KR102598307B1 - Coupler with Integrated Dip Tube and Coupling System for Drum Container Including the Same - Google Patents

Abstract

The present invention relates to a coupler that is detachably coupled to the inlet of a drum container to supply chemicals inside a drum container to a place where it is needed or to inject chemicals into the drum container. A chemical flow path is formed therein, and the chemical flow path is There is a coupler head to which the chemical pipe is connected; And a dip tube that is coupled to communicate with the chemical flow path of the coupler head and is inserted into the drum container when the coupler is coupled to the inlet of the drum container, including a dip tube that is draped, so that the coupler head and the dip tube are both attachable and detachable to the inlet of the drum container. are combined together. According to the present invention, after use of the coupler, the coupler including the dip tube can be easily cleaned by separating the coupler including the dip tube from the inlet of the drum container.

Description

Dip tube integrated coupler and coupling system for drum container including the same {Coupler with Integrated Dip Tube and Coupling System for Drum Container Including the Same}

The present invention relates to equipment for transporting chemicals from a place of use or supply of chemicals, such as a semiconductor factory or a chemical factory. More specifically, the present invention relates to equipment for supplying chemicals supplied in drum containers to the place of use or injecting chemicals into drum containers from the place of supply. It relates to a coupler coupled to a drum container and a coupling system for a drum container including the same.

Semiconductor factories and chemical factories use or supply various types of chemicals in large quantities. Here, chemicals include liquids such as pure water or various acidic, alkaline, or neutral solutions, as well as those in an emulsion or paste state, such as a slurry where powder is mixed with a liquid.

These chemicals are usually placed in containers such as tanks or drums and transported by tankers or trucks. Therefore, in order to inject chemicals into such a container or supply the chemicals contained in the container to the point of use, a connecting part called a coupler is coupled to the inlet of the container, and the chemical is injected into the container through the coupler or the chemical inside the container is sucked in. do. To enable chemical transfer using this coupler, the container (drum container) and coupler are generally configured as follows.

First, an inlet where a cap (stopper) is mounted is provided on the flat upper surface of the drum container, and a dip tube is built inside the drum container. One end of this dip tube communicates with the inlet and the other end extends near the inner bottom of the drum container. Accordingly, the chemical is filled or sucked in from the bottom of the drum container through the dip tube and discharged. In addition, at the inlet, there is a gas passage for discharging air inside the drum container or blowing inert gas such as compressed air or nitrogen into the drum container to facilitate injection or suction of chemicals, separate from the dip tube. It is available in euros.

The coupler is a connecting part that is detachably coupled to an inlet whose cap is separated and opened. Inside, one end is formed into a separate chemical flow path and a gas flow path that communicate with the dip tube and gas passage of the drum container, respectively. In addition, chemical piping and gas piping are connected to the other ends of the chemical flow path and gas flow path of the coupler, respectively, and these chemical piping and gas piping are fluidly connected to a chemical tank and exhaust pipe or compressed gas supply source provided at the chemical supply or use site, respectively. .

On the other hand, among chemicals, there are those that precipitate or harden over time or change in temperature, such as slurries for chemical mechanical polishing (CMP). If chemicals settle or harden in this way, not only will they not be transported smoothly, but in severe cases, the chemical flow path of the dip tube or coupler may be blocked. In this case, the coupler can be removed and cleaned immediately after use to prevent blockage of the chemical channel, but the dip tube built into the drum container cannot be easily removed and cleaned.

The present invention was created in consideration of the above technical background, and its purpose is to provide a coupler that can easily clean the coupler, including the dip tube, after use of the coupler.

Another object of the present invention is to provide a coupling system for a drum container including a coupler cleaning unit capable of cleaning the coupler.

The coupler according to one aspect of the present invention for achieving the above object is detachably coupled to the inlet of the drum container to supply chemicals inside the drum container to a place where they are needed or to inject chemicals into the drum container. As a coupler, a coupler head having a chemical flow path formed therein and a chemical pipe connected to the chemical flow path; and a dip tube that is coupled to communicate with the chemical flow path of the coupler head and is inserted and draped into the drum container when the coupler is coupled to the inlet of the drum container, wherein the coupler head and the dip tube are together. It is detachably coupled to the inlet of the drum container.

In addition, the coupler is formed in the form of a hollow pillar penetrating upward and downward, and further includes a coupler socket screwed to the inlet of the drum container, and the coupler head is coupled to the hollow of the coupler socket to interpose the coupler socket. Thus, it can be coupled to the inlet of the drum container.

In this case, the dip tube may be directly coupled to the chemical flow path of the coupler head, or may be coupled to the coupler socket so as to communicate with the chemical flow path.

In addition, in this case, at least two engaging protrusions are protruding from the lower outer peripheral surface of the coupler head, and a coupling groove is formed on the inner peripheral surface of the hollow of the coupler socket into which the engaging protrusions are inserted and can be rotated by a predetermined angle, The coupler socket is screwed into the inlet of the drum container, then the coupler head is connected to the coupler socket by inserting the engaging protrusion of the coupler head into the engaging groove of the coupler socket and rotating the coupler head by the predetermined angle. It can be configured to combine.

Alternatively, the coupler head is rotatably coupled to the hollow inner peripheral surface of the coupler socket relative to the coupler socket, so that only the coupler socket is rotated while the coupler head is coupled to the coupler socket, thereby rotating the coupler socket to the entrance of the drum container. The coupler may be configured to be coupled to.

In addition, a gas flow path is further formed inside the coupler head, which is separate from the chemical flow path and communicates with the inside of the drum container when the coupler is coupled to the inlet of the drum container, so that the chemical inside the drum container It may be configured to allow gas to enter and exit the drum container when supplying it to a place where it is needed or injecting chemicals into the drum container.

In addition, a chemical circulation flow path is further formed inside the coupler head, which is separate from the chemical flow path and communicates with the inside of the drum container when the coupler is coupled to the inlet of the drum container, so that the chemical circulation flow path is formed through the chemical flow path. Chemicals discharged to the outside of the drum container may be configured to circulate inside the drum container through the chemical circulation passage.

