KR20220020747A - Integrated coupling module and coupling system including the same - Google Patents

Abstract

According to an embodiment of the present invention, disclosed are an integrated coupling module and a coupling system including the same. The integrated coupling module comprises: an opening/closing module including a cap gripping part for gripping a lid of a container; and a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside. The coupler is coupled to the container by descending from an upper portion of the cap gripping part. According to the embodiment of the present invention, since the opening/closing module and the coupler fixing module are integrated, the working speed may be increased and the installation area may be reduced.

Description

Integral coupling module and coupling system including same

The embodiment relates to an integrated coupling module capable of opening and closing a lid of a container and discharging a liquid, and a coupling system including the same.

Various types of chemicals used in semiconductor factories or chemical factories are supplied in a state of being stored in containers such as drums. Therefore, in order to supply the supplied chemical to a semiconductor factory, it is necessary to open the lid of the drum and couple the coupler to store the chemical in a storage tank inside the factory. Alternatively, the empty drum may be filled with chemicals by coupling a coupler.

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

In addition, in the conventional coupling module, a first step in which the opening/closing module moves to the upper part of the drum to open the lid and then separates from the upper part of the drum, a second step in which the coupler fixing module moves to the upper part of the drum and inserts the coupler into the drum , the third step of filling or discharging the drug of the drum through the coupler of the coupler fixing module, the fourth step of separating the coupler fixing module from the upper part of the drum, and the second step of coupling the lid by moving the opening/closing module back to the upper part of the drum It consists of 5 steps. However, since the opening/closing module and the coupler fixing module must alternately move to the working position, there is a problem in that the working speed is relatively slow.

In addition, the conventional coupling module has a problem in that it is difficult to accurately grip the lid or insert the coupler into the outlet when the lid or the outlet of the drum is inclined because the inclination angle cannot be adjusted.

The embodiment provides an integrated coupling module in which the opening/closing module and the coupler fixing module are integrated.

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

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

The integrated coupling module according to one aspect of the present invention includes: an opening/closing module including a cap gripping part for gripping a lid of a container; and a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside, wherein the coupler is coupled to the container by descending from the upper part of the cap gripping part.

The cap gripping portion may include a space portion formed in an axial direction, and the coupler may pass through the space portion and descend to a lower portion of the cap gripping portion.

The cap gripping part may include a support part in which a first through hole is formed, and a plurality of grippers disposed to surround the first through hole and forming the space part.

The opening/closing module may include a second rotating unit configured to rotate the cap holding unit; and a first housing disposed above the cap gripping part, wherein the coupler fixing module may be inserted into the first housing.

a position adjusting module disposed between the cap holding part and the first housing, wherein the position adjusting module includes a first position adjusting module for moving the position of the cap holding part in a first direction, and the cap holding part and a second position adjusting module for moving the position in a second direction crossing the first direction.

The coupler fixing module may include: a first rotating part for rotating the coupler or a key code of the coupler; and a driving module for moving the coupler up and down, wherein the coupler may descend to a lower portion of the cap gripping unit by the driving module.

and an elevating module for moving the opening/closing module and the coupler fixing module up and down together, wherein the coupler elevates and lowers with the cap gripper by the elevating module, and the cap by the driving module of the coupler fixing module It can descend to the lower part of the grip part.

and an angle adjusting module connected to the opening and closing module to adjust the angle of the opening and closing module, wherein the angle adjusting module includes a first adjusting unit for moving the opening and closing module and the coupler fixing module together in a first direction, and the first It may include a second adjustment unit for moving the opening/closing module and the coupler fixing module together in a second direction intersecting the first direction.

The angle adjustment module may include an angle adjustment element for simultaneously adjusting the inclination angles of the opening/closing module and the coupler fixing module.

and a sensing module for sensing the position and inclination of the lid, wherein the sensing module includes: a first sensing unit for sensing the position of the lid; And it may include a second sensing unit for sensing the inclination of the lid.

A coupling system according to one aspect of the present invention includes a pair of first transfer members facing each other in a first direction; a pair of second transfer members facing in a direction crossing the first direction; an integral coupling module disposed on at least one of the pair of second transfer members; and a control unit for controlling the first transfer member, the second transfer member, and the integral coupling module, wherein the integral coupling module includes: an opening/closing module including a cap gripping part for gripping the lid of the container; and a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside, wherein the coupler is coupled to the container by descending from the upper part of the cap gripping part.

