KR20210061237A - Auto coupling device for chemical drum - Google Patents

Abstract

An automatic fastening device for a chemical drum in accordance with an exemplary embodiment of the present invention comprises: a clamping module including a support frame seated on an upper surface of a chemical drum and a clamping unit provided on the support frame to fix the support frame to the chemical drum; an elevating module including a first installation block and a second installation block which are respectively provided on one side and the other side to be able to elevate therefrom, disposed in an upright state at the center of the support frame, and rotatably provided through a rotary shaft connected to the support frame; a cap opening/closing module installed on the first installation block; and a coupler fastening module installed on the second installation block. The cap opening/closing module and the coupler fastening module can be selectively disposed on a dip tube of the chemical drum in accordance with the rotation of the elevating module. In accordance with the present invention, the opening and closing of the cap and the fastening of a coupler are automatically performed, and thus, an accident caused by chemicals can be prevented.

Description

Automatic coupling device for chemical drum

The present invention relates to an automatic fastening device for a chemical drum.

In general, various chemical substances (hereinafter referred to as chemicals) are used in semiconductor processes. In order to supply this chemical to each facility, a chemical supply piping device (hereinafter referred to as a coupler) is inserted into a chemical container (hereinafter referred to as a chemical drum) in which the chemical is stored, and the chemical is supplied by pressurizing the chemical drum through a coupler.

In order to maintain such a chemical supply process, the existing system relies on the manual work of the operator to replace the chemical drum and fasten the coupler to the inlet of the chemical drum.

This may pose a significant risk to the worker and the surrounding environment, as workers may be exposed to hazardous substances or vaporized gases of hazardous substances, and there is a risk of injury. In addition, in the case of flammable chemicals, there is a problem that can easily lead to a major accident due to fire and explosion.

One of the technical problems to be achieved by the technical idea of the present invention is to provide an automatic fastening device for a chemical drum that can prevent accidents caused by chemicals and increase the convenience of work.

However, the object of the present invention is not limited thereto, and even if not explicitly mentioned, the object or effect that can be grasped from the solutions or embodiments of the problems described below will be included therein.

An automatic fastening device for a chemical drum according to an exemplary embodiment of the present invention includes a support frame mounted on an upper surface of a chemical drum, and a clamping unit provided on the support frame to fix the support frame to the chemical drum. module; It includes a first installation block and a second installation block provided to be elevating and descending from one side and the other side, respectively, and are arranged in an upright state at the center of the support frame, and rotatable through a rotation shaft connected to the support frame. A lifting module provided; A cap opening/closing module installed on the first installation block; And a coupler fastening module installed on the second installation block, wherein the cap opening/closing module and the coupler fastening module may be selectively disposed on the dip tube of the chemical drum according to the rotation of the lifting module.

By automating the process of opening and closing the cap and fastening the coupler, it is possible to prevent accidents caused by chemicals of the operator, and it is possible to provide an automatic fastening device for chemical drums that can increase the convenience of work.

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

1 is a schematic view showing an upper part of a chemical drum.
Fig. 2 is a schematic perspective view showing an automatic fastening device for a chemical drum according to exemplary embodiments.
3 is an enlarged view showing part A of FIG. 2.
4 is an enlarged view showing part B of FIG. 2
5 is an enlarged view showing part C of FIG. 2.
6 is a schematic perspective view showing an automatic fastening device for a chemical drum according to exemplary embodiments.
Figure 7 is an exploded perspective view schematically showing the automatic fastening device for the chemical drum of Figure 6;
8A, 8B, and 8C are schematic perspective and cross-sectional views, respectively, illustrating an elevating module in the automatic fastening device for a chemical drum of FIG. 7;
Fig. 9 is a schematic perspective view showing an alignment unit in the automatic fastening device for a chemical drum of Fig. 7;
Figure 10 is a schematic perspective view showing a cap opening and closing module in the automatic fastening device for a chemical drum of Figure 7;
11A is an exploded perspective view schematically showing a cap housing in the cap opening/closing module of FIG. 10.
11B is a partial cross-sectional view showing an encoding unit provided in the main body in the cap opening/closing module of FIG. 10.
12 is an exploded perspective view schematically showing a coupler fastening module in the automatic fastening device for a chemical drum of FIG. 7.
Figure 13 is a schematic perspective view showing a coupler storage unit in the automatic fastening device for a chemical drum of Figure 6;
14 is a cross-sectional view schematically showing the coupler storage unit of FIG. 13;
15A and 15B are schematic perspective views showing a modified example of a coupler fastening module.
16 and 17 are schematic perspective views showing another modified example of the coupler fastening module.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a schematic view showing an upper part of a chemical drum.

Referring to the drawings, a dip tube 20 corresponding to an outlet is installed at the supply port of the chemical drum 10, and the cap 30 may be locked on the dip tube.

Inside the dip tube 20, a key code 1 and a key code reference point 2 are formed. The key code 1 is formed in an intaglio shape, which may have a structure that is combined with a key code 3 (refer to FIG. 12) formed in an embossed shape to a coupler 901 (see FIG. 12), which will be described later. A cap 30 for opening or locking an outlet may be installed on the dip tube 20.