A coupling system for a drum container according to another aspect of the present invention includes any of the above-described couplers; and a coupler cleaning unit for cleaning the coupler, wherein the coupler cleaning unit has a space for accommodating the dip tube of the coupler, and holds the coupler head at the top so that the dip tube is draped into the space. A cleaning chamber having a coupler holder and a drain at the bottom; and a nozzle provided inside the cleaning chamber to spray cleaning water toward the dip tube accommodated in the space.

Here, the coupler cleaning unit may supply cleaning water to the chemical flow path through the chemical pipe when cleaning the coupler.

In addition, a mounting socket having the same structure as the coupler socket is coupled to the coupler holder, and when cleaning the coupler, the coupler head and the dip tube excluding the coupler socket are coupled to the mounting socket. As a result, it can be mounted on the coupler holder.

Alternatively, the coupler holder may have the same structure as the inlet of the drum container, and when cleaning the coupler, the coupler may be mounted on the coupler holder by coupling the coupler socket to the coupler holder.

According to the coupler of the present invention, a dip tube is coupled to the coupler, so after use of the coupler, the coupler including the dip tube can be easily cleaned by separating the coupler including the dip tube from the inlet of the drum container.

Additionally, according to the coupling system for a drum container of the present invention, by providing a coupler cleaning unit, the coupler can be cleaned when stored after use.

Therefore, it is possible to prevent chemicals from sticking to the coupler.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the invention described later, so the present invention includes the matters described in such drawings. It should not be interpreted as limited to only .
1 is a perspective view of an automatic coupling system for a drum container according to one embodiment of the present invention.
FIG. 2 is a perspective view of the system shown in FIG. 1 with the housing panel and door removed.
FIG. 3 is a perspective view showing a multi-axis robot in a state in which a coupler is held in the system shown in FIG. 1 according to an embodiment.
Figure 4 is an exploded perspective view (a) and cross-sectional view (b) of the coupler shown in Figure 3.
Figure 5 is a perspective view showing the process of removing the cap of a drum container and coupling the coupler shown in Figure 4 to the inlet of the drum container.
Figure 6 is an exploded perspective view (a) and cross-sectional view (b) of a coupler according to another embodiment.
FIG. 7 is a perspective view showing a portion of the multi-axis robot in a state in which the coupler shown in FIG. 6 is held.
Figure 8 is a perspective view showing a piping support unit in the system shown in Figure 1.
Figure 9 is an upward perspective view showing a state in which the multi-axis robot is removed from the system shown in Figure 1.
FIG. 10 is a front cut-away perspective view showing a coupler storage unit with a cleaning function in the system shown in FIG. 1.
FIG. 11 is a perspective view showing a balance receiver in the system shown in FIG. 1.
FIG. 12 is a perspective view showing a drum mount, a drum guide unit, a drum rotation unit, and a drum alignment unit in the system shown in FIG. 1.
FIG. 13 is a perspective view illustrating a state in which the door is opened in the system shown in FIG. 1.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, the terms or words used in this specification and claims should not be construed as limited to their usual or dictionary meanings, and the inventor should appropriately use the concept of terms to explain his or her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle of definability. Accordingly, the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, so at the time of filing this application, various alternatives are available to replace them. It should be understood that equivalents and variations may exist.

The terms 'coupling', 'attachment/detachment', 'fastening', 'installation', 'fixing', or 'connection' used in this specification mean that one member and another member are directly coupled, detached, fastened, mounted, fixed, or It includes not only cases of connection, but also cases where one member is indirectly coupled, detached, fastened, mounted, fixed, or connected to another member through an intermediate member.

Additionally, in this specification, terms indicating direction such as up, down, left, right, front, back, vertical, horizontal, etc. are used, but these directions may vary depending on the direction in which the object is placed and the direction of observation. However, in this specification, the direction is set and explained based on the state shown in FIG. 1, that is, the tank lorry 10 is normally parked on the non-sloping ground E.

1 and 2 show the overall configuration of an automatic coupling system for drum containers (hereinafter, simply referred to as 'system') according to an embodiment of the present invention.

1 and 2, in the system according to this embodiment, the main components are disposed within a housing 20. The housing 20 is made in the form of a booth having a substantially cubic shape and may include a frame 21 and a housing panel 23.

A door 27 that opens when the drum container 10 is entered or exited may be installed on the front of the housing 20. This door 27 will be described in detail later.

Additionally, an operation panel 29 may be installed on one front side of the housing 20. The operation panel 29 may be equipped with various switches (buttons) for operating the system, a display or speaker that reports the status of the system or emergency situations, and a control unit that controls the overall system.

The system according to this embodiment is for transporting chemicals, that is, supplying chemicals inside the drum container 10 to a place where they are needed, such as a process line, or injecting chemicals into the drum container 10. A multi-axis robot 30 is provided as a component for detachably coupling the coupler 40 to the inlet 11.

Referring to Figures 2 and 3, the multi-axis robot 30 has a plurality of arms 31, one end of which is fixed on a table 25, which is one part of the system, and rotatable about a plurality of rotation axes R1 to R6. They are connected to each other, and a gripper 33 for gripping the coupler 40 is mounted on the other end. For example, the multi-axis robot 30 may be composed of a 6-axis robot with six rotation axes (R1 to R6), and includes a coupler 40 held by the gripper 33 within the range of motion of the plurality of arms 31. It can be moved to any location and direction. In addition, the operations of the multi-axis robot 30 and the gripper 33 are defined in a predetermined sequence and stored in advance in the control unit or memory, so that the attachment and detachment operation of the coupler 30 to the inlet 11 of the drum container 10 is performed electronically. It can be assimilated.

The gripper 33 includes at least one pair of fingers 33a, and can grip or release the coupler 40 by closing or opening the pair of fingers 33a. Additionally, the gripper 33 may grip the cap 15 (see FIG. 5) fastened to the inlet 11 of the drum container 10. In addition, the gripper 33 can rotate around a rotation axis R6 that coincides with the longitudinal central axis, so that the gripped coupler 40 or cap 15 is placed at the inlet 11 of the drum container 10. It is removable. Details of the gripping of the coupler 40 and the cap 15 by the multi-axis robot 30 and the gripper 33 and the attachment and detachment operation to the inlet 11 of the drum container 10 will be described later.