A coupling method according to one aspect of the present invention includes the steps of rotating a cap gripping part of an opening/closing module to separate the lid from the container; a step of descending a coupler disposed inside the opening/closing module to expose a lower portion of the cap gripping part; discharging the liquid stored in the container by inserting the coupler into the outlet of the container; raising the coupler to an upper portion of the cap gripping part; and fastening the cap to the container by the cap gripper.

In the step of removing the lid, the opening/closing module moves to a holder disposed adjacent to the container to seat the separated lid on the holder, and in the step of fastening the lid to the container, the opening/closing module moves to the holder Thus, the lid seated on the holder can be gripped again and fastened to the container.

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

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

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

1 is a conceptual diagram of a coupling system according to an embodiment of the present invention,
2 is a conceptual diagram of an integrated coupling module according to an embodiment of the present invention,
3 is a perspective view of FIG. 2 viewed from another direction;
4 is an exploded perspective view of the opening/closing module and the coupler fixing module;
5 is a side view of the cap gripper;
Figure 6a is a cross-sectional view of the integral coupling module,
Figure 6b is a cross-sectional view showing a state in which the coupler is lowered to the lower portion of the cap gripper,
7A and 7B are views showing a process in which a plurality of containers are loaded into at least one integral coupling module;
8 is a view showing a process of sensing the position of the lid coupled to the container,
9 is a view showing a process of sensing the flatness of the lid coupled to the container,
10 is a view showing an angle adjustment module,
11 is a view showing a control element of the angle control module,
12 is a side view of the integral coupling module;
13 is a view showing a state in which the integral coupling module is inclined to one side by the angle adjustment module;
14 is a view showing a state in which the integral coupling module is inclined to the other side by the angle adjustment module;
15 is a view showing an integrated coupling module according to another embodiment,
16 is a view showing a state in which the cap gripper descends and is coupled to the lid;
17 is a view showing a state in which the cap gripper separates the lid from the container;
18 is a view showing a state in which the cap gripper seats the lid on the cradle;
19 is a view showing a state in which the coupler is exposed to the lower part of the cap gripper;
20 is a view showing a state in which the key code of the coupler and the groove of the outlet are aligned;
21 is a view showing the upper surface of the outlet,
22 is a view showing a state in which the coupler is inserted into the outlet of the container;
23 is a view showing a state in which the coupler is raised to the upper part of the cap gripping part;
24 is a view showing a state in which the cap gripper grips the lid seated on the cradle again;
25 is a view showing a state in which the cap is coupled to the container by rotating the cap gripper;
26 is a view showing a state in which the cap gripper rises and the operation is completed.

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

Terms including an ordinal number such as second, first, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the second component may be referred to as the first component, and similarly, the first component may also be referred to as the second component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

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

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

1 is a conceptual diagram of a coupling system according to an embodiment of the present invention.

1, the coupling system according to the embodiment, a pair of first transfer members 210 disposed to face each other in a first direction (X-axis direction), a second direction perpendicular to the first direction ( A pair of second transfer members 220 disposed to face each other in the Y-axis direction), at least one integrated coupling module 400 disposed on the second transfer member 220, and a control unit 300 for controlling them may include

The integrated coupling module 400 may be connected to the second transfer member 220 and move in the first direction (X-axis direction) by the second transfer module 221 . In addition, the second transfer member 220 may be moved in the second direction (Y-axis direction) by the first transfer module 211 .

Accordingly, the integrated coupling module 400 can freely move in the first direction and the second direction by the first transfer module 211 and the second transfer module 221 . The integrated coupling module 400 may be respectively disposed on the pair of second transfer members 220 , but is not limited thereto.

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

The container 10 may have a lid 11 coupled to the outlet 12 . Therefore, the control unit 300 opens the lid 11, inserts the coupler into the outlet of the container to discharge the liquid stored in the container 10 to the outside, and then closes the lid 11 again. ) can be controlled.