FIG. 2 is a schematic perspective view showing an automatic fastening device for a chemical drum according to exemplary embodiments, FIG. 3 is an enlarged view showing part A of FIG. 2, and FIG. 4 is an enlarged view showing part B of FIG. 2, and FIG. 5 Is an enlarged view showing part C of FIG. 2.

2 to 5, the automatic fastening device 100 for a chemical drum is, as an example, a support frame 120, a clamping unit 200, a cap opening/closing module 300, a pre-matching module 400, and a coupler fastening. It may be configured to include the module 500.

On the other hand, the automatic fastening device 100 for a chemical drum is installed to be elevating on an installation table (not shown) provided in a cabinet (not shown) in which the chemical is accommodated. Accordingly, the chemical drum 10 is inserted into the cabinet by the user and lowered by the user to be seated on the chemical drum 10. Thereafter, when the chemical drum 10 is taken out of the cabinet, the automatic fastening device 100 for a chemical drum is raised so that it may not interfere with the chemical drum 10.

The support frame 120 is mounted and installed on the upper surface of the chemical drum 10 and is connected to the mounting table through a connection member (not shown). As an example, the support frame 120 has a circular ring portion 122 having a circular ring shape and a connecting portion 124 extending inward of the ring portion 122 and a circular plate portion to which the ends of the connecting portion 124 are connected ( (Not shown) may be provided. As an example, the connecting portion 124 is arranged to extend from the ring portion 122 in plurality. In other words, one end of the connection part 124 is connected to the ring part 122 and the other end is connected to the plate part. For example, four connection parts 124 may be provided.

In addition, a first rotation driving unit (not shown) for rotating the cap opening/closing module 300, the pre-matching module 400, and the coupler fastening module 500 may be installed on the plate part. The first rotation drive unit may rotate the cap opening/closing module 300, the pre-matching module 400, and the coupler fastening module 500, which are spaced apart to have a predetermined angle, at an angle of 90 degrees, for example. Accordingly, the cap opening/closing module 300, the pre-matching module 400, and the coupler fastening module 500 may be sequentially disposed above the supply port of the chemical drum 10. In addition, an installation plate (not shown) may be installed on the first rotation drive unit (not shown). In addition, the installation plate includes a first lifting cylinder 140 in which the cap opening/closing module 300 is installed so as to be elevated, a second lifting cylinder 150 in which the pre-matching module 400 is installed so as to be elevating, and a coupler fastening module 500 ) It may be provided with a third lifting cylinder 160 is installed to be elevating. Meanwhile, as an example, the first lifting cylinder 140 and the third lifting cylinder 160 may be disposed to face each other.

In this way, since the cap opening/closing module 300, the pre-matching module 400, and the coupler fastening module 500 are installed in the first, second, and third lifting cylinders 140, 150, 160 installed on the installation plate, the cap opening/closing module 300, The pre-matching module 400 and the coupler fastening module 500 may be rotated in conjunction with each other.

The clamping unit 200 is installed on the connection part 124 of the support frame 120 and serves to fix the support frame 120 to the chemical drum 10. As an example, the clamping unit 200 may include a first cylinder 210, a sliding bar 220 connected to the first cylinder 210, and a clamp finger 230 linked to the end of the sliding bar 220. I can. Meanwhile, the first cylinder 210 is fixedly installed on the upper surface of the connection part 124. As an example, a plurality of first cylinders 210 are installed on a plurality of connection portions 124. Then, the sliding bar 220 is moved forward and backward by the first cylinder 210. In addition, a clamp finger 230 is rotatably linked to the end of the sliding bar 220. Accordingly, the clamp finger 230 is rotated around the rotation pin 232 by the forward and backward movement of the sliding bar 220. Accordingly, the support frame 120 may be fixed to the chemical drum 10 while the end of the clamp finger 230 presses the outer surface of the chemical drum 10.

The cap opening/closing module 300 serves to open and close the cap 30 of the chemical drum 10. As an example, the cap opening/closing module 300 is a first rotary motor 320 fixedly installed on the mounting plate 142a of the first lifting member 142 installed to be able to move up and down in the first lifting cylinder 140, FIG. 3 As shown in more detail, the flexible member 330 connected to the rotation axis of the first rotation motor 320, the rotation member 340 connected to the flexible member 330, the support fixedly installed on the rotation member 340 A gripping member 360 may be provided to be rotatably installed on the member 350 and the support member 350. Meanwhile, the cap opening/closing module 300 may further include a connection bar 370 connecting the edge of the rotating member 340 and the edge of the installation plate 142a.

In this way, since the rotating member 340 is connected to the first rotating motor 320 through the flexible member 330, the rotating member 340 may be tilted. Therefore, even when the cap 30 of the chemical drum 10 is twisted and disposed, the holding member 360 of the cap opening/closing module 300 can easily grip the cap.