The coupler 40 according to an embodiment of the present invention is a connecting part coupled to the inlet 11 of the drum container 10 for chemical transfer. Referring to FIG. 4 showing an exploded perspective view and cross-sectional view, the coupler It includes a head 41 and a dip tube 43, and may optionally further include a coupler socket 45.

The coupler head 41 is a part that forms the body of the coupler 40, and has a chemical flow path 41a formed therein, and optionally a gas flow path 41b and/or a chemical circulation flow path 41c may be further formed. You can.

The chemical flow path 41a is a flow path through which chemicals transported through the coupler 40 pass, and at one end is a dip tube 43 detachably coupled, for example, by screwing, and at the other end is a chemical pipe 42a (Figure 2). (not shown in the remaining drawings) are connected via appropriate fittings. The chemical pipe 42a is fluidly connected to a chemical tank provided at a chemical supply or use location.

The gas flow path 41b is a flow path for discharging air inside the drum container 10 or blowing inert gas such as compressed air or nitrogen into the drum container to facilitate chemical transfer (injection or discharge). One end of the gas flow path 41b is in communication with the inside of the drum container when the coupler 40 is coupled to the inlet 11 of the drum container 10, and the other end is a gas pipe 42b, see Figure 2. Shown in the remaining drawings. omitted) are connected through appropriate fittings. The gas pipe 42b is fluidly connected to an exhaust pipe or compressed gas supply source provided at a chemical supply or use location.

In addition, the chemical circulation flow path (41c) is a chemical flow path (41a) to prevent the chemical from settling or hardening and sticking to the inside and outside of the coupler (40) when the chemical is temporarily unacceptable at the place where the chemical is used. ) is a flow path that circulates the chemicals that are sucked in and discharged to the outside of the drum container (10) back into the drum container (10). One end of the chemical circulation flow path 41c is in communication with the inside of the drum container when the coupler 40 is coupled to the inlet 11 of the drum container 10, and the other end is a circulation pipe 42c, see Figure 2. In the remaining drawings, (not shown) are connected via appropriate fittings. The circulation pipe 42c is fluidly connected to a circulation pump provided in the system or at the supply or use site of the chemical.

Meanwhile, on the outer peripheral surface of the coupler 40 (coupler head 41), protrusions 41e or grooves are formed in a unique pattern depending on the type of chemical filled or to be filled in the drum container 10, and the gripper 33 ) (Finger 33a) may have grooves 33e (see FIG. 5) or grooves formed on the inner peripheral surface of the coupler 40 in a pattern corresponding to the protrusions 41e or grooves formed on the outer peripheral surface of the coupler 40. The protrusion 41e or groove formed on the coupler 40 and the groove 33e or protrusion formed on the gripper 33 are aligned with each other when the gripper 33 grips the coupler 40 to prevent wrong chemicals from being transferred. It can function as a kind of key code.

The dip tube 43 is inserted into the drum container when the coupler 40 is coupled to the inlet 11 of the drum container 10 and is draped so that its lower end extends near the inner bottom of the drum container 10. By this dip tube 43, chemicals injected into or discharged from the drum container 10 can be charged or discharged from near the bottom of the drum container 10.

As such, in the embodiment of the present invention, the dip tube 43 is configured to be attached to and detached from the inlet 11 of the drum container 10 together with the coupler head 41. According to this configuration, after use of the coupler 40, the coupler 40 including the dip tube 43 can be separated from the drum container 10 and the coupler head 41 and the dip tube 43 can be cleaned. This is very effective in preventing blockage of the dip tube 43 and the coupler head 41 in the case of chemicals that precipitate or harden over time or change in temperature, such as slurry for chemical mechanical polishing (CMP). useful. Cleaning of the coupler head 41 and dip tube 43 will be described in detail later.

The coupler socket 45 is a part interposed between the coupler head 41 and the drum container inlet 11. As shown in FIG. 4, the coupler socket 45 is formed in the form of a hollow pillar penetrating upward and downward, and the upper part is square (Yegeondae). It has a hexagonal outer peripheral surface, the lower outer peripheral surface is circular, and a screw thread 45a is formed so that it can be screwed to the inlet 11 of the drum container 10. In addition, the dip tube 43 penetrates the hollow and the coupler head 41 is coupled thereto.

Specifically, in the coupler 40 according to this embodiment, at least two engaging protrusions 41d are formed protruding on the lower outer peripheral surface of the coupler head 41, and the coupler head 41 is formed on the hollow inner peripheral surface of the coupler socket 45. ) of the coupling protrusion (41d) is inserted to form a coupling groove (45d) that can be rotated by a predetermined angle, so that the coupling protrusion (41d) of the coupler head 41 is inserted into the coupling groove (45d) of the coupler socket 45. By rotating the coupler head 41 by a predetermined angle, the coupler head 41 can be coupled to the coupler socket 45.

Here, the predetermined angle is, for example, about 45 degrees, which is not a very large angle. This is because, as described above, the chemical pipe 42a, the gas pipe 42b, and/or the circulation pipe 42c are connected to the coupler head 41, so even if these pipes are flexible, the coupler head 41 may be excessively ( This is because if you rotate it (for example, more than one turn), the pipe may become twisted or bent.

Next, referring to FIG. 5, the cap 15 fastened to the inlet 11 of the drum container 10 is separated and the coupler 40 shown in FIG. 4 is coupled to the inlet 11 of the drum container 10. Explain the process.

First, an inlet 11 for chemical entry and exit is provided on the upper surface of the drum container 10, and a cap 15 (stopper) is fastened to this inlet 11. In this embodiment, corresponding screw threads are formed on the inner peripheral surface of the inlet 11 and the outer peripheral surface of the cap 15, so that the cap 15 is screwed to the inner peripheral surface of the inlet 11. Additionally, a gripping groove may be formed on the upper surface of the cap 15 so that the gripper 33 of the multi-axis robot 30 can grip it.

Meanwhile, on the upper surface of the drum container 10, a unique code ( 13) may be printed or attached. In this case, the system may be provided with a code reader (not shown) to recognize the unique code 13, or a vision unit 39 (see FIG. 3), which will be described later, may serve as a code reader.

