction to a second position not overlapping the coupler, and when the cap gripping part moves to the second position, the coupler descends to the outlet of the container. can be inserted into

It may include a driving module that is connected to the coupler fixing module and moves the opening/closing module from the first position to the second position.

The coupler fixing module may include a holder to which the coupler is fixed; and a first rotation unit for rotating the coupler or a keycode of the coupler, wherein the opening/closing module includes: a first support unit supporting the cap gripping unit; and a second rotation unit configured to rotate the cap gripping unit, wherein the driving module may rotate the first support unit.

The first rotating part may be disposed higher than the second rotating part.

An angle adjustment module configured to adjust inclination angles of the opening/closing module and the coupler fixing module, wherein the angle adjustment module rotates the holder in a first direction to adjust the inclination angle of the cap gripper and the coupler. A first control unit for adjusting; and a second adjusting unit configured to adjust an inclination angle between the cap gripper and the coupler by rotating the holder about a second direction intersecting the first direction as an axis.

The cap gripping part and the coupler may be adjusted to the same inclination angle by the first adjusting part and the second adjusting part.

A lifting and lowering module for lifting and lowering the coupler fixing module may be further included, and the angle adjustment module may be disposed between the coupler fixing module and the lifting and lowering module.

The angle adjusting module further includes a third support unit connecting the lifting and lowering module and the coupler fixing module, the second adjusting unit disposed between the lifting and lowering module and the third support unit, and the first adjusting unit It may be disposed between the third support and the coupler fixing module.

The third support part may include one end connected to the elevating module, the other end connected to the coupler fixing module, and a bent part formed between the one end and the other end.

A sensing module for sensing the position and tilt of the lid, the sensing module comprising: a fourth support connected to the lifting and lowering module; a first sensing unit disposed on the fourth support unit to sense a position of the lid; and a second sensing unit disposed on the fourth support unit to sense the inclination of the lid.

The cap gripping part may include a plurality of slits into which protrusions of the lid are inserted, and a latch part coupled to the protrusions inserted into the slits.

According to the embodiment, since the opening and closing module and the coupler fixing module are integrated, the work speed can be increased and the installation area can be reduced.

In addition, since the inclination angle of the opening/closing module and the coupler fixing module can be adjusted according to the inclination of the lid and the outlet of the container, the lid can be accurately gripped and the coupler can be accurately inserted into the outlet.

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

1 is a conceptual diagram of a coupling system according to an embodiment of the present invention;
2 is a conceptual diagram of an integrated coupling module according to an embodiment of the present invention;
3 is a perspective view of FIG. 2 viewed from another direction;
4 and 5 are views showing a process in which a plurality of containers are loaded into at least one integrated coupling module;
6 is a view showing a process of sensing the position of a lid coupled to a container;
7 is a view showing a process of sensing the flatness of a lid coupled to a container;
8 is a view showing a state in which the cap gripping part and the coupler are rotated based on the first direction according to the inclination of the lid;
9 is a view showing a state in which the cap gripping part and the coupler are rotated based on the second direction according to the inclination of the lid;
10 is a view showing a state in which the cap gripping part is lowered and coupled to the lid;
11A to 11C are views for explaining an embodiment of gripping a lid by rotating a cap gripping unit;
12a to 12d are views for explaining another embodiment in which the cap is gripped by rotating the cap gripper;
13 is a view showing a state in which the cap gripper separates the lid from the container;
14 is a perspective view of a cap gripper;
15 is a perspective view of a cap gripping portion viewed from another direction;
16 is a view showing a state in which the cap gripper is rotated so as not to overlap with the coupler,
17 is a view of FIG. 16 viewed from another direction;
18A is a view showing a state in which the key code of the coupler and the groove of the outlet are aligned;
18B is a view showing the upper surface of the outlet,
19 is a view showing a state in which the coupler is inserted into the outlet,
20 is a view showing a state in which the cap gripping part is returned to an initial position;
21 is a view showing a state in which the lid is coupled to the container by rotating the cap gripper;
22 is a view showing a state in which the work is completed by lifting the cap gripping part.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms including ordinal numbers such as second and first may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a second element may be termed a first element, and similarly, a first element may be termed a second element, without departing from the scope of the present invention. The terms and/or include any combination of a plurality of related recited items or any of a plurality of related recited items.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings, but the same or corresponding components regardless of reference numerals are given the same reference numerals, and overlapping descriptions thereof will be omitted.