The pre-matching module 400 serves to check the key code 1 provided in the dip tube 20 before coupling the coupler (not shown) to the dip tube 20 provided in the chemical drum 10. . As an example, the pre-matching module 400 is disposed to be elevating in the second elevating cylinder 150. On the other hand, the pre-matching module 400, as shown in more detail in Figure 4, the rotary cylinder 410 is installed to be elevating to the second lifting cylinder 150, and the rotary cylinder 410 is rotatably installed The first disk 420, the second disk 430 connected by the first disk 420 and the rotation shaft 402, a first sensor 440 for recognizing the degree of rotation of the first disk 420, and A second sensor 450 installed on the bottom of the second original plate 430 may be provided.

The second sensor 450 serves to detect the shape of the keycode corresponding portion of the chemical drum 1. Meanwhile, the second sensor 450 is connected to a control unit (not shown) and transmits information on the detected shape of the keycode corresponding unit to the control unit. In addition, the control unit determines the degree of rotation of the first disk 420 through the first sensor 440. To this end, the first disk 420 is provided with a plurality of slits 422 at the edges. That is, the first sensor 440 detects the degree of rotation of the first disk 420 while detecting the slit of the first disk 420. Thereafter, the control unit rotates the key code provided in the coupler fastening module 500 so that it can be accurately fastened to the key code corresponding part.

The coupler fastening module 500 serves to couple the coupler 530 to a supply port (not shown). As an example, the coupler fastening module 500 is fixedly installed on the third elevating member 162 installed to be elevating to the third elevating cylinder 160, as shown in more detail in FIG. 5, and supporting a coupler disposed spaced apart from each other. A coupler 530 installed on the member 520 and the coupler support member 520 may be provided.

The coupler support member 520 includes a circular ring portion 522 having a circular ring shape, a disk portion 524 disposed inside the circular ring portion 522, and a disk portion 524 and a circular ring portion 522 It may be provided with a plurality of elastic members 526 connecting the.

As an example, two coupler support members 520 may be disposed to be spaced apart from each other in the vertical direction. The coupler support member 520 tilts the coupler 530 so that the coupler 530 can be easily coupled to the supply port even when the supply port of the chemical drum 10, that is, the dip tube 20 is tilted. To play a role. In addition, two coupler support members 520 are provided so that they are spaced apart from each other in the vertical direction, so that the tilting angle of the coupler 530 is not too large.

On the other hand, the plate portion of the disk portion 524 is installed so that the coupler 530 penetrates, and the coupler 530 may have a substantially cylindrical shape. Meanwhile, a tube tube coupling portion 532 in which a tube tube (not shown) through which a chemical substance flows is installed may be provided at an upper end of the coupler 530. In addition, a key code (not shown) is rotatably installed on the coupler 530 as described above. The key code may be installed in the coupler 530 so that it can be rotated by a key code driver (not shown). That is, the control unit rotates the key code provided in the coupler 530 according to the arrangement position of the key code corresponding unit detected by the pre-matching module 400, and then the coupler 530 is coupled to the dip tube of the chemical drum 10. The coupler fastening module 500 is lowered as possible.

And, in the support frame 120, the lower end of the coupler 530, that is, the portion coupled to the dip tube 20 of the chemical drum 10 is a coupler storage member that is inserted and arranged when the use of the chemical drum 10 is finished. 540 may be installed. However, the present invention is not limited thereto, and the coupler storage member 540 may be installed on the coupler fastening module 500 and rotated in conjunction with the coupler fastening module 500.

As described above, through the cap opening/closing module 300, the pre-matching module 400, and the coupler fastening module 500, the chemical drum may be connected without being operated by an operator. Accordingly, accidents caused by chemicals can be prevented, and convenience of work can be improved.

An automatic fastening device for a chemical drum according to other exemplary embodiments of the present invention will be described with reference to FIGS. 6 to 14.

6 to 14, the automatic fastening device 100' for a chemical drum includes, as an example, a clamping module 600, a lifting module 700, a cap opening/closing module 800, and a coupler fastening module 900. It can be configured.

The clamping module 600 may include a support frame 610 and a clamping unit 620 provided on the support frame.

As an example, the support frame 610 may have a substantially rectangular plate structure, and may have an opening 611 cut in a substantially trapezoidal shape toward the center of the support frame 610 at one side. In a state in which the support frame 610 is seated and installed on the upper surface of the chemical drum 10, the opening 611 may be located on the cap 30 which is immersed in the dip tube 20 of the chemical drum 10. The cap opening/closing module 800 and the coupler fastening module 900 may be selectively disposed on the opening 611 by driving of the lifting module 700, respectively, and the cap 30 exposed to the top through the opening 611 ) To open and close and to fasten the coupler 901 to the dip tube 20.

In the present embodiment, the support frame 610 is illustrated as having a square shape and the opening 611 is a trapezoidal shape, but is not limited thereto. Depending on the embodiment, the shape of the support frame 610 and the opening 611 may be variously modified.

