KR20230088875A - Open/shut module, coupler supporter module and coupling apparatus including the same - Google Patents

Abstract

Embodiments include a cap gripping portion coupled to the lid of the container; a first rotation unit rotating the cap gripping unit; and an elevating unit for moving the cap gripping unit up and down, wherein the cap gripping unit includes a plurality of hooks coupled to the lid, a first body supporting the plurality of hooks and including a first through hole formed in the center; Disclosed is an opening/closing module including a second body disposed in the first through hole, and a plurality of first elastic members connecting the first body and the second body, a coupler support module, and a coupling device including the same. .

Description

Opening/closing module, coupler support module, and coupling device including the same

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

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

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

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

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

The embodiment provides a coupling module including an opening/closing module and a coupler support module.

In addition, a coupler is inserted into the drain module to provide an integrated coupling module capable of suppressing chemical leakage.

In addition, an opening/closing module capable of tilting the cap gripper is provided.

In addition, a coupler support module in which the coupler can be tilted is provided.

In addition, an integral coupling module capable of simultaneously adjusting the angles of the opening/closing module and the coupler support module is provided.

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

An opening and closing module according to one feature of the present invention includes a cap gripper coupled to a lid of a container; a first rotation unit rotating the cap gripping unit; and an elevating unit for moving the cap gripping unit up and down, wherein the cap gripping unit includes a plurality of hooks coupled to the lid, a first body supporting the plurality of hooks and including a first through hole formed in the center; It includes a second body disposed in the first through hole, and a plurality of first elastic members connecting the first body and the second body.

When the cap gripping part is coupled to the lid, the plurality of first elastic members are bent according to the degree of inclination of the lid, so that the first body may be inclined.

The second body includes a plurality of protrusions protruding in a radial direction, the first body includes a plurality of receiving grooves into which the plurality of protrusions are inserted, and the plurality of protrusions are accommodated in the plurality of receiving grooves. It may be disposed spaced apart from the bottom surface of the plurality of receiving grooves.

When the first body is tilted at a predetermined angle or more according to the degree of inclination of the lid, at least one of the plurality of protrusions may prevent the first body from further tilting by contacting the bottom surface of the receiving groove. there is.

It may include a plurality of first clips coupled to the first body and fixing the plurality of first elastic members to the first body.

The plurality of first clips and the plurality of receiving grooves may be alternately arranged in a clockwise direction.

The second body is connected to a rotating shaft, and when the second body rotates, the first body may rotate together with the second body by the protrusion inserted into the receiving groove.

Coupler support module according to another feature of the present invention, a support structure for supporting the coupler inserted into the inlet of the container; a second rotating unit rotating the support structure; and an elevating module for moving the support structure up and down, wherein the support structure includes a first sub fixing plate to which the coupler is fixed, a second sub fixing plate including a second through hole into which the first sub fixing plate is inserted, and a plurality of second elastic members connecting the first sub-fixing plate and the second sub-fixing plate.

When the coupler is inserted into the inlet, the plurality of second elastic members are bent according to the degree of inclination of the inlet, so that the first sub-fixing plate may be inclined.

A plurality of stoppers disposed on the second sub-fixing plate and extending above the first sub-fixing plate may be included.

When the first sub-fixing plate is tilted at a predetermined angle or more according to the degree of tilt of the container, at least one of the plurality of stoppers contacts the upper surface of the first sub-fixing plate to prevent the first sub-fixing plate from tilting further. can be stopped

A second fixing plate disposed above the second sub fixing plate and a plurality of connecting members connecting the second sub fixing plate and the second fixing plate may be included.

A drain module is inserted into the end of the coupler to discharge liquid remaining inside and outside the coupler, the drain module is separated from the coupler when the coupler is inserted into the inlet of the container, and the coupler is connected to the container. After being separated from the inlet, it can be coupled to the coupler again.

a horizontal moving member for horizontally moving the drain module; and a vertical movement member vertically moving the drain module.