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

Referring to FIG. 1, the coupling system according to the embodiment includes a pair of first transfer members 210 disposed facing each other in a first direction (X-axis direction), a second direction perpendicular to the first direction ( A pair of second transfer members 220 disposed facing each other in the Y-axis direction), at least one integrated coupling module 100 disposed on the second transfer member 220, and a control unit 300 controlling them can include

The integral coupling module 100 is connected to the second transfer member 220 and can be moved in a first direction (X-axis direction) by the second transfer module 221 . In addition, the second transfer member 220 may move in the second direction (Y-axis direction) by the first transfer module 211 .

Accordingly, the integrated coupling module 100 can freely move in the first direction and the second direction by the first transfer module 211 and the second transfer module 221 . The integrated coupling module 100 may be respectively disposed on the pair of second transfer members 220, but is not necessarily limited thereto.

A plurality of containers 10 may be disposed on the pedestal 20 . The container 10 may store chemicals for semiconductor display, but is not necessarily limited thereto, and may store various liquids. Container 10 may have various sizes and shapes to accommodate various liquids.

Container 10 may have a lid 11 coupled to the outlet. Accordingly, the controller 300 may control the integrated coupling module 100 to discharge the liquid stored in the container 10 to the outside by opening the lid 11 and inserting the coupler into the outlet.

Referring to Figures 2 and 3, the integrated coupling module 100 is an integrated module by combining the opening and closing module 110 for opening and closing the lid of the container, and the coupler fixing module 130 supporting the coupler 120 can be configured.

The coupler fixing module 130 may include a holder 131 in which the coupler 120 is accommodated, a first rotating part 133 for rotating the coupler 120 , and a support structure 134 . The holder 131 is composed of an upper holder 131a and a lower holder 131b so that the coupler 120 can be accommodated therein. However, the holder structure is not necessarily limited thereto and is not particularly limited as long as it is configured to support the coupler 120 .

The support structure 134 includes a first support plate 135 and a second support plate 136 for fixing the coupler 120, and a plurality of connecting members 137 connecting the first support plate 135 and the second support plate 136. ) may be included. The connection member 137 may have elasticity, but is not necessarily limited thereto. The first support plate 135 and the second support plate 136 may have a disk shape, but are not necessarily limited thereto and may be deformed into various shapes.

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

The first rotating part 133 may include a motor and a driving belt that rotates the coupler 120 . Accordingly, as the key code 125 is rotated by the first rotation unit 133, it can be aligned with the groove of the outlet.

The opening/closing module 110 includes a cap gripping unit 111 for gripping the lid 11 of the container 10, a first support unit 113 for supporting the cap gripping unit 111, and a rotation for rotating the cap gripping unit 111. It may include a second rotation unit 114 , and a driving belt 115 connected to the cap gripping unit 111 and the second rotation unit 114 .

The cap gripper 111 may open and close the lid 11 of the container 10 by gripping and rotating the lid 11 of the container 10 . The cap gripper 111 may have various shapes capable of gripping the lid 11 . For example, the cap gripping part 111 may have a plurality of protruding parts 112 protruding in a radial direction. An accommodation groove 111a in which the lid 11 is accommodated is formed at the bottom of the cap gripping part 111 and a slit 112a is formed in the protrusion 112 so that the protrusions of the lid can be inserted.

Illustratively, the plurality of protrusions 112 may be manufactured to move in a radial direction by a cylinder or the like. According to this configuration, the plurality of protrusions 112 are advanced in the radial direction as much as possible to engage the lid in a state in which the diameter of the receiving groove 111a is maximized, and then return to the original position, thereby effectively gripping the lid.

The first support part 113 may include a horizontal frame 113a supporting the cap gripping part 111 and a vertical frame 113b connected to the coupler fixing module 130 . The cap gripping part 111 may be rotatably supported by the horizontal frame 113a.