The clamping unit 620 may fix the support frame 610 to the chemical drum 10. The clamping unit 620 may be provided in a structure extending from each corner of the support frame 610 toward the center. As an example, the clamping unit 620 includes a first cylinder 621 fixedly installed on the upper surface of the support frame 610, a sliding bar 622 and a sliding bar 622 connected to the first cylinder 621 and moving back and forth. It may include a clamp finger 623 rotatably linked to the end of the.

The clamp finger 623 is rotated around the rotation pin 624 by the sliding movement of the sliding bar 622, and accordingly, the end of the clamp finger 623 presses the outer surface of the chemical drum 10 while the support frame The 610 is fixed to the chemical drum 10. In the present embodiment, it is illustrated that four clamping units 620 are provided corresponding to the shape of the support frame 610, but the present invention is not limited thereto. For example, three or four or more clamping units 620 may be provided depending on the shape of the support frame 610.

In one embodiment, on the support frame 610, a driving unit 630, an alignment unit 640, and a coupler storage unit 650 for rotating the lifting module 700 to be described later may be further provided.

The lifting module 700 is disposed in an upright state at the center of the support frame 610 and may be rotatably provided through a rotation shaft 700a connected to the support frame 610. The lifting module 700 may be provided with a handle H so that the user can grip it.

The lifting module 700 may be made of a frame structure in the shape of a square pillar as a whole, and a first installation block 710 vertically reciprocating along the guide groove 703 vertically cut in the vertical direction is on one side 701. A second installation block 720 that vertically reciprocates along the guide groove 703 vertically cut in the vertical direction may be provided on the other side surface 702 formed at a right angle to the one side surface 701. The first installation block 710 is connected to the actuator 730 provided in the inside of one side 701 and is configured to vertically reciprocate along the guide bar 704, and the second installation block 720 is the other side ( It may be configured to vertically reciprocate by being connected to an actuator (not shown) provided inside the 702.

A cap opening/closing module 800 and a coupler fastening module 900, which will be described later, may be installed on the first installation block 710 and the second installation block 720, respectively.

As an example, the first installation block 710 may include a first block 711 and a second block 712 disposed above the first block 711. The first block 711 is connected to the first actuator 731 and may move downward until it reaches the upper surface of the chemical drum 10 by the first actuator 731 on the guide bar 704. When the first block 711 reaches the upper surface of the chemical drum 10, it cannot be moved any more, and the brake unit 713 provided in the first block 711 breaks the first block 711 to be positioned. Is fixed. The second block 712 is connected to the second actuator 732, and the upper surface of the chemical drum 10 is removed by the second actuator 732 on the guide bar 704 while the first block 711 is fixed. You can move downwards toward. In this case, the second actuator 732 may move the second block 712 so that the second block 712 is placed at a predetermined position based on the fixed position of the first block 711. For example, the second block 712 may be moved so that it is always at a position of a set height from the upper surface of the chemical drum 10. The cap opening/closing module 800 may be installed in the second block 712.

Through this configuration, even if the position of the upper surface of the chemical drum 10 is different for each chemical drum 10, the position of the upper surface of the chemical drum 10 is checked through the first block 711 and the first block 711 is determined. By moving the second block 712 as a reference, it can always be located at a certain height from the upper surface of the chemical drum 10, so that the opening and closing of the cap 30 and the sensing of the key code are automated through the cap opening/closing module 800 described later Make it possible to do it.

In one example, the inside of the guide groove 703 is wound around a guide roll 705 provided at the top and bottom of the guide groove 703, rotates in a caterpillar manner, and shields the guide groove 703. 740) may be provided. The first installation block 710 and the second installation block 720 may be connected to the seal belt 740, respectively, so that the first installation block 710 and the second installation block 720 are guide grooves 703 The guide groove 703 remains shielded by the seal belt 740 even if it moves vertically along the reciprocation. The seal belt 740 may be made of Teflon, but is not limited thereto.

In one example, a labyrinth seal 750 may be provided between the connecting portion of the lifting module 700 and the rotating shaft 700a. If necessary, more quadrings may be installed.

The seal belt 740 and the labyrinth seal 750 may protect internal driving means such as the actuator 730 by blocking the internal inflow of the caal fume.

The driving unit 630 may rotate the lifting module 700 by an angle of 90 degrees. This corresponds to the installation of the cap opening/closing module 800 on one side 701 of the lifting module 700 and installing the coupler fastening module 900 on the other side 702 forming a right angle with the one side 701. , The lifting module 700 rotates by 90 degrees through the driving unit 630, and the cap opening/closing module 800 and the coupler fastening module 900 on the opening 611 through which the cap 30 of the chemical drum 10 is exposed. Either of them can be selectively positioned.

The driving unit 630 may include a pneumatic actuator 631 installed on the support frame 610 and a cable 632 that transmits the driving force of the pneumatic actuator 631 to the rotation shaft 700a. The cable 632 is wound between the connection shaft 700b connected to the support frame 610 of the rotation shaft 700a and the pneumatic actuator 631, and the cable 632 rotates according to the drive of the pneumatic actuator 631. It may be configured to rotate the connection shaft (700b).