As described above, the gripper 33 grips the cap 15 using a pair of fingers 33a and can rotate around the rotation axis R6, allowing the gripped cap 15 to enter the inlet 11. It can be put on and taken off. Specifically, as shown in FIG. 3, finger tips 33b are formed at the ends of the pair of fingers 33a, which can be inserted into the gripping groove of the cap 15. Therefore, as shown in (a) of FIG. 5, the longitudinal central axis of the gripper 33 (rotation axis (R6) of the multi-axis robot 30) and the central axis of the cap 15 are aligned with each other so that the finger tip The cap 15 can be gripped by inserting (33b) into the gripping groove of the cap 15 and slightly retracting or opening the pair of fingers 33a. Next, the cap 15 can be separated from the inlet 11 by rotating the gripper 33 around the rotation axis R6 in the direction in which the screw coupling of the cap 15 is loosened (see arrow a). At this time, as the cap 15 is released and gradually rises in a direction away from the upper surface of the drum container 10, the multi-axis robot 30 is controlled accordingly so that the gripper 33 also rises at the same speed. When the cap 15 is completely separated from the inlet 11, the multi-axis robot 30 moves to a predetermined location (for example, a balance receiver 70 (see FIG. 2), which will be described later) and places the cap 15 thereon.

Next, the coupler socket 45 placed at a predetermined location (for example, the balance receiver 70) is grasped, and the cap 15 is separated and coupled to the opened inlet 11. Specifically, as shown in (b) of FIG. 5, the longitudinal central axis of the gripper 33 (rotation axis (R6) of the multi-axis robot 30) and the central axis of the coupler socket 45 are aligned with each other. The upper part of the coupler socket 45 having a square outer peripheral surface is wrapped around a pair of fingers 33a, and the coupler socket 45 is gripped by slightly retracting the pair of fingers 33a. Next, move over the inlet 11 of the drum container 10 and insert the lower part of the coupler socket 45 with the thread 45a into the inlet 11, and attach the gripper 33 to the coupler around the rotation axis R6. The coupler socket 45 can be coupled to the inlet 11 by rotating the socket 45 in the direction in which it is screwed (see arrow a). At this time, the coupler socket 45 is coupled to the inlet 11 and gradually descends toward the inside of the drum container 10, so the multi-axis robot 30 is controlled accordingly so that the gripper 33 also descends at the same speed.

Next, the coupler head 41 stored in a predetermined location (a coupler storage unit 60 (see FIGS. 2 and 9) to be described later) is grasped and coupled to the coupler socket 45 previously coupled to the inlet 11. Specifically, as shown in (c) of FIG. 5, the longitudinal central axis of the gripper 33 (rotation axis R6 of the multi-axis robot 30) and the longitudinal central axis of the coupler 40 (dip tube ( The outer peripheral surface of the coupler head 41 is wrapped with a pair of fingers 33a so that the central axes of 43) are perpendicular to each other, and the dip tube 43 is coupled by slightly retracting the pair of fingers 33a. Hold the coupler head 41. Next, move over the coupler socket 45 coupled to the inlet 11 of the drum container 10 and lower it by penetrating the dip tube 43 through the hollow of the coupler socket 45. Then, the coupling protrusion 41d of the coupler head 41 is inserted into the coupling groove 45d of the coupler socket 45 and rotated by a predetermined angle around the longitudinal central axis of the coupler 40 (see arrow b). The coupler head 41 is coupled to the coupler socket 45. At this time, rotation of the coupler head 41 at a predetermined angle does not rotate the gripper 33 around the rotation axis R6, but rather rotates the gripper 33 around the rotation axis R6. It can be performed using some of the plurality of arms 31. For example, when the two rotation axes (R1, R5) of the multi-axis robot 30 are rotated in opposite directions, the plane formed by the pair of fingers 33a is horizontal. The coupler head 41 is rotated around the longitudinal central axis of the coupler 40 while maintaining .

In this way, the gripper 33 is held from the side of the coupler head 41 in the horizontal direction and rotated at a predetermined angle in the horizontal direction to couple the coupler head 41 to the coupler socket 45, thereby forming the multi-axis robot 30. The system can be miniaturized by drastically reducing its size. That is, in this embodiment, the coupler 40 includes a long dip tube 43, and the coupler 40 (coupler head 41) is vertically connected from above, such as the cap 15 or the coupler socket 45. In order to grip in this direction and insert the lower end of the dip tube (43) into the inlet (11) of the drum container (10), the arm (31) of the multi-axis robot (30) must be quite long, and the size including the height of the system (housing) must be considerably long accordingly. Although it must be massive, if the coupler head 41 is held from the side as above, the arm 31 can be shortened and the system can also be miniaturized.

Meanwhile, the system may further include a vision unit 39 that captures an image of the upper surface of the drum container 10. The vision unit 39 is equipped with an imaging means such as a CCD camera, and processes the image captured by the imaging means to calculate the exact position and angle of the cap 15 and the entrance 11, thereby producing a multi-axis robot 30. ) can be used to control the position and posture. In particular, the drum container 10 may be deformed depending on the external environment such as internal pressure or temperature, and long-term use, and as a result, the upper surface of the drum container 10 may not be horizontal, causing the cap 15 or the inlet 11 to be damaged. may be inclined. In this case, the vision unit 39 calculates the exact position and inclination of the cap 15 or the inlet 11, and finely controls the position or gripping angle of the gripper 33 to control the cap 15 or the coupler 40. ) can be attached and detached smoothly. In addition, the vision unit 39 may also serve as a code reader that reads the above-described unique code 13 printed or attached to the upper surface of the drum container 10.

When the coupler 40 is coupled to the inlet 11 of the drum container 10 as described above, the system inhales and discharges the chemicals in the drum container 10 through the coupler 40 and supplies them to the place of use or, conversely, inhales and discharges the chemicals from the drum container 10. Chemical transfer work can be performed by injecting and charging chemicals into (10).

When the chemical transfer operation is completed, the coupler 40 coupled to the inlet 11 of the drum container 10 is separated and the cap 15 is coupled to the inlet 11. Since the separation of the coupler 40 and the assembly of the cap 15 can be performed in the reverse order of the operations of separating the cap 15 and the assembly of the coupler 40 described with reference to FIG. 5, detailed descriptions will be omitted.