A drive belt 115 is disposed between the horizontal frame 113a and the cap gripping part 111 to transfer the rotational force of the second rotating part 114 to the cap gripping part 111 . Since the coupler 120 is disposed above the cap gripping part 111 , the first rotating part 133 may be disposed higher than the second rotating part 114 .

The driving module 140 may rotatably connect the vertical frame 113b of the first support part 113 to the coupler fixing module 130 . The driving module 140 may include a second support part 141 fixed to the coupler fixing module 130, and a third rotation part 142 disposed on the second support part 141 and pivoting the vertical frame 113b. can According to this configuration, the vertical frame 113b of the opening/closing module 110 may rotate while being connected to the rotation shaft of the third rotation unit 142 .

As the vertical frame 113b rotates, the cap gripper 111 also rotates. Accordingly, the cap gripper 111 may move from the first position MA1 disposed below the coupler 120 to the second position where the rotation ends. However, it is not necessarily limited thereto, and the cap gripping part 111 may move from the first position to the second position through horizontal movement instead of rotation. Alternatively, the coupler 120 may pass through the horizontal frame 113a and the cap gripper 111 and move downward.

The angle adjustment module 150 rotates the holder 131 with the third support 153 connecting the elevating module 170 and the coupler fixing module 130 and the first direction (X-axis direction) as an axis. 1 may include an adjusting unit 151 and a second adjusting unit 152 that rotates the holder 131 in a second direction (Y-axis direction) as an axis.

The third support part 153 has one end 153a connected to the elevating module 170, the other end 153b connected to the coupler fixing module 130, and between the one end 153a and the other end 153b. It may include a bent portion (153c) of. One end (153a) and the other end (153b) may be disposed perpendicular to each other by the bent portion (153c) disposed therebetween.

The second adjuster 152 is disposed between the elevating module 170 and one end 153a of the third support 153, and the first adjuster 151 is the other end of the third support 153 ( 153b) and the coupler fixing module 130. That is, the rotational axis of the first adjusting unit 151 and the rotational axis of the second adjusting unit 152 may be perpendicular to each other. Accordingly, the inclination angle of the coupler fixing module 130 may be adjusted by the first adjusting unit 151 and the second adjusting unit 152 by rotating the coupler fixing module 130 based on the X axis and the Y axis, respectively.

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

In the conventional structure, since the opening and closing module and the coupler fixing module are manufactured separately, there is a problem in that a configuration for adjusting the angle of the opening and closing module and a configuration for adjusting the angle of the coupler fixing module are required in order to adjust their angles.

However, according to the embodiment, since the opening/closing module 110 and the coupler fixing module 130 are integrally manufactured, the angles of the cap gripping part 111 and the coupler 120 can be adjusted at once with one angle adjusting module 150. there is Therefore, manufacturing cost can be reduced and size reduction can be made possible.

The sensing module 160 includes a fourth support part 163 connected to the sliding part 172 of the elevating module 170, a first sensing part 161 disposed on the fourth support part 163 and sensing the position of the lid, and a second sensing unit 162 disposed on the fourth support unit 163 to sense the flatness of the lid.

The first sensing unit 161 may acquire a top image of the container 10 and sense the position of the lid. The control unit 300 acquires the positional coordinates of the lid through the image and drives the first transfer module 211 and the second transfer module 221 to move the cap gripper 111 to the top of the lid 11. signal can be output. The first sensing unit 161 may be a camera capable of capturing an image, but is not necessarily limited thereto, and various equipment capable of obtaining an image may be selected.

The second sensing unit 162 may measure the flatness of the lid. Illustratively, the second sensing unit 162 is composed of a plurality of height sensors and can measure heights with respect to the lid, respectively. The controller may determine how inclined the lid is by using height signals of the plurality of second sensing units 162 . The number of height sensors is not particularly limited. For example, four height sensors may be disposed, but fewer or more height sensors may be disposed.

The elevating module 170 includes a fifth support part 173 connected to the second transfer member 220, a sliding part 172 disposed on the fifth support part 173 and connected to the coupling fixing module 130, and An elevating driving unit 171 for elevating and descending the sliding unit 172 may be included. The cap gripping part 111 and the coupler 120 can be moved up and down by the lift module 170 .