2 is a conceptual diagram of an integrated coupling module according to an embodiment of the present invention, FIG. 3 is a perspective view of FIG. 2 viewed from another direction, FIG. 4 is an exploded perspective view of the opening/closing module and the coupler fixing module, FIG. 5 is It is a side view of a cap gripping part.

2 to 4, the integrated coupling module 400 has an opening/closing module 410 for opening and closing the lid 11 of the container 10, and a coupler fixing module 430 for supporting the coupler 420. They can be combined to form one integrated module.

The opening/closing module 410 may include a cap gripping part 411 , a second rotating part 414 , and a first housing 416 . The opening/closing module 410 descends to grip the lid 11 of the container 10, separates the lid 11 from the container 10 by rotation, and rises in a state in which the lid 11 is gripped. . The opening/closing module 410 may have various structures capable of performing these functions without limitation.

The cap gripper 411 may include a plurality of grippers 412 capable of gripping the lid 11 and a support portion 413 to which the plurality of grippers 412 are connected. The plurality of grippers 412 may be configured to be opened and fastened to the lid 11 when descending. The hinge structure is not limited to a special structure, and various fastening structures capable of gripping the lid may be applied without limitation.

The second rotating unit 414 may rotate the cap holding unit 411 to separate or fasten the lid 11 from the container 10 . The second rotating unit 414 may rotate the driving belt 415 connected to the second housing 418 disposed on the upper end of the cap holding unit 411 . The second housing 418 may rotate together with the cap gripping part 411 . However, the configuration of the second rotating part is not necessarily limited thereto, and various power transmission structures may be applied.

The first housing 416 may be disposed on the cap gripping part 411 and the second housing 218 and an accommodation space may be formed therein. The coupler fixing module 430 may be partially inserted into the first housing 416 . According to this configuration, the central axis of the opening/closing module 410 and the central axis of the coupler fixing module 430 may coincide.

The coupler 420 may include a nozzle 421 inserted into the outlet of the container 10 , a transfer tube 426 connected to the nozzle 421 , and at least one key code 425 . The key code 425 may be inserted into a groove formed in the outlet of the container 10 .

Coupler fixing module 430 is a holder 431 for fixing the coupler 420, the first rotating part 433 for rotating the key code 425 of the coupler 420 or the coupler 420, and the coupler 420. A driving module 435 for elevating and lowering within the opening/closing module 410 may be included.

Since the coupler fixing module 430 is inserted into the first housing 416 of the opening/closing module 410 , the coupler 420 may be disposed inside the opening/closing module 410 . Accordingly, the nozzle 421 may also be disposed inside the opening/closing module 410 so as not to be exposed to the outside.

The driving module 435 may move the coupler 420 up and down. The driving module 435 may have a cylinder structure, but is not necessarily limited thereto, and may be applied without limitation as long as it has a structure capable of moving the coupler 420 up and down.

When the coupler 420 is lowered by the driving module 435 , the nozzle 421 of the coupler 420 may be lowered to the lower part of the cap gripping part 411 to be exposed to the outside. When the integrated module descends while the nozzle 421 of the coupler 420 is exposed to the lower portion of the cap gripping part 411 , the nozzle 421 of the coupler 420 may be inserted into the outlet of the container 10 .

The angle adjustment module 450 may rotate (or tilt) the opening/closing module 410 and the coupler fixing module 430 together about the first direction (X-axis direction) and the second direction (Y-axis direction) as axes. . In the conventional structure, since the opening/closing module and the coupler fixing module are separately manufactured, there is a problem that a configuration for adjusting the angle of the opening/closing module and a configuration for adjusting the angle of the coupler fixing module are required to adjust their angles, respectively.

However, according to the embodiment, since the opening/closing module 410 and the coupler fixing module 430 are integrally manufactured, the angle of the cap gripping unit 411 and the coupler 420 can be adjusted at once with one angle adjustment module 450 . There is this. Accordingly, the manufacturing cost can be reduced and size reduction can be made possible.

The angle adjustment module 450 includes a first adjustment unit for moving the positions of the opening/closing module 410 and the coupler fixing module 430 in the first direction as an axis and the opening/closing module 410 and the coupler fixing module 430 as a second It may include a second adjustment unit for moving the direction to the axis. According to this configuration, the positions of the opening/closing module 410 and the coupler fixing module 430 can be adjusted at a desired angle.