Meanwhile, in this embodiment, the inlet 11 of the drum container 10 is made of female threads, and the cap 15 and the coupler socket 45 are made of male threads, so that the outer peripheral surface of the cap 15 and the coupler socket 45 is the inlet ( Although it is shown and explained as being screwed to the inner peripheral surface of 11), their male-female coupling relationship may be reversed.

Furthermore, in this embodiment, the coupler socket 45 is shown and described as being attached to and detached from the inlet 11 of the drum container 10 each time chemicals are transferred, but the coupler socket 45 is attached to the inlet 11 of the drum container 10. It may be fixedly coupled to (11). In this case, when coupling the coupler 40 to the inlet 11 of the drum container 10 for chemical transfer, remove the cap 15 from the inlet 11 of the drum container 10 (see Figure 5). (a)), the operation of coupling the coupler head 41 to the coupler socket 45 coupled to the inlet 11 (see (c) of FIG. 5) is sufficient.

Figure 6 is an exploded perspective view (a) and cross-sectional view (b) of the coupler 40' according to another embodiment of the present invention, and Figure 7 is a multi-axis robot in a state holding the coupler 40' shown in Figure 6 ( This is a perspective view showing part of 30).

With reference to FIGS. 6 and 7 , a coupler 40' and a gripper 33' according to another embodiment will be described. In FIGS. 6 and 7, the same reference numerals as those in FIGS. 3 to 5 indicate the same configuration as the coupler 40 and the gripper 33 according to the above-described embodiment, so detailed description thereof is omitted, and hereinafter, the above-described embodiment The explanation will focus on the differences. Meanwhile, although the vision unit 39 (see FIG. 3) is omitted in FIG. 7, a similar vision unit may be provided in the system (gripper 33') of this embodiment.

The coupler 40' of this embodiment, like the coupler 40 of the above-described embodiment, includes a coupler head 41', a dip tube 43', and a coupler socket 45'. The coupler head 41', dip tube 43', and coupler socket 45' of this embodiment are similar to the coupler head 41, dip tube 43, and coupler socket 45 of the above-described embodiment, but these The bonding relationship between them is different.

Specifically, first, the coupler head 41' is rotatably coupled to the coupler socket 45' in the hollow of the coupler socket 45'. For this purpose, a plurality of ball plungers 41p are provided on the lower outer peripheral surface of the coupler head 41', and a concave groove 45p is provided on the hollow inner peripheral surface of the coupler socket 45' at a position corresponding to the ball plunger 41p. Provided, when the coupler head 41' is inserted into the hollow of the coupler socket 45', the ball plunger 41p is seated in the concave groove 45p, and the coupler head 41' and the coupler socket 45' rotate relative to each other. It becomes possible. Here, the arrangement of the ball plunger 41p and the concave groove 45p can be changed. That is, a ball plunger may be disposed on the hollow inner peripheral surface of the coupler socket 45', and a concave groove may be formed on the lower outer peripheral surface of the coupler head 41'.

In addition, in the above-described embodiment, the upper part of the coupler socket 45 had a square outer peripheral surface, but in this embodiment, the upper outer peripheral surface of the coupler socket 45' is circular, and the coupler socket 45' is formed on this outer peripheral surface. A gear 45t is formed to rotate relative to the coupler head 41'.

In addition, in the above-described embodiment, the dip tube 43 is detachably coupled to the coupler head 41, for example, by screwing, so as to communicate with the chemical flow path 41a, but in the present embodiment, the dip tube 43' is It is integrally molded into the coupler socket 45' so as to communicate with the chemical flow path 41a of the coupler head 41'. Of course, in this embodiment, the dip tube 43' may be detachably coupled to the coupler socket 45', and further may be coupled to the coupler head 41' as in the above-described embodiment.

Meanwhile, referring to FIG. 7, the gripper 33' of the present embodiment further has a configuration capable of rotating the coupler socket 45' compared to the gripper 33 in the above-described embodiment. Specifically, in the lower part of the gripper 33' of this embodiment, when the coupler 40' (coupler head 41') is gripped by a pair of fingers 33a, a groove is formed on the upper outer peripheral surface of the coupler socket 45'. A gear 33t that meshes with the gear 45t is provided, and a motor that rotates the gear 33t is built into the gripper 33'. Therefore, while gripping the coupler head 41' to which the coupler socket 45' is coupled with the gripper 33', the coupler 40' is moved to the inlet of the drum container 10 by rotating only the coupler socket 45'. It can be combined with (11). That is, according to this embodiment, the cap 15 fastened to the inlet 11 of the drum container 10 is separated with the gripper 33' (see (a) of FIG. 5), and the coupler socket 45' is connected. , the coupler 40' can be coupled to the inlet 11 of the drum container 10 at once while the dip tube 43' and the coupler head 41' are combined.

In this embodiment, a flexible chemical pipe (42a), a gas pipe (42b), and/or a circulation pipe (42c) are connected to the coupler heads (41, 41'), and these pipes (42a, 42b, 42c) are connected to the coupler head (41, 41'). When (40, 40') is attached to or detached from the inlet (11) of the drum container (10), it moves together with the coupler head (41, 41'). In particular, when the couplers (40, 40') include dip tubes (43, 43'), the vertical movement range of the pipes (42a, 42b, 42c) is longer than the length of the dip tubes (43, 43'). . Accordingly, the system of the present embodiment further includes a pipe support unit 50 (see FIGS. 2 and 8) that slides while supporting the pipes 42a, 42b, and 42c moving by the movement of the couplers 40 and 40'. can do.

As shown in FIG. 8, the pipe support unit 50 includes a guide rail 53 fixed inside the housing 20 and a pipe ( It may include a sliding block 51 that supports 42a, 42b, 42c) and slides up and down along the guide rail 53. The sliding block 51 may be configured to slide up and down by following the vertical movement of the couplers 40, 40' without separate power, and may be configured to slide up and down without separate power (e.g., linear motor, motor, rack and pinion gear, or air). It may be driven by a cylinder, etc.) and configured to automatically slide in conjunction with the height of the coupler (40, 40').