Alignment unit 640 guides the lifting module 700 to rotate at an angle of exactly 90 degrees in connection with the connection shaft 700b of the lifting module 700 so that the cap opening/closing module 800 and the coupler fastening module 900 It is aligned on the cap 30 and the dip tube 20 of the chemical drum 10.

The alignment unit 640 includes a cam 641 having a concave groove 641a provided in the connection shaft 700b, a cam follower 642 whose tip is inserted into the groove 641a of the cam 641, and a cam follower ( It may include an actuator 643 for linearly reciprocating the 642. The cam 641 has a groove 641a concavely in a substantially “U” or “V” shape, and may be provided in at least two. In this case, the cams 641 may form a right angle of 90 degrees to each other, and the groove 641a may be disposed to face outward from the connection shaft 700b. The cam follower 642 is placed on a guide 644 extending at a right angle to the opening 611 on the support frame 610 and can move linearly reciprocating along the guide 644. The actuator 643 is connected to the cam follower 642 and moves the cam follower 642 forward so that the tip of the cam follower 642 is inserted along the groove 641a of the cam 641 to the end of the groove 641a. Or move it backwards to exit from the groove 641a.

Even if the lifting module 700 cannot be rotated by an angle of 90 degrees by the driving unit 630 (for example, rotated by 90 degrees or more), it is rotated by an angle of 90 degrees through the alignment unit 640. Since they are aligned, even if an angle error occurs, it can be compensated.

In one example, when the alignment unit 640 is operated after the driving unit 630 is operated, the pneumatic actuator 631 of the driving unit 630 is in a neutral exhaust state. Therefore, even if the lifting module 700 is rotated by more than 90 degrees by 100 degrees and an angular error of 10 degrees occurs, the tip of the cam follower 642 is inserted into the groove 641a by the actuator 643 to close the groove 641a. Therefore, when moving to the end of the groove 641a, the elevating module 700 is rotated in the opposite direction by 10 degrees and can be aligned to a position rotated exactly by 90 degrees.

The cap opening/closing module 800 may be installed on the first installation block 710 and may be provided to be elevating and descending in the vertical direction together with the first installation block 710. The cap opening/closing module 800 may open or lock the cap 30 in the chemical drum 10 and sense the key code 1 formed in the dip tube 20 of the chemical drum 10.

The cap opening/closing module 800 is provided with a driving means 811 for generating power therein, and is rotatably provided under the main body 810 and the main body 810 mounted on the first installation block 710, and has one end. A rotational power transmission shaft 820 connected to the driving means, a plurality of variable shafts 830 and a rotational power transmission shaft 820 disposed around the rotational power transmission shaft 820 and one end connected to the lower portion of the main body 810 ) And the other end of the variable shaft 830 and may include a cap housing 840 that clamps the cap 30 of the chemical drum 10.

The main body 810 is a box-shaped structure and may be protected by providing a driving means 811 such as a rotating motor therein. A handle H may be provided on the outer surface of the main body 810 so that the user can grip it.

The rotational power transmission shaft 820 may transmit rotational power of the driving means 811 to the cap housing 840 to rotate the cap housing 840. In one example, in order to implement a flexible connection, the rotational power transmission shaft 820 may be configured as a universal joint.

At least three variable shafts 830 may be provided to surround the central rotational power transmission shaft 820. The variable shaft 830 may be configured to include a cylinder 831 and a cylinder rod 832, and may be configured to enable free length adjustment and position fixing of the cylinder rod 832. One end of the cylinder 831 is connected to the lower portion of the main body 810 through a hinge having a degree of freedom, and the other end of the cylinder rod 832 is connected to the upper portion of the cap housing 840 using a ball joint having a degree of freedom. I can.

The cap housing 840 may include a ring-shaped fixing part 841 and a rotating part 842 rotatably connected to the center of the fixing part 841. A variable shaft 830 may be connected to the fixed part 841, and a rotational power transmission shaft 820 may be connected to the rotating part 842.

A gripper finger 850 that is fastened to the cap 30 to open and close the cap 30 in the chemical drum 10 may be provided under the rotating part 842. The gripper fingers 850 have a structure extending downward and may form a circular annular shape, and may be arranged spaced apart at regular intervals. In this case, the size of the accommodation space implemented by the gripper fingers 850 arranged in an annular shape may be larger than the size of the cap 30, and the gap between the gripper fingers 850 is the wings of the cap 30 ( 31) can be located.

The gripper finger 850 may include a first finger 851 and a second finger 852 in which a leaf spring 853 is installed on an inner side facing the cap 30. The leaf spring 853 may have a protrusion 853a that protrudes obliquely toward the inside in a triangular shape. The first fingers 851 and the second fingers 852 may be alternately arranged with each other.

A method of opening and closing the cap 30 of the chemical drum 10 through the cap opening/closing module 800 having such a configuration will be described.