The sensing module 460 may be disposed adjacent to the opening/closing module 410 and include a first sensing unit 461 and a second sensing unit 462 . The first sensing unit 461 may sense the position of the lid 11 by acquiring an image of the top surface of the container 10 .

The control unit 300 acquires the coordinates of the position of the lid 11 through the image image and moves the first transfer module 211 and the second transfer module 221 to move the cap gripping unit 411 to the upper part of the lid 11 . ) can output a driving signal. The first sensing unit 461 may be a camera capable of capturing an image, but is not limited thereto, and various equipment capable of confirming the position of the lid may be selected.

The second sensing unit 462 may measure the flatness of the lid 11 . Illustratively, the second sensing unit 462 may be configured with a plurality of height sensors to measure a height with respect to the lid 11 , respectively. The control unit 300 may determine how inclined the lid 11 is by using the height signals of the plurality of second sensing units 462 . The number of height sensors is not particularly limited. Illustratively, four height sensors may be disposed, but fewer or more height sensors may be disposed.

The elevating module 470 includes a connection part 473 connected to the second transfer member 220, a sliding part 472 and a sliding part 472 disposed on the connection part 473 and connected to the angle adjustment module 450. It may include an elevating driving unit 471 for elevating and lowering.

The cap gripping unit 411 and the coupler 420 may be raised and lowered by the elevating module 470 . According to the embodiment, the coupler 420 may be raised and lowered together with the cap gripping unit 411 by the elevating module 470 , and may be lowered to the lower portion of the cap gripping portion 411 by the driving module 435 .

1 and 5 , a position adjustment module 417 may be disposed between the cap gripping part 411 and the second housing 418 . When the lid 11 is inclined or not aligned, the position adjustment module 417 may adjust the cap gripping unit 411 to be inclined to match the inclination of the lid 11 or align the lid 11 in its original position.

According to this configuration, even when the lid 11 is tilted or cannot be gripped at an accurate position, the cap gripper 411 is tilted or moved by the position adjustment module 417 to accurately grip the lid 11 .

The position adjustment module 417 is a first position adjustment module 417a disposed on the support part 413 to move the position of the cap gripping part 411 in the first direction (X-axis direction), and the cap gripping part ( It may include a second position adjustment module 417b for moving the position of the 411 in a second direction (Y-axis direction) intersecting the first direction.

The first position adjustment module 417a may include a first position adjustment element 417a-1 and a first support plate 417a-2 disposed on the first position adjustment element 417a-1. The first positioning element 417a - 1 may move the cap gripping part 411 in the first direction with respect to the first support plate 417a - 2 .

The second position adjusting module 417b may include a second position adjusting element 417b - 1 and a second support plate 417b - 2 disposed on the second position adjusting element 417b - 1 . The second position adjusting element 417b - 1 may move the cap gripping part 411 in the second direction with respect to the second support plate 417b - 2 .

The first position adjusting element 417a-1 and the second position adjusting element 417b-1 may be an LM block, but the present invention is not limited thereto. A variety of possible moving structures may be applied. Exemplarily, the first position adjusting element and the second position adjusting element may have an elastic block or a hinge structure.

The plurality of grippers 412 may be connected to the support 413 by an elastic member (not shown). Accordingly, the gripper 412 may be opened while rising in the vertical direction by the elastic member when the lid 11 is pressed. Therefore, even when the lid 11 is inclined, it is possible to accurately grip the lid 11 .

The plurality of grippers 412 may include a first gripper 412a connected to the support 413 and a second gripper 412b connected to the first gripper 412a to grip the side surface of the lid 11 . A slit 412c is formed in the second gripper 412b so that the protrusion of the lid 11 may be inserted.

The position adjustment module 417 may be driven separately from the angle adjustment module 450 described above, and any one may be omitted if necessary.

6A is a cross-sectional view of the integral coupling module, and FIG. 6B is a cross-sectional view showing a state in which the coupler is lowered to the lower portion of the cap gripper.

Referring to FIG. 6A , the cap gripping part 411 may have a space portion H1 in which the coupler 420 descends in the axial direction. A first through hole H11 may be formed in the support portion 413 of the cap gripping portion 411 , and a plurality of grippers 412 may be disposed to surround the first through hole H11 .