Additionally, the pipe support unit 50 may further include a pipe support member 52 coupled to the sliding block 51 . Plumbing holes 52a, 52b, and 52c are formed in the pipe support member 52, so that the respective pipes 42a, 42b, and 42c can be inserted. At this time, the inner diameter of the plumbers 52a, 52b, 52c is larger than the outer diameter of the pipes 42a, 42b, 42c so that the pipes 42a, 42b, 42c inserted into the plumbers 52a, 52b, 52c can move to some extent. It is desirable to form it slightly larger. In addition, it is preferable that the pipe support member 52 is rotatable 360 degrees on the plane formed by the surface of the sliding block 51 (see arrow r in FIG. 8).

By providing such a pipe support unit 50, it is possible to prevent problems such as the pipes 42a, 42b, and 42c being bent or twisted when the couplers 40 and 40' are attached and detached.

Additionally, in the system according to the present embodiment, the couplers 40 and 40' separated from the inlet 11 of the drum container 10, as described above, can be stored by mounting them on the coupler storage unit 60 (see FIG. 9). there is. In particular, when the couplers 40, 40' include dip tubes 43, 43', the coupler storage unit 60 can store the couplers 40, 40' including the dip tubes 43, 43'. Furthermore, the coupler storage unit 60 may be provided with a cleaning function that cleans the couplers 40 and 40' by spraying cleaning water. That is, the coupler storage unit 60 can also serve as a coupler cleaning unit.

Referring to FIG. 10 , which is a front cutaway perspective view, the coupler storage unit and coupler cleaning unit 60 may include a cleaning chamber 61 and a nozzle 63a. Specifically, the cleaning chamber 61 has an internal space for accommodating the dip tubes 43 and 43' of the couplers 40 and 40', and the dip tubes 43 and 43' at the top are draped into the internal space. A coupler holder is formed to hold the coupler heads 41 and 41', and a drain hole 67 is formed at the bottom. A plurality of nozzles 63a are formed on the side opposite to the outer surface of the dip tubes 43 and 43' of the washing water supply pipe 63 hanging in the inner space in parallel with the dip tubes 43 and 43'.

Therefore, when washing water, such as pure water, is supplied to the washing water supply pipe 63, the washing water is sprayed toward the dip tubes 43 and 43' through the nozzle 63a to clean the outer surface of the dip tubes 43 and 43'. You can. In addition, at this time, washing water is supplied to the chemical flow path (41a, see Figures 4 and 6) of the coupler head (41, 41') mounted on the coupler holder through the chemical pipe (42a, see Figure 2) to create a chemical flow path ( The inner surfaces of 41a) and the dip tubes 43 and 43' connected thereto can also be cleaned at the same time. Furthermore, when the coupler heads 41 and 41' have a chemical circulation passage 41c, the chemical circulation passage 41c can be cleaned at the same time by supplying cleaning water through the circulation pipe 42c. In addition, when cleaning of the couplers 40, 40' is completed, drying is performed using the cleaning water supply pipe 63, the chemical pipe 42a and/or the circulation pipe 42c, or the gas pipe 42b that supplied the washing water. The couplers 40 and 40' can be dried by supplying air or dry nitrogen.

Meanwhile, mounting/dismounting the couplers (40, 40') on the coupler holder is the same as attaching/detaching the couplers (40, 40') to the inlet (11) of the drum container (10) using the multi-axis robot (30). It can be performed as:

Specifically, when the coupler is the coupler 40 of the embodiment described with reference to FIGS. 3 and 4, a mounting socket 65 having the same structure as the coupler socket 45 described above is coupled to the coupler holder, The multi-axis robot 30 (gripper 33) grips the coupler head 41 to which the dip tube 43 is coupled in the same manner as described with reference to (c) of FIG. 5, except for the coupler socket 45. By coupling it to the mounting socket 65, the coupler head 41 to which the dip tube 43 is coupled can be mounted on the coupler holder.

In addition, when the coupler is the coupler 40' of the embodiment described with reference to FIGS. 6 and 7, the coupler holder has the same structure as the inlet 11 of the drum container 10, and the multi-axis robot 30 (Gripper 33') grips the coupler head 41' to which the coupler socket 45' and the dip tube 43' are combined in the same manner as described with reference to FIG. 7 and grips the coupler socket 45'. By rotating the bay and coupling it to the coupler holder, the coupler head 41', in which the coupler socket 45' and the dip tube 43' are combined, can be mounted on the coupler holder.

As such, the system according to this embodiment can prevent chemicals from sticking to the inside and outside of the couplers (40, 40') by cleaning the couplers (40, 40') by providing a coupler storage and cleaning unit (60).

Meanwhile, the system according to this embodiment may further include an extra coupler storage unit (coupler cleaning unit) 60' (see FIG. 2). This extra coupler storage unit 60' can replace the original coupler storage unit 60 during maintenance such as cleaning of the original coupler storage unit 60. Alternatively, as described above, when the couplers 40 and 40' are used separately according to the type of chemical filled or to be filled in the drum container 10, the extra coupler storage unit 60' is stored according to the type of chemical. Accordingly, other couplers 40 and 40' may be stored and/or cleaned. In this case, although not shown in Figure 2, other corresponding couplers (40, 40') are stored in the spare coupler storage unit (60'), and the above-described pipes (42a, 42b) for each coupler (40, 40') , 42c) is connected and fluidly connected to a place of use or supply of other chemicals, and a piping support unit 50 may be added to each coupler (40, 40'). In this case, multiple types of chemical transfer tasks can be performed with one system (one multi-axis robot).

In the system of this embodiment, after the transfer of chemicals is completed, the couplers (40, 40') are separated from the inlet (11) of the drum container (10) and moved to the coupler storage unit (60). ) (Chemicals may fall from the dip tubes 43, 43') and contaminate the inside of the housing 20. Accordingly, the system of this embodiment may further include a balance receiver 70 (see FIG. 2) that receives the chemical balance falling from the dip tubes 43 and 43'.

Referring to FIGS. 2 and 9, the balance receiver 70 is located on the movement path of the couplers 40 and 40' between the inlet 11 of the drum container 10 and the coupler storage unit 60. ) is separated from the inlet 11 and is placed at a height between the bottom of the maximally raised dip tubes 43 and 43' and the top of the drum container 10.