The main body 810 and the cap housing 840 are lowered by the driving of the first installation block 710 and the gripper finger 850 and the cap 30 are fastened. As the gripper finger 850 descends, the leaf spring ( The protrusion 853a of the 853 is pushed and pressed against the cap 30 and is elastically deformed to be radially widened, and the lowering is completed so that the cap 30 passes through the leaf spring 853 and the receiving space of the gripper finger 850 When located in the inside, the leaf spring 853a is restored to its original state through a restoring force so that the gripper finger 850 can grip the cap 30. In this case, the blades 31 of the cap 30 are located in the space between the gripper fingers 850, and when the rotational power is transmitted through the rotational power transmission shaft 820 and the rotational part 842 rotates, the first finger The cap 851 can be opened by rotating the cap 30 from the chemical drum 10 by transmitting the rotational power to the blades 31 of the cap 30 to rotate the cap 30.

In this embodiment, the cap housing 840 provided with the gripper fingers 850 is connected to the variable shaft 830 and the rotational power transmission shaft 820 in a rotatable structure through a hinge connection, so that a roll and a pitch ) So that it can be tilted freely in the direction. Therefore, even if the dip tube 20 corresponding to the outlet of the chemical drum 10 is inclined due to external influences and cannot maintain a horizontal state, the cap housing 840 is rolled and pitched in response to the state of the dip tube 20. It is fastened to the cap 30 locked in the dip tube 20 in a state inclined in a direction, and the cap 30 can be opened or locked by applying force.

In one example, a fiber sensor 860 is provided in the rotating part 842 in order to sense the key code 1 formed in the dip tube 20 of the chemical drum 10, and the encoding unit 870 in the main body 810 Can be provided. The fiber sensor 860 may check the shape of the key code reference point 2 and the key code 1 of the dip tube 20 exposed to the outside with the cap 30 removed. The encoding unit 870 includes an encoder 871 and a photo sensor 872, and the amount of rotation required to align the coupler 901 to be described later with the dip tube 20 can be checked. The confirmed information may be transmitted to the coupler fastening module 900.

A method of sensing the key code 1 of the dip tube 20 through the cap opening/closing module 800 will be described.

When the cap housing 840 is lowered and the gripper finger 850 opens the cap 30, the cap opening/closing module 800 is again driven by the first installation block 710 while holding the cap 30. As the lift module 700 rotates, the cap opening/closing module 800 is positioned in a cap storage box (not shown) provided on the support frame 610.

After lowering the cap 30 in the cab storage box, the cap opening/closing module 800 is again aligned on the dip tube 20 exposed to the outside by rotation of the lifting module 700, and the first installation block 710 It descends by the driving of the cap housing 840 to be located above the dip tube (20). In this case, the second block 712 of the first installation block 710 is placed at a position of a set height from the upper surface of the chemical drum 10 based on the first block 711 to fasten the cap 30. Unlike the case that it descends to the upper surface of the chemical drum 10, it may be located at a height such that it does not interfere with the dip tube 20. When the cap housing 840 is located on the dip tube 20, the key code 1 of the dip tube 20 is transmitted through the fiber sensor 860 while rotating the rotating part 842 through the rotational power transmission shaft 820. After sensing, the encoding unit 870 checks the amount of rotation required for alignment.

The coupler fastening module 900 may be installed on the second installation block 720 and may be provided to be elevating and descending in the vertical direction together with the second installation block 720.

The coupler fastening module 900 includes a first coupler holder 910 and a second coupler holder 920, a first coupler holder 910 and a second coupler holder 920 connected to the upper and lower portions of the coupler 901, respectively. A first bracket 930 disposed between and connected to the first coupler holder 910 and a second bracket 940 connected to the second coupler holder 920 may be included. The coupler fastening module 900 may be mounted on the second installation block 720 through the installation frame 990 connected to the first bracket 930.

The first coupler holder 910 and the second coupler holder 920 are coupled to the coupler 901 at the top and bottom of the coupler 901, respectively, to fix the coupler 901 in a structure that constrains the circumference of the coupler 901. I can make it.

The first bracket 930 may be disposed under the first coupler holder 910 in a structure in which the coupler 901 passes in a non-contact state through the first through hole 931 provided in the center. The first bracket 930 and the first coupler holder 910 may be connected through a plurality of elastic springs 950 arranged along the circumference of the coupler 901.

A linear motion guide 933 mounted on a lower surface of the first bracket 930 is provided between a pair of side plates 932 extending downward, respectively, on both left and right sides of the first bracket 930, and a linear motion guide ( The first shaft holder 960 may be movably connected to the 933.

The second bracket 940 has a hollow ring shape and has a structure in which the coupler 901 passes in a non-contact state through a second through hole 941 provided in the center. 920).

The second bracket 940 may be inserted into the shaft 961 inserted into the first shaft holder 960 on both left and right sides and connected to be rotatable. In addition, the second bracket 940 may be inserted into the shaft 971 inserted into the second shaft holder 970 fixed on the second coupler holder 920 on both front and rear sides and connected to be rotatable. Here, the virtual line connecting between the shafts 961 inserted into the first shaft holder 960 and the virtual line connecting between the shafts 971 inserted into the second shaft holder 970 may be configured to be orthogonal to each other. .