4 and 5 are views showing a process of loading a plurality of containers into at least one integrated coupling module.

Referring to FIGS. 4 and 5 , a plurality of containers 10 may be carried into a working position defined by a pair of first transfer members 210 and a pair of second transfer members 220 . The plurality of containers 10 may be carried to the working position by a moving member in a state of being disposed on the pedestal 20 . Moving members include conveyor rollers, conveyor belts, forklifts, hand lifts, and electric lifts. Various transport means capable of moving the container 10, such as a cart or a rail, may be applied without limitation.

Two vessels 10 may be disposed in a first row, and two vessels 10 may be disposed in a second row. The two containers 10 disposed in the first row perform the coupling operation by the first integrated coupling module 100A, and the two containers 10 disposed in the second row perform the coupling operation of the second integrated coupling module ( 100B) can perform the coupling operation. However, it is not necessarily limited thereto, and the number of containers that can be operated at one time may be changed in consideration of the amount of medicine or work space. Illustratively, the number of containers may be 3 or less or 5 or more.

6 is a view showing a process of sensing the position of a lid coupled to a container, and FIG. 7 is a view showing a process of sensing flatness of a lid coupled to a container.

Referring to FIG. 6 , the first sensing unit 161 may obtain a top image of the container 10 to check the position of the lid 11 . The control unit 300 acquires the positional coordinates of the lid 11 through the image image and moves the cap gripping unit 111 to the top of the lid 11 by using the first transfer member 210 and the second transfer member 220. ) to output a driving signal. The first sensing unit 161 may be a camera capable of capturing images, but is not necessarily limited thereto. The control unit may extract positional coordinates of the lid using the image acquired by the first sensing unit 161 and check the protrusion position of the lid. This process may be performed by various image analysis techniques.

Referring to FIG. 7 , the second sensing unit 162 may measure the flatness of the lid 11 . Illustratively, the second sensing unit 162 is composed of a plurality of height sensors to measure heights relative to the lid 11, respectively. The controller 300 may determine how inclined the lid 11 is by using height signals of the plurality of second sensing units 162 . The number of height sensors is not particularly limited. For example, four height sensors may be disposed, but fewer or more height sensors may be disposed.

The controller 300 may calculate how much the lid 11 is tilted in the X-axis and Y-axis using information measured by a plurality of height sensors. When the inclination of the lid 11 is calculated, the inclination angle of the integrated coupling module 100 may be adjusted accordingly. If, as a result of measuring the flatness, if the tilt of the lid 11 is out of a predetermined tilt range, an error message may be output without performing the lid 11 separation operation.

8 is a view showing a state in which the cap gripping part and the coupler are rotated in a first direction as an axis according to the inclination of the lid, and FIG. It is a view showing a rotated state, and FIG. 10 is a view showing a state in which the cap gripping part is lowered and coupled to the lid.

Referring to FIGS. 7 and 8 , the lid 11 coupled to the container 10 may be inclined for various reasons. A container such as a drum may require chemical resistance depending on the type of drug, so a relatively weak resin material (eg, PP, PE) may be used. Therefore, when manufacturing a container, there is a possibility that an inclination may occur in the lid and the outlet.

In addition, an inclination may occur due to an error in adjusting the pressure of the injected gas after filling the container, or an inclination may occur due to gas not being discharged from the container during the filling of the medicine. In addition, when the chemicals are discharged from the container, a fine pressure gas is filled to maintain an appropriate pressure, but if the pressure is not well controlled, the container shrinks and the lid and the outlet may be inclined.

When the lid is inclined for various reasons, it may be difficult to accurately grip the tilted lid 11 when the cap gripping part 111 descends vertically. Therefore, the integrated coupling module 100 according to the embodiment is characterized in that the angle of the cap gripping part 111 is adjusted using the angle adjusting module 150 .

The angle adjustment module 150 rotates the holder 131 with the third support 153 connecting the elevating module 170 and the coupler fixing module 130 and the first direction (X-axis direction) as an axis. It may include a first adjusting unit 151 and a second adjusting unit 152 that rotates the holder 131 in the second direction as an axis.