In addition, in the position adjustment module 417 , a second through hole H12 corresponding to the first through hole H11 may be formed, and a third through hole H13 may be formed in the second housing 418 . there is. Accordingly, the space portion H1 is formed in the center of the cap gripping part 411 in the axial direction so that the coupler 420 disposed inside the opening/closing module 410 may descend.

The second housing 418 may be inserted into the first housing 416 . A bearing 419 may be disposed in the region into which the second housing 418 is inserted to support rotation of the second housing 418 .

The coupler fixing module 430 may include a holder 431 for fixing the support tube 427 into which the coupler 420 is inserted. One side 427a and the other side 427b of the support tube 427 may be exposed to the outside of the coupler fixing module. A plurality of projections ( 427c in FIG. 4 ) extending in the axial direction may be formed on the outer circumferential surface of the support tube 427 . The holder 431 is coupled to the support tube 427 and rotates by the first rotating part 433 to rotate the coupler 420 or the key code 425 .

Referring to FIG. 6B , when the coupler 420 is lowered by the driving module 435 , the nozzle 421 of the coupler 420 may be exposed under the plurality of grippers 412 . Accordingly, the nozzle 421 of the coupler 420 may be inserted into the outlet of the container 10 . In addition, when the discharge of the liquid is completed, the coupler 420 may be lifted up and down by the driving module 435 to be accommodated in the opening/closing module 410 again.

The driving module 435 may include a fixed chuck 435a coupled to the support pipe 427 in which the coupler 420 is fitted, and a driving unit for elevating the fixed chuck 435a. The driving unit may raise and lower the fixed chuck by using air, but the present invention is not limited thereto, and various elevating structures may be applied without limitation.

7A and 7B are views illustrating a process in which a plurality of containers are loaded into at least one integral coupling module.

Referring to FIGS. 7A and 7B , a plurality of containers 10 may be carried into a working position defined by a pair of first transfer members 210 and a pair of second transfer members 220 . The plurality of containers 10 may be brought into a working position by a moving member in a state disposed on the pedestal 20 . The moving members are conveyor rollers, conveyor belts, forklifts, hand lifts, and electric lifts. Various transport means capable of moving the container 10, such as a bogie, rail, etc., may be applied without limitation.

Two containers 10 may be disposed in a first row, and two containers 10 may be disposed in a second row. The two containers 10 disposed in the first row are coupled by the first integral coupling module 400A, and the two containers 10 disposed in the second row are coupled to the second integral coupling module ( 400B) can perform this coupling operation. However, the present invention is not necessarily limited thereto, and the number of containers 10 that can be operated at a time may be changed in consideration of the amount of drug used or the working space. Illustratively, the container 10 may be arranged in three or less or five or more.

8 is a view showing a process of sensing the position of the lid coupled to the container, Figure 9 is a view showing the process of sensing the flatness of the lid coupled to the container.

Referring to FIG. 8 , the first sensing unit 461 may obtain an image of the top surface of the container 10 to determine the position of the lid 11 . The control unit 300 acquires the position coordinates of the lid 11 through the image image, and the first transfer member 210 and the second transfer member 220 so as to move the cap gripping unit 411 to the upper part of the lid 11 . ) can output a driving signal.

The first sensing unit 461 may be a camera capable of capturing an image, but is not limited thereto. The control unit 300 may extract the position coordinates of the lid 11 by using the image image acquired by the first sensing unit 461 , and confirm the protrusion position of the lid 11 . This process may be performed by various image analysis techniques.

Referring to FIG. 9 , the second sensing unit 462 may measure the flatness of the lid 11 . Illustratively, the second sensing unit 462 may be configured with a plurality of height sensors to measure a height with respect to the lid 11 , respectively. The control unit 300 may determine how inclined the lid 11 is by using the height signals of the plurality of second sensing units 462 . The number of height sensors is not particularly limited. Illustratively, four height sensors may be disposed, but fewer or more height sensors may be disposed.

The controller 300 may calculate how much the inclination of the lid 11 is in the X-axis and the Y-axis by using the information measured by the plurality of height sensors. When the inclination of the lid 11 is calculated, the inclination angle of the integrated coupling module 400 may be adjusted accordingly. If, as a result of measuring the flatness, the inclination of the lid 11 is out of a predetermined inclination range, an error message may be output without performing the lid 11 separation operation.