Through the configuration of the coupler fastening module 900, the coupler 901 may have a degree of freedom in the direction perpendicular to the roll and pitch directions within the restoring force of the elastic spring 950. Through the degree of freedom, the coupler 901 may be aligned by compensating for an angle error of the dip tube 20 of the chemical drum 10.

A key code body 902 having a key code 3 formed on a lower surface of the coupler 901 may be rotatably installed. The key code body 902 may be disposed under the second coupler holder 920, and the key code 3 is formed in an embossed shape and is formed in an engraved shape on the dip tube 20. ) May have a structure that is combined with.

The key code body 902 may be provided with an encoder 980 to check the rotation amount of the coupler 901, and a photo sensor 981 that checks the rotation angle in connection with the encoder 980 is a second coupler holder. It may be provided on the lower surface of 920.

On the other hand, when the coupler fastening module 900 is used to automate the coupler fastening, when the coupler 901 waits after the chemical extraction of the chemical drum 10 is finished, a coupler is used to prevent the chemical from falling in the coupler 901. A storage unit 650 is required.

The coupler storage unit 650 is mounted on the support frame 610 and includes a receiving box 651 for accommodating a dropping chemical, a pedestal 652 rotatably provided on the receiving box 651, and a pedestal 652. It may include a driving means 653 for driving rotation.

The receiving box 651 may be connected to the discharge pipe 654 to discharge chemicals accommodated therein to the outside.

The pedestal 652 may include a receiving hole 652a connected to the receiving box 651 in the center so that the nozzle of the coupler 901 is inserted and the key code body 902 is placed thereon. In particular, an elastic body 655 having a circular ring shape corresponding to the shape of the key code body 902 may be provided on an upper surface on which the key code body 902 is placed.

The lower circumference of the pedestal 652 may be formed with gear teeth 652b that are gear-connected to the driving means 653 to receive power.

The driving means 653 may be disposed on one side of the receiving box 651 and connected to the gear teeth 652b of the pedestal 652, and the key code 3 of the coupler 901 is the key code of the dip tube 20 (1) It is possible to rotate the pedestal 652 by the amount of rotation required to align with it. Therefore, when the coupler fastening module 900 descends and presses the keycode body 902 on the elastic body 655 on the base 652 and rotates the base 652 through the driving means 653, the friction force with the elastic body 655 As a result, the keycode body 902 can be rotated by a required rotation amount to be aligned.

15A and 15B schematically show a modified example of the coupler fastening module 900'.

The coupler fastening module 900' is a dip tube to open the cap 30 and fasten the coupler 901 while moving to the coupler storage unit 650 for standby after finishing the chemical extraction of the chemical drum 10. It is necessary to prevent the residual chemical remaining in the coupler 901 from falling off while moving to the position of (20).

Referring to the drawings, the coupler fastening module 900 ′ may further include a rotation actuator 1000 mounted on the second coupler holder 920 and a drip and drain rod 1100 connected to the rotation actuator 1000. have.

In one example, the rotation actuator 1000 may be provided on the second shaft fixing table 970 provided in front of the second coupler holder 920, and the drip and drain rod 1100 is attached to the rotation axis of the rotation actuator 1000. Can be connected.

The drip and drain rod 1100 may have a shape bent in an approximately "b" shape, and a vacuum suction flow path 1110 may be provided therein. A drop pan 1120 disposed below a nozzle of the coupler 901 may be provided at a tip of the drip and drain rod 1100. The drop pan 1120 may be configured such that the inner side has a shape of an inclined surface to smoothly collect the falling chemical falling liquid. A suction port 1130 is provided at a rear end of the drip and drain rod 1100 to be connected to the vacuum suction flow path 1110 inside. Accordingly, the chemical dropping liquid collected by falling into the drop pan 1120 may move along the vacuum suction flow path 1110 and be recovered through a transfer pipe (not shown) connected to the suction port 1120.

When the coupler 901 is fastened to the dip tube 20, the coupler 901 and the dip tube 20 are moved to the nozzle side of the coupler 901 through a rotary actuator 1000 that rotates the drip and drain rod 1100. ) There is no interference between them. The drip-and-drain rod 1100 may always be positioned at the bottom of the nozzle of the coupler 901 except when the coupler fastening operation is performed.

16 and 17 schematically show another modified example of the coupler fastening module 900 ″.

A high rigidity polymer pipe (not shown) is connected to the upper end of the coupler 901 so as to supply chemicals to each facility, and the posture of the coupler 901 having three degrees of freedom can always be changed according to the movement of the pipe.

In order to fasten the coupler 901 to the coupler storage unit 650 and align it with the key code 1 of the dip tube 20, the coupler 901 must be positioned vertically on the upper surface of the pedestal 652 to be stably fastened. Therefore, it is necessary to maintain the correct posture of the coupler 901.

Referring to the drawings, the coupler fastening module 900'' further includes a posture maintaining rod 1200 mounted on the first coupler holder 910 and a multi-point gripping actuator 1300 mounted on the installation frame 990. Can include.