The drain module may include an opening groove into which an end of the coupler is inserted, and a discharge line connected to the opening groove and discharging liquid remaining inside and outside the coupler.

An end cap coupled to the drain module separated from the coupler may be included.

A coupling device according to another feature of the present invention includes an opening/closing module including a cap gripping unit for separating or combining a container and a lid; and a coupler support module fixing a coupler for discharging the liquid in the container to the outside, wherein the opening/closing module includes a plurality of hooks coupled to the lid and a first through hole connecting the plurality of hooks and formed in the center thereof. A first body including a first body, a second body disposed in the first through hole, and a first elastic member connecting the first body and the second body, wherein the coupler support module is fixed to the coupler. It includes a first sub-fixing plate, a second sub-fixing plate including a second through hole into which the first sub-fixing plate is inserted, and a second elastic member connecting the first sub-fixing plate and the second sub-fixing plate.

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

In addition, contamination can be prevented by discharging chemicals remaining in the coupler to the outside.

In addition, the cap holding part is tilted so that the cap can be accurately held.

In addition, the coupler can be tilted and accurately inserted into the inlet of the container.

In addition, inclination angles of the opening/closing module and the coupler support module may be simultaneously adjusted according to the inclination of the lid and the inlet of the container.

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

1 is a conceptual diagram of a coupling system according to an embodiment of the present invention.
2 is a conceptual diagram of an integrated coupling module according to an embodiment of the present invention.
3 is a perspective view of FIG. 2 viewed from another direction;
4 is a front view of an integrated coupling module according to an embodiment of the present invention.
5 is a rear view of an integrated coupling module according to an embodiment of the present invention.
6 is a partial enlarged view of FIG. 2 .
Figure 7 is a cross-sectional view of Figure 6;
8 and 9 are views showing a process of loading a plurality of containers into at least one integrated coupling module.
10 is a view showing a process of sensing the position and flatness of a lid coupled to a container.
11 is a view showing a state in which the cap gripping part and the coupler are tilted according to the tilt of the lid.
Fig. 12 is a rear view of Fig. 11;
13 is a view showing a state in which the cap gripping part is lowered and coupled to the lid.
14 is a perspective view of a cap gripping part.
15 is a cross-sectional perspective view of a cap gripper.
16 is a view showing a tilted state of the cap gripper.
17 is a view showing a state in which the coupler is separated from the drain module.
18 is a partial enlarged view of FIG. 17 .
19 is a view showing a state in which the cap gripping part is separated from the lower part of the coupler.
20 is a view showing a state in which an end cap is coupled to a drain module.
Fig. 21 is a cross-sectional view of Fig. 20;
22 is a view showing a coupler fixed to a support structure.
23 is a view showing the first fixing plate and the second fixing plate of the supporting structure.
Fig. 24 is a cross-sectional view of Fig. 22;
25 is a view showing a state in which the coupler is tilted.
26 is a view showing a state in which the coupler is inserted into the container.
27 is a view showing a state in which the discharge of the solution inside the container is completed, the coupler rises, and the cap gripping part returns to the lower part of the coupler.
28 is a view showing a state in which the lid is fastened to the container again.
29 is a view showing an opening/closing module according to an embodiment of the present invention.
30 is a view showing a coupler support module according to an embodiment of the present invention.
31 is a view showing a state in which the drain module is separated from the end of the coupler.
32 is a view showing a state in which the drain module is moved to a second position that does not overlap with the coupler.
33 is a view showing a state in which the drain module is raised and coupled with an end cap.
34 is a view showing a state in which the drain module is raised together with the end cap.

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

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

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

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

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

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

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

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

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

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

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

The container 10 may have a lid coupled to the inlet. Accordingly, the controller 300 may control the integrated coupling module 100 to discharge the liquid stored in the container 10 to the outside by opening the lid and inserting the coupler into the inlet. The inlet may be an outlet through which contents are discharged or an inlet through which contents are injected.