Figure 10 is a view showing the angle adjustment module, Figure 11 is a view showing the adjustment element of the angle adjustment module, Figure 12 is a side view of the integral coupling module, Figure 13 is the integral coupling module is one side by the angle adjustment module It is a view showing an inclined state, FIG. 14 is a view showing a state in which the integral coupling module is inclined to the other side by an angle adjustment module, and FIG. 15 is a view showing another integral coupling module in another embodiment.

10 and 11, the angle adjustment module 450 includes a first fixing plate 451, a plurality of angle adjustment elements 454a, 454b, 454c, 454d, a second fixing plate 452, a first adjustment unit ( 455 ), a second adjustment unit 456 , and a third fixing plate 453 .

The first adjusting unit 455 may move the opening/closing module 410 and the coupler fixing module 430 in a first direction, and the second adjusting unit 456 may fix the opening/closing module 410 and the coupler in the second direction. The module 430 may be moved. The first adjusting unit 455 and the second adjusting unit 456 may be a motor or a cylinder, but are not limited thereto, and various structures capable of moving the opening/closing module in the first direction and the second direction may be applied without limitation. there is.

The angle adjusting elements 454a , 454b , 454c , and 454d may be disposed between the first fixing plate 451 and the second fixing plate 452 . The angle control elements 454a, 454b, 454c, 454d may be air chucks, and the first connected to the opening/closing module 410 by applying a predetermined pressure and flow rate by a separate pneumatic regulator (not shown), respectively. The angle of the fixing plate 451 can be adjusted. However, the present invention is not necessarily limited thereto, and various structures capable of tilting the integrated coupling module 400 in the X-axis and Y-axis may be applied without limitation.

12 and 13 , the pressure and flow rates applied to the plurality of angle control elements 454 are controlled differently so that the opening/closing module 410 and the coupler fixing module 430 may be inclined forward. Also, referring to FIG. 14 , the opening/closing module 410 and the coupler fixing module 430 may be inclined backward by the plurality of angle adjusting elements 454 . According to this structure, the opening/closing module 410 and the coupler fixing module 430 may be freely tilted by one angle adjustment module 450 .

The lid coupled to the container for various reasons may be inclined. Containers such as drums may require chemical resistance depending on the type of chemical, so a resin material with relatively weak strength (eg PP, PE) may be used. Therefore, there is a possibility that an inclination may occur in the lid and the outlet when the container is manufactured.

In addition, an error may occur in regulating the pressure of the gas injected after filling the container with a chemical, and thus an inclination may occur. In addition, when discharging the chemical from the container, fine pressure gas is filled to maintain an appropriate pressure, but if the pressure is not well controlled, the container is contracted, and an inclination may occur in the lid and the outlet.

As described above, when the cap is disposed to be inclined for various reasons, it may be difficult to accurately grip the inclined cap when the cap gripper vertically descends. Accordingly, the integrated coupling module according to the embodiment is characterized in that the angle of the cap gripper 411 and/or the coupler 420 is adjusted using the angle adjustment module 450 .

According to the embodiment, the cap gripper of the opening/closing module 410 rotates freely according to the inclination of the lid to have an inclination, thereby accurately gripping the lid.

In addition, when the coupler 420 is exposed to the lower portion of the cap gripping part 411, the coupler rotates freely according to the inclination of the lid to have an inclination, so that it can be accurately inserted into the outlet of the container.

The angle adjustment module 450 may include a first fixing plate 451 , a plurality of angle adjustment elements 454a , 454b , 454c , 454d , and a second fixing plate 452 . That is, the angle adjustment module 450 may adjust only the inclination of the opening/closing module by the angle adjusting element, or may further add a configuration for moving the opening/closing module by adding a first adjusting unit and a second adjusting unit.

Referring to FIG. 15 , an elevation module 470 may be disposed between the angle adjustment module 450 and the opening/closing module 410 . According to this configuration, since the elevation module 470 and the opening/closing module 410 are inclined together by the angle adjustment module 450, the opening/closing module 410 and the coupler fixing module 430 may descend diagonally. Accordingly, it is possible to more accurately grip the lid 11 or insert the nozzle 421 into the container 10 .