Specifically, referring to FIGS. 9 and 11, the balance receiver 70 is made of a tray with a planar shape of approximately 'ㄴ' shape, and is moved horizontally by a drum in the horizontal direction by a forward and backward driving means 75 such as an air cylinder. It is configured to be able to advance and retreat toward the container 10 (see arrow c in FIG. 11). Therefore, the multi-axis robot 30 separates the couplers 40 and 40' from the inlet 11 of the drum container 10 and raises them, and then moves the balance receiver 70 to the drum container 10 using the forward and backward driving means 75. ) When advanced upward, the balance receiver 70 covers the inlet 11 of the drum container 10 and the coupler holder of the coupler storage unit 60, and falls from the dip tubes 43 and 43' located above it. You will be able to receive the chemical balance you can. In this state, when the multi-axis robot 30 horizontally moves the couplers 40 and 40' onto the coupler holder of the coupler storage unit 60, the balance receiver 70 is returned to its original position by the forward and backward drive means 75. retreat. Then, the coupler holder of the coupler storage unit 60, which was covered by the balance receiver 70, is exposed, and the multi-axis robot 30 lowers the couplers 40 and 40' to mount the coupler of the coupler storage unit 60. Insert it into the sphere and place it. At this time, although not shown in the drawing, when the multi-axis robot 30 places the couplers 40 and 40' on the coupler holder of the coupler storage unit 60, the balance receiver 70 is installed so that the balance receiver 70 is not disturbed. It may also be further provided with balance receiving lifting means such as an air cylinder that lowers.

In addition, the balance receiver 70 has an inclined tray shape and is provided with a drain 71 at the lowest position to drain the received chemical balance. In addition, in order to prevent chemicals from sticking to the balance receiver 70, the chemical balance can be drained smoothly by spraying washing water on the bottom of the balance receiver 70 through the washing water supply pipe 73 and the nozzle 73a. You can.

Meanwhile, in order to smoothly attach and detach the couplers 40 and 40' by the multi-axis robot 30 in the system of this embodiment, the drum container 10 is installed so that the inlet 11 of the drum container 10 is located at a predetermined position. (10) needs to be sorted. To this end, the system of this embodiment may further include a drum mount, a drum guide unit, a drum rotation unit, and/or a drum alignment unit. Hereinafter, the drum mount 81, drum guide unit 83, drum rotation unit 85, and drum alignment unit 90 will be described with reference to FIG. 12.

The drum mount 81 may be in the form of a flat seat with an area slightly larger than the lower surface of the drum container 10. A plurality of ball rollers 82, some of which protrude, are disposed on the upper surface of the drum mount 81. Accordingly, the drum container 10 can move and rotate in any horizontal direction on the drum mount 81.

The drum guide unit 83 is a component that surrounds and supports the outer peripheral surface of the drum container 10, and is a guide bar (83b) that is opened or retracted by a rotating means (83a) including a rotary cylinder, a motor, and the necessary power transmission mechanism. ) and an idle roller (83c) that is rotatably coupled to the guide bar (83b) and contacts the outer peripheral surface of the drum container (10). Here, the leading end of the guide bar 83b is retracted to allow the drum container 10 mounted on the drum mount 81 to be drawn toward the drum rotation unit 85, and the front end is opened to retract the rear end to retract the drum container ( 10) may be configured to be discharged by pushing it away from the drum rotation unit 85.

The drum rotation unit 85 is a drive roller that is in close contact with the outer peripheral surface of the drum container 10 supported by the drum guide unit 83 and rotates by a built-in motor to rotate the drum container 10 about the vertical central axis. It can be done with

The drum alignment unit 90 detects the inlet 11 of the drum container 10 rotated by the drum rotation unit 85, and when the inlet 11 of the drum container 10 reaches a predetermined position, the drum rotation unit 85 As a component for stopping (85), a rotating bar 91, a lifting means 97 such as an air cylinder that elevates and lowers the rotating bar 91 (see arrow d), and a rotating shaft ( It may include a rotation means 99 such as a motor or rotary cylinder that rotates around A1) (see arrow e). At the tip of the rotating bar 91, there is a semicircular stopper 93 having an inner diameter that is approximately equal to or slightly larger than the outer diameter of the inlet 11 of the drum container 10, and a semicircular stopper 93 that protrudes from approximately the center of the stopper 93 to form a drum container ( A contact sensor 95 may be provided to detect when the outer peripheral surface of the inlet 11 of 10) is contacted.

The insertion, alignment, and discharge operations of the drum container 10 by the drum guide unit 83, drum rotation unit 85, and drum alignment unit 90 configured as described above will be described.

First, the tip of the guide bar 83b of the drum guide unit 83 is opened by the rotating means 83a, so that the drum container 10 can be received. Next, the drum container 10 is mounted on the drum mount 81 by a cart (not shown) and pushed toward the drum rotation unit 85. When the drum container 10 is mounted on the drum mount 81, the tip of the guide bar 83b is retracted by the rotation means 83a, and the drum container 10 is retracted and brought into close contact with the drum rotation unit 85. It is supported by the drum guide unit 83 in this state.

Subsequently or in parallel with the above-described operation, the rotating bar 91 is raised by the lifting means 97 of the drum alignment unit 90, so that the stopper 93 is positioned higher than the upper jaw of the drum container 10. . Next, the rotation bar 91 is rotated approximately 90 degrees clockwise in FIG. 12 about the rotation axis A1 by the rotation means 99 of the drum alignment unit 90, and then the drum alignment unit 90 is rotated clockwise by approximately 90 degrees. The rotating bar 91 is lowered by the lifting means 97, so that the stopper 93 is positioned at a predetermined position where the inlet 11 of the drum container 10 should be located at a height close to the upper surface of the drum container 10. It is located. In this state, the drum rotation unit 85 rotates the drum container 10 clockwise. When the outer circumferential surface of the inlet 11 of the drum container 10 is wrapped by the stopper 93 and contacts the contact sensor 95 by the rotation of the drum container 10, the inlet 11 of the drum container 10 is Since it is aligned at the designated position, the rotation of the drum rotation unit 85 is stopped.