When the coupler 901 is inclined, when the multi-point gripping actuator 1300 is operated, the gripping finger 1310 of the multi-point gripping actuator 1300 moves forward to surround the posture maintaining rod 1200. When the gripping finger 1310 is driven to constrain the posture maintaining rod 1200, the first coupler holder 910 and the coupler 901 connected to the posture maintaining rod 1200 are vertically maintained and fixed in posture. .

In one example, the fixed posture of the coupler 901 may be changed according to the shape of the gripping finger 1310, and the range of the posture change of the coupler 901 may also be set through the stroke setting of the multi-point gripping actuator 1300. .

The embodiments of the present invention have been described above with reference to the accompanying drawings, but those of ordinary skill in the art to which the present invention pertains have learned that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. You can understand. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting.

100: automatic fastening device for chemical drums
120: support frame
200: clamping unit
300: cap opening/closing module
400: pre-matching module
500: coupler fastening module
600: clamping module
700: lifting module
800: cap opening/closing module
900: coupler fastening module

Claims (10)

A clamping module including a support frame seated on an upper surface of a chemical drum and a clamping unit provided on the support frame to fix the support frame to the chemical drum;
It includes a first installation block and a second installation block provided to be elevating and descending from one side and the other side, respectively, and are arranged in an upright state at the center of the support frame, and rotatable through a rotation shaft connected to the support frame. A lifting module provided;
A cap opening/closing module installed on the first installation block; And
A coupler fastening module installed on the second installation block;
Including,
The cap opening/closing module and the coupler fastening module are selectively disposed on the dip tube of the chemical drum according to the rotation of the lifting module.
The method of claim 1,
The automatic fastening device for a chemical drum, characterized in that the cap opening and closing module and the coupler fastening module are configured to form a right angle to each other so that the position is changed while rotating by an angle of 90 degrees.
The method according to claim 1 or 2,
A guide groove for guiding the vertical reciprocation of the first and second installation blocks is provided on the one side and the other side, respectively, by being cut vertically in the vertical direction, and the inside of the guide groove A seal belt is provided that is wound around a pair of guide rolls provided at the top and bottom, rotates in a caterpillar manner, and shields the guide groove, and the first installation block and the second installation block are respectively connected to the seal belt. Automatic fastening device for a chemical drum, characterized in that.
The method of claim 1,
It is provided on the support frame and includes an alignment unit for guiding the rotation angle of the lifting module,
The alignment unit includes a cam having a concave groove provided on the rotation shaft, a cam follower having a tip inserted into the groove of the cam, and an actuator for linearly reciprocating the cam follower. .
The method of claim 1,
The cap opening/closing module includes a driving means for generating power therein, a main body mounted on the first installation block, a rotational power transmission shaft rotatably provided at a lower portion of the main body and one end connected to the driving means, the A plurality of variable shafts disposed around the rotational power transmission shaft, one end connected to the lower portion of the main body, and a cap housing connected to the rotational power transmission shaft and the other end of the variable shaft, and clamping the cap locked in the dip tube. Automatic fastening device for a chemical drum, characterized in that.
The method of claim 5,
The cap housing includes a ring-shaped fixing part to which the variable shaft is connected, and a rotating part to which the rotational power transmission shaft is connected and rotatably connected to the center of the fixing part,
An automatic fastening device for a chemical drum, characterized in that a gripper finger fastened to the cap to open and close the cap in the chemical drum is provided at a lower portion of the rotating part.
The method of claim 6,
The gripper finger comprises a first finger and a second finger having a leaf spring installed therein, and the first finger and the second finger are alternately arranged in a circular annular shape. Automatic fastening device for use.
The method of claim 1,
The coupler fastening module includes a first coupler holder and a second coupler holder respectively connected to the upper and lower portions of the coupler, and a first bracket disposed between the first coupler holder and the second coupler holder and connected to the first coupler holder. And a second bracket connected to the second coupler holder, and mounted to the second installation block through an installation frame connected to the first bracket.
The method of claim 8,
The first bracket and the second bracket each have a first through hole and a second through hole through which the coupler passes in a non-contact state,
The first bracket is connected to the first coupler holder through a plurality of elastic springs arranged along the circumference of the coupler, and the first bracket between a pair of side plates extending downwardly to both left and right sides of the first bracket. 1 A linear motion guide mounted on the lower surface of the bracket is provided, and a first shaft holder is movably connected to the linear motion guide,
The second bracket is inserted into the shaft inserted into the first shaft holder on both left and right sides to be rotatably connected, and inserted into the shaft inserted into the second shaft holder fixed on the second coupler holder on both front and rear sides and rotated. Automatic fastening device for a chemical drum, characterized in that the connection is possible.
The method of claim 1,
It includes a coupler storage unit provided on the support frame,
The coupler storage unit is a chemical drum, characterized in that it comprises a storage box for receiving a chemical falling off by being mounted on the support frame, a support rotatably provided on the storage box, and a driving means for rotating the support. Automatic fastening device for use.

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