16 is a view showing a state in which the cap gripper descends and is coupled to the lid, FIG. 17 is a view showing a state in which the cap gripper separates the lid from the container, and FIG. It is a drawing showing

Referring to FIG. 16 , while the opening/closing module 410 is lowered by the elevating module 470 , the cap gripping part 411 may be coupled to the lid 11 of the container 10 . Thereafter, the cap 11 may be separated from the container 10 while the cap gripping unit 411 is rotated by the second rotating unit 414 .

Referring to FIG. 17 , while the opening/closing module 410 is raised and lowered by the elevating module 470 , the cap gripping unit 411 may be lifted while gripping the lid 11 . Accordingly, the outlet 12 of the container 10 may be exposed.

Referring to FIG. 18 , the opening/closing module 410 may move to the outside of the container 10 to seat the lid 11 on the holder 13 disposed adjacent to the container 10 . This is because the coupler 420 cannot descend in a state in which the lid 11 is gripped by the cap gripping part 411 .

The structure in which the cap holding part 411 mounts the lid 11 on the cradle 13 is not particularly limited. Exemplarily, the gripper 412 of the cap gripper 411 may be spread by a separate driving unit to seat the lid 11 on the cradle 13 . However, the method for the cap gripping part 411 to seat the lid 11 on the cradle 13 is not particularly limited. Illustratively, a screw thread is formed in the holder 13 so that the lid 11 may be seated on the holder 13 in the form of coupling the lid to the outlet.

In addition, the cap holding part 411 may be rotated or moved to a position that does not seat the lid 11 on the cradle 13 and does not interfere with the descent of the coupler 420 .

19 is a view showing a state in which the coupler is exposed to the lower part of the cap gripper, FIG. 20 is a view showing a state in which the key code of the coupler and the groove of the outlet are aligned, and FIG. 21 is a view showing the upper surface of the outlet, 22 is a view showing a state in which the coupler is inserted into the outlet of the container, and FIG. 23 is a view showing a state in which the coupler is raised to the upper part of the cap gripper.

19 to 21 , by the driving module 435 of the coupler fixing module 430 , the nozzle 421 of the coupler 420 may descend to the lower portion of the cap gripping part 411 to be exposed.

The first sensing unit 461 may acquire an image image of the outlet 12 from which the lid 11 is removed and confirm whether the key code 425 is aligned with the groove 12b of the outlet 12 . If it is determined that the key code 425 and the groove 12b are not aligned, the key code 425 may be rotated by the first rotating unit 433 .

Exemplarily, on the video image of the outlet 12, it is rotated clockwise or counterclockwise based on the reference point R1 disposed on the upper surface of the outlet 12 to one or more open grooves among the plurality of grooves 12b. A key code 425 may be inserted. However, the present invention is not limited thereto, and various sorting methods using vision may be applied to the method of aligning the key code 425 .

When it is determined that the key code 425 is aligned, the coupler 420 is lowered by the elevating module 470 as shown in FIG. 22 to the outlet hole 12a of the outlet 12. The nozzle 421 of the coupler 420. can be inserted. In this case, the second sensing unit 462 may be used to measure the inclination of the outlet 12 , and may be inserted after rotating the nozzle 421 obliquely according to the inclination of the outlet 12 .

When the coupler 420 is inserted into the outlet of the container 10, the liquid stored in the container 10 may be discharged to the storage tank. As a method of transferring the liquid of the container 10 to the storage tank, various fluid transfer methods may be applied without limitation.

Referring to FIG. 23 , when the discharge is completed, the integral coupling module 400 may be lifted again by the elevating/lowering module 470 .

24 is a view showing a state in which the cap gripper grips the lid seated on the cradle again, FIG. 25 is a view showing a state in which the cap gripper rotates and the lid is coupled to the container, and FIG. A drawing showing the status of the work being completed.

Referring to FIG. 24 , the opening/closing module 410 may move to the cradle 13 and grip the lid 11 seated on the cradle 13 again. Referring to FIG. 25 , the cap holding part 411 holding the lid 11 by the elevating module 470 descends and the cap holding part 411 rotates by the second rotating part 414 while the lid 11 ) can be combined with the outlet 12 again to complete the process.