Next, the drum alignment unit 90 operates in the reverse order of the above-described operation to return to the original position (state shown in FIG. 12), and the inlet 11 of the drum container 10 is moved by the multi-axis robot 30 as described above. ) The cap 15 is separated, the couplers 40 and 40' are coupled to the inlet 11, and chemical transfer is performed. When the chemical transfer is completed, the couplers 40 and 40' are separated from the inlet 11 of the drum container 10, and the cap 15 is fastened to the inlet 11, as described above.

Next, the drum container 10 is pushed by opening the front end of the guide bar 83b and retracting the rear end by the rotation means 83a of the drum guide unit 83, and then pushing the drum container 10 to the waiting cart (not shown) in front of the drum mounting table 81. ) is discharged.

In this way, according to the system of this embodiment, the entire process of chemical transfer, including the back and forth operations of inserting, aligning, and discharging the drum container 10, is performed automatically.

Meanwhile, in order to prevent foreign substances such as dust from being mixed in or workers being exposed to chemicals during chemical transfer work, the system according to this embodiment opens the front of the booth-shaped housing 20 when the drum container 10 is entered and exited. It may further include an automatic or manual door 27 that closes during chemical transfer.

Referring to FIGS. 1 and 13 , the door 27 may include a plurality of door panels 27a that can be raised and lowered along a guide rail 27b installed inside the housing 20. Additionally, the door panel 27a may be provided with a transparent window so that the operator can view the coupling process of the couplers 40 and 40' to the inlet 11 of the drum container 10 and the chemical transfer process.

Although the present invention has been described above with limited examples and drawings, the present invention is not limited thereto, and the technical idea of the present invention and the description below will be understood by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalence of the patent claims.

10: drum container
11: Inlet of drum container
20: housing
27: door
30: Multi-axis robot
40, 40': Coupler
41, 41': Coupler head
41a: Chemical Euro
41b: Gas flow path
41c: Chemical circulation flow path
41d: combining protrusion
41e: projection
41p: Ball plunger
43, 43': Dip tube
45, 45': Coupler socket
45a: thread
45d: Coupling groove
45p: concave groove
45t: gear
42a, 42b, 42c: Piping
50: Piping support unit
60, 60': Coupler storage unit (coupler cleaning unit)
70: Receive balance
81: Drum mount
83: Drum guide unit
85: Drum rotation unit
90: Drum alignment unit

Claims (12)

A coupler detachably coupled to the inlet of the drum container to supply chemicals inside the drum container to a required location or to inject chemicals into the drum container,
A coupler head having a chemical flow path capable of communicating with a chemical pipe formed therein and including at least two engaging protrusions protruding from the lower outer peripheral surface;
It can be selectively and detachably coupled to the coupler head to communicate with the chemical flow path, and when the coupler is coupled to the inlet of the drum container, it can be inserted and draped inside the drum container, and the coupler head and the a dip tube configured to be removably coupled to the inlet of the drum container; and
A coupling groove in which the coupling protrusion is inserted and can be rotated at a predetermined angle is formed in the form of a hollow pillar formed on the inner peripheral surface, and is provided with a coupler socket that can be screwed to the inlet of the drum container,
The coupler head is coupled to the hollow of the coupler socket and is coupled to the inlet of the drum container via the coupler socket,
With the coupler socket screwed to the inlet of the drum container, the coupling protrusion of the coupler head is inserted into the coupling groove of the coupler socket and the coupler head is rotated by the predetermined angle to connect the coupler socket to the coupler socket. A coupler with coupler heads that can be combined. delete delete According to paragraph 1,
A coupler wherein the dip tube is coupled to the coupler socket in communication with the chemical flow path. delete A coupler detachably coupled to the inlet of the drum container to supply chemicals inside the drum container to a required location or to inject chemicals into the drum container,
A coupler head formed inside a chemical flow path that can communicate with the cable piping;
It can be selectively and detachably coupled to the coupler head to communicate with the chemical flow path, and when the coupler is coupled to the inlet of the drum container, it can be inserted and draped inside the drum container, and the coupler head and the a dip tube configured to be removably coupled to the inlet of the drum container; and
It is configured in the form of a hollow pillar and is provided with a coupler socket that can be screwed to the inlet of the drum container,
The coupler head is coupled to the hollow of the coupler socket and is coupled to the inlet of the drum container via the coupler socket,
The coupler head is rotatably coupled to the coupler socket on the hollow inner peripheral surface of the coupler socket,
A coupler configured to couple the coupler to the inlet of the drum container by rotating only the coupler socket while the coupler head is coupled to the coupler socket. According to paragraph 1,
The coupler head is in communication with the inside of the drum container when the coupler is coupled to the inlet of the drum container, and supplies the chemical inside the drum container to a place where it is needed or injects the chemical into the drum container. A coupler further comprising a gas flow path formed internally to be separated from the chemical flow path to allow gas to enter and exit the drum container. According to paragraph 1,
The coupler head is in communication with the inside of the drum container when the coupler is coupled to the inlet of the drum container, and the chemical discharged to the outside of the drum container through the chemical flow path is inside the drum container through the chemical circulation flow path. A coupler further comprising a chemical circulation flow path formed therein to be separated from the chemical flow path so that the coupler can circulate. The coupler of any one of claims 1 or 4 or 6 to 8; and
Equipped with a coupler cleaning unit for cleaning the coupler,
The coupler cleaning unit,
a cleaning chamber having a space for accommodating the dip tube of the coupler and including a coupler holder and a drain for mounting the coupler head so that the dip tube is draped into the space; and
A coupling system for a drum container, comprising a nozzle installed inside the cleaning chamber to spray cleaning water toward the dip tube accommodated in the space. According to clause 9,
The coupler cleaning unit is a coupling system for a drum container that supplies cleaning water to the chemical flow path through the chemical pipe when cleaning the coupler. According to clause 9,
The coupler is the coupler of claim 1,
A mounting socket having the same structure as the coupler socket is coupled to the coupler holder,
When cleaning the coupler, the coupler head and the dip tube excluding the coupler socket are coupled to the mounting socket, thereby allowing the coupler to be mounted on the coupler holder. According to clause 9,
The coupler is the coupler of claim 6,
The coupler holder has the same structure as the inlet of the drum container,
When cleaning the coupler, the coupler socket is coupled to the coupler holder, thereby allowing the coupler to be mounted on the coupler holder.

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