Referring to FIG. 8 , the coupling fixing module 130 may be rotated in the first direction (X-axis direction) by rotation of the first adjusting unit 151 . At this time, since the opening and closing module 110 is connected to the coupler fixing module 130, when adjusting the angle of the coupler fixing module 130, the angle of the opening and closing module 110 may also be adjusted. Accordingly, the cap gripping part 111 and the coupler 120 may be inclined at a predetermined angle θ1 with respect to the vertical direction X1 .

Referring to FIG. 9 , the coupler fixing module 130 by the second adjusting unit 152 may rotate in the second direction (Y-axis direction) as an axis. Since the second adjusting part 152 rotates the third support part 153 in the second direction as an axis, the coupler fixing module 130 and the opening/closing module 110 connected to the third support part 153 simultaneously rotate in the second direction. can be rotated by Accordingly, the cap gripping part 111 and the coupler 120 may be inclined at a predetermined angle θ2 with respect to the vertical direction X1 .

According to this configuration, it can be rotated on the basis of the X and Y axes, so that it can be adjusted to have the same angle as the inclination angle of the lid 11.

Referring to FIG. 10 , the cap gripping part 111 is rotated on the basis of the X and Y axes by the first adjusting part 151 and the second adjusting part 152 to adjust the same as the inclination angle of the lid 11. Therefore, even when the lid 11 is tilted, the lid 11 can be accurately gripped.

At this time, the plurality of protrusions 112 may be manufactured to move in the radial direction by a cylinder or the like. According to this configuration, the plurality of protrusions 112 are advanced in the radial direction as much as possible to engage the lid in a state in which the diameter of the receiving groove is maximized, and then return to the original position, thereby effectively gripping the lid.

In a state in which the lid 11 is gripped, the cap gripping unit 111 rotates by the second rotation unit 114 to separate the lid 11 from the container 10 .

In the conventional structure, since the opening and closing module and the coupler fixing module are manufactured separately, there is a problem in that a configuration for adjusting the angle of the opening and closing module and a configuration for adjusting the angle of the coupler fixing module are required in order to adjust their angles.

However, according to the embodiment, since the opening/closing module 110 and the coupler fixing module 130 are integrally manufactured, the angles of the cap gripping part 111 and the coupler 120 can be adjusted at once with one angle adjusting module 150.

11A to 11C are views for explaining an embodiment in which the cap is gripped by rotating the cap gripper, and FIGS. 12A to 12D are views for explaining another embodiment in which the cap is gripped by rotating the cap gripper. am.

11A and 11B, the cap gripping part 111 is rotated to have the same angle as the inclination of the lid 11 by the angle adjusting module 150, and the elevating module 170 as shown in FIG. 11C The lid can be gripped by vertically descending. In this case, the angle adjustment module 150 may be disposed between the holder 131 of the coupler fixing module and the elevating module 170.

In this configuration, a configuration in which the cap gripping part 111 is vertically lowered or various structures for moving the cap gripping part 111 obliquely may be applied.

Illustratively referring to FIG. 12A , the angle adjustment module 150 may be disposed at the rear of the elevating and descending module 170 . That is, the angle adjustment module 150 may be disposed between the elevating and descending module 170 and the second transfer member ( 220 in FIG. 10 ).

Referring to FIG. 12B , the elevating module 170 may also be rotated together with the cap gripper 111 by the angle adjusting module 150 . Afterwards, as shown in FIG. 12C , the cap gripping part 111 may move horizontally so that the center of the lid 11 and the cap gripping part 111 may coincide. Thereafter, as shown in FIG. 12D , the cap gripping unit 111 is lowered by the elevating module 170 to grip the lid 11 . As described above, since the cap gripping part 111 and the elevating module 170 are rotated together by the angle adjusting module 150, the cap gripping part 111 descends obliquely to accurately grip the lid 11. .

13 is a view showing a state in which the cap gripper separates the lid from the container, FIG. 14 is a perspective view of the cap gripper, FIG. 15 is a perspective view of the cap gripper viewed from another direction, and FIG. 16 is a rotated cap gripper. It is a view showing a state, and FIG. 17 is a view of FIG. 16 viewed from another direction.