Referring to FIG. 26 , the cap gripping unit 411 is lifted again and the integrated coupling module 400 may then move to the upper part of the container 10 to perform the same operation.

Although the embodiment has been described above, it is merely an example and does not limit the present invention, and the configuration of various embodiments described in the drawings may be applied without limitation.

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

10: courage
11: Lid
400: integral coupling module
410: opening and closing module
411: cap grip portion
414: second rotation unit
420: coupler
425: key code
430: coupler fixing module
433: first rotating part
435: drive module
450: angle adjustment module
470: elevating module

Claims (14)

an opening/closing module including a cap gripping part for gripping the lid of the container; and
Including a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside,
The coupler is an integrated coupling module coupled to the container by descending from the upper portion of the cap gripping portion.
According to claim 1,
The cap gripping portion includes a space portion formed in the axial direction,
The coupler is an integrated coupling module that passes through the space and descends to the lower part of the cap gripping part.
3. The method of claim 2,
The cap gripping portion includes a support portion in which a first through hole is formed, and
and a plurality of grippers disposed to surround the first through-hole and forming the space portion.
According to claim 1,
The opening/closing module may include a second rotating unit configured to rotate the cap holding unit; and
a first housing disposed on the cap gripping part;
The coupler fixing module is an integrated coupling module that is inserted into the first housing.
5. The method of claim 4,
a position control module disposed between the cap gripping part and the first housing;
The position adjusting module includes a first position adjusting module for moving the position of the cap gripping part in a first direction, and a second position adjusting module for moving the position of the cap gripping part in a second direction crossing the first direction. Including a one-piece coupling module.
5. The method of claim 4,
The coupler fixing module,
a first rotation unit for rotating the coupler or a key code of the coupler; and
And a driving module for moving the coupler up and down,
The coupler is an integrated coupling module that descends to the lower portion of the cap gripper by the driving module.
According to claim 1,
Including an elevating module for moving the opening/closing module and the coupler fixing module up and down together,
The coupler is an integrated coupling module that ascends and descends together with the cap gripper by the elevating module, and descends to the lower portion of the cap gripper by the driving module of the coupler fixing module.
According to claim 1,
and an angle adjustment module connected to the opening/closing module to adjust the angle of the opening/closing module,
The angle adjustment module includes a first adjustment unit for moving the opening/closing module and the coupler fixing module together in a first direction, and moving the opening/closing module and the coupler fixing module together in a second direction crossing the first direction Integral coupling module including a second adjustment part.
According to claim 1,
and an angle adjustment module connected to the opening/closing module to adjust the angle of the opening/closing module,
The angle adjustment module is an integrated coupling module including an angle adjustment element for simultaneously adjusting the inclination angle of the opening and closing module and the coupler fixing module.
According to claim 1,
A sensing module for sensing the position and inclination of the lid,
The sensing module,
a first sensing unit for sensing the position of the lid; and
Integral coupling module including a second sensing unit for sensing the inclination of the lid.
a pair of first transfer members facing each other in a first direction;
a pair of second transfer members facing in a direction crossing the first direction;
an integral coupling module disposed on at least one of the pair of second transfer members; and
A control unit for controlling the first transfer member, the second transfer member and the integral coupling module,
The integrated coupling module,
an opening/closing module including a cap gripping part for gripping the lid of the container; and
Including a coupler fixing module for fixing a coupler for discharging the liquid in the container to the outside,
The coupler is coupled to the container by descending from an upper portion of the cap gripping unit.
12. The method of claim 11,
A coupling system including a cradle on which the lid separated by the opening/closing module is mounted.
separating the lid from the container by rotating the cap gripping part of the opening/closing module;
a step of descending a coupler disposed inside the opening/closing module to expose a lower portion of the cap gripping part;
discharging the liquid stored in the container by inserting the coupler into the outlet of the container;
raising the coupler to an upper portion of the cap gripping part; and
Coupling method comprising the step of fastening the cap to the container by the cap gripper.
14. The method of claim 13,
In the step of removing the lid, the opening/closing module moves to a holder disposed adjacent to the container to seat the separated lid on the holder,
In the step of fastening the lid to the container, the opening/closing module moves to the holder, grips the lid seated on the holder again, and fastens the lid to the container.

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