Referring to FIG. 13 , when the lid 11 is separated from the container 10 by the rotation of the cap gripper 111, the elevating module 170 may move the cap gripper 111 up and down. Accordingly, the cap gripping portion 111 may rise while gripping the lid 11 .

14 and 15, the protrusion 11a of the lid 11 is inserted into the slit 112a formed on the protrusion 112 of the cap gripping part 111, and the protrusion 11a is inserted into the latch part ( 111b). The latch portion 111b retracts when the protrusion 11a of the lid 11 is inserted into the groove, and then protrudes again by an elastic member (not shown) when the protrusion 11a is inserted into the protrusion 11a of the lid 11. ) can be fixed to the slit 112a.

Referring to FIGS. 16 and 17 , the cap gripping part 111 may depart from the lower part (first position) of the coupler 120 while holding the lid 11 . As described above, the driving module 140 may pivot the first support 113 of the opening/closing module 110 .

According to this configuration, the coupler 120 and the cap gripper 111 are arranged coaxially to realize an integrated body, while the nozzle 121 of the coupler 120 is moved to the outlet of the container 10 by the cap gripper 111. (12) can be prevented from being inserted.

However, the structure for separating the cap gripping part 111 from the first position is not necessarily limited thereto. The driving module 140 may move the first support part 113 to which the cap gripping part 111 is connected horizontally to separate it from the first position to the second position. The second position may be a position where the cap gripping part 111 does not overlap the coupler 120 in the vertical direction.

18A is a view showing a state in which the key codes of the coupler and the key codes of the outlet are aligned, FIG. 18B is a view showing the upper surface of the outlet, and FIG. 19 is a view showing a state in which the coupler is inserted into the outlet.

Referring to FIGS. 18A, 18B, and 19 , the first sensing unit 161 obtains a video image of the outlet 12 from which the cover 11 is removed, and a key code 125 is entered into the groove of the outlet 12. (12b) can be checked for alignment. If it is determined that the key code 125 and the groove 12b are not aligned, the key code 125 can be rotated by the first rotation unit 133 .

Illustratively, by rotating clockwise or counterclockwise based on the reference point R1 disposed on the upper surface of the outlet 12 on the video image of the outlet 12, one or more open grooves among the plurality of grooves 12b Keycode can be inserted. However, it is not necessarily limited thereto, and various methods of aligning the key codes using vision may be applied.

When it is determined that the key code 125 is aligned, the coupler 120 is lowered by the lifting and lowering module 170 and the nozzle 121 of the coupler 120 is inserted into the discharge hole 12a of the outlet 12 so as to lower the container. The liquid stored in (10) can be discharged to the storage tank. As a method of transferring the solution in the container 10 to the storage tank, various fluid transfer methods may be applied without limitation.

20 is a view showing a state in which the cap gripping part is returned to the initial position, FIG. 21 is a view showing a state in which the cap gripping part is rotated and the lid is coupled to the container, and FIG. 22 is a view showing the cap gripping part being raised to complete the work. It is a drawing showing a state.

Referring to FIG. 20 , when the discharge of the liquid in the container 10 is completed, the coupler 120 is raised by the elevating module 170, and the cap gripper 111 is moved by the driving module 140 to the coupler 120. ) can be returned to its original position.

Referring to FIG. 21 , the cap gripping unit 111 gripping the lid 11 by the elevating module 170 descends, and while the cap gripping unit 111 rotates by the second rotation unit 114, the lid 11 ) to the outlet again to complete the process.

Referring to FIG. 22 , the cap gripper 111 moves up and down again and the integrated coupling module 100 moves to the top of the next container 10 to perform the same operation.

Although the above has been described based on the embodiments, this is only an example and does not limit the present invention, and configurations of various embodiments described in the drawings may all be applied without limitation.

Those skilled in the art to which the present invention belongs will know that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present embodiment. For example, each component specifically shown in the embodiment can be modified and implemented. And differences related to these modifications and applications should be construed as being included in the scope of the present invention as defined in the appended claims.

10: Courage
11: lid
100: integrated coupling module
110: open/close module
111: cap gripping part
114: second rotating part
120: coupler
125: key code
130: coupler fixing module
133: first rotating part
140: driving module
150: angle adjustment module
151: first control unit
152: second control unit
170: lifting module

Claims (15)

an opening/closing module including a cap gripper for gripping the lid of the container; and
Including a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside,
The coupler is disposed higher than the cap gripper,
The cap gripping part is movable from a first position overlapping the coupler in a vertical direction to a second position not overlapping the coupler,
When the cap gripper moves to the second position, the coupler descends and is inserted into the outlet of the container.
delete According to claim 1,
An integrated coupling module including a driving module connected to the coupler fixing module and moving the opening/closing module from the first position to the second position.
According to claim 3,
The coupler fixing module,
a holder to which the coupler is fixed; and
A first rotation unit for rotating the coupler or the key code of the coupler,
The opening and closing module,
a first support portion supporting the cap gripping portion; and
A second rotation unit for rotating the cap gripping unit,
The driving module is an integrated coupling module that moves the first support to the second position.
According to claim 4,
The first rotation unit is disposed higher than the second rotation unit integrated coupling module.
an opening/closing module including a cap gripper for gripping the lid of the container; and
Including a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside,
Including an angle adjustment module for adjusting the inclination angle of the opening and closing module and the coupler fixing module,
The angle adjustment module,
a first adjusting unit configured to adjust an inclination angle between the cap gripper and the coupler by rotating the coupler fixing module in a first direction as an axis; and
and a second adjusting unit configured to adjust an inclination angle between the cap gripper and the coupler by rotating the coupler fixing module about a second direction intersecting the first direction as an axis.
According to claim 6,
The integrated coupling module wherein the cap gripping part and the coupler are adjusted to the same inclination angle by the first adjusting part and the second adjusting part.
According to claim 6,
Further comprising a lifting and lowering module for lifting and lowering the coupler fixing module,
The angle adjustment module is an integrated coupling module disposed between the coupler fixing module and the elevating module.
According to claim 8,
The angle adjustment module further includes a third support connecting the elevating and descending module and the coupler fixing module,
The second control unit is disposed between the lifting and lowering module and the third support unit,
The first adjusting unit is disposed between the third support unit and the coupler fixing module.
According to claim 9,
The third support unit includes one end connected to the elevating module, the other end connected to the coupler fixing module, and a bent part formed between the one end and the other end.
According to claim 8,
Includes a sensing module for sensing the position and tilt of the lid,
The sensing module,
a fourth support part connected to the lifting and lowering module;
a first sensing unit disposed on the fourth support unit to sense a position of the lid; and
An integrated coupling module including a second sensing unit disposed on the fourth support unit and sensing the inclination of the lid.
According to claim 1,
The cap gripping unit includes a plurality of slits into which protrusions of the lid are inserted, and a latch unit coupled to the protrusions inserted into the slits.
a pair of first transfer members facing each other in a first direction;
a pair of second transfer members facing each other in a direction crossing the first direction;
integrated coupling modules respectively disposed on the pair of second transfer members; and
A control unit for controlling the first transfer member, the second transfer member, and the integrated coupling module,
The integrated coupling module,
an opening/closing module including a cap gripper for gripping the lid of the container; and
And a coupler fixing module inserted into the outlet of the container to fix a coupler for discharging the liquid in the container to the outside,
The coupler is disposed higher than the cap gripper,
The cap gripping part is movable from a first position overlapping the coupler in a vertical direction to a second position not overlapping the coupler,
When the cap gripper moves to the second position, the coupler descends and is inserted into the outlet of the container.
separating the lid from the container by rotating the cap gripper at the first position;
separating the cap gripping part from the first position and aligning a coupler disposed above the cap gripping part with an outlet of the container;
discharging the liquid stored in the container by inserting the coupler into the outlet; and
Fastening the lid to the container by returning the cap gripper to the first position;
In the step of separating the lid, the coupler is disposed on top of the cap gripping part, and the cap gripping part and the coupler are arranged to overlap each other in a vertical direction.
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