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 a front view of an integrated coupling module according to an embodiment of the present invention. 5 is a rear view of an integrated coupling module according to an embodiment of the present invention.

2 to 5, the integrated coupler module according to the embodiment includes an opening/closing module 110 including a cap gripper 120 separating or combining the container 10 and the lid 11, and the container 10 ) It may include a coupler support module 150 for fixing the coupler (CM) for discharging the liquid in the outside.

The cap gripper 120 may include a plurality of hooks 121 coupled to the lid 11 and a body 122 connected to the plurality of hooks 121 . The plurality of hooks 121 may have various hook structures that can be inserted into and separated from the lid 11 .

The opening/closing module 110 may further include a first rotating part 129 that rotates the cap gripping part 120 and a first support part 131 that fixes the cap gripping part 120 . The first support part 131 may include a horizontal support part 131a to which the cap gripping part 120 is rotatably coupled and a vertical support part 131b connected to the horizontal support part 131a. The vertical support 131b may be connected to the second support 132 , and the second support 132 may be connected to the driving module 130 .

The first rotation unit ( 129 in FIG. 5 ) may rotate the cap gripping unit 120 coupled to the first support unit 131 . The first rotating unit may include a conveyor belt connected to the cap gripper 120 and a motor rotating the conveyor belt clockwise and counterclockwise. However, it is not necessarily limited thereto, and various configurations of rotational structures capable of rotating the cap gripper 120 may be applied without limitation.

A drain module 140 may be disposed above the horizontal support part 131a. An end of the coupler CM is inserted into the drain module 140 to discharge chemicals remaining inside and outside the coupler CM to the outside.

The driving module 130 may include a horizontal moving member 133 and first and second vertical moving members 134 and 135 . The first support part 131 can move up and down and horizontally by the driving module 130 . Therefore, only the cap gripper 120 can move up and down and horizontally independently of the coupler support module 150 .

The driving module 130 may move the cap gripper 120 and the drain module 140 from the lower part (first position) of the coupler CM to the second position. The second position may be a position that does not overlap with the coupler CM in the vertical direction. After the lid 11 is separated, the coupler CM can be inserted into the container 10 by separating the cap gripping part 120 from the bottom of the coupler CM.

The horizontal moving member 133 may be connected to the second support part 132 and the first vertical moving member 134 . The horizontal moving member 133 may move in a horizontal direction (X-axis direction) on the first vertical moving member 134 . Accordingly, the first support 131 connected to the horizontal moving member 133 may also move in the horizontal direction. Accordingly, the cap gripping part 120 can move from the lower part (first position) of the coupler CM to the second position by the horizontal moving member 133 (see FIG. 19 ).

The horizontal driving unit 138 may be various driving units capable of moving the horizontal moving member 133 . Illustratively, the horizontal driving unit may be a cylinder, but is not necessarily limited thereto.

The first vertically movable member 134 may move up and down on the second vertically movable member 135 . Accordingly, the cap gripper 120 and the drain module 140 connected to the first vertical movable member 134 may also be moved up and down together.

The second vertically movable member 135 may move vertically along the base part 136 disposed in the holder 154 of the coupler support module 150 . Accordingly, the cap gripping part 120 and the drain module 140 connected to the second vertical movable member 135 may also move up and down together.

A horizontal driving unit (not shown) that drives the first vertically moving member 134 and the second vertically moving member 135 may be various driving units. Illustratively, the vertical driving unit may be a cylinder, but is not necessarily limited thereto.

According to the embodiment, the cap gripping part 120 and the drain module 140 can be moved up and down in two steps by the first vertical moving member 134 and the second vertical moving member 135 . According to this configuration, the end cap can be positioned above the coupler (CM), so that when the coupler (CM) is inserted into the container, it is possible to solve the problem that the operation is hindered by the cap gripping part 120 and the drain module 140. . However, it is not necessarily limited to this, and the vertical moving member may be composed of one stage or two or more stages.

The coupler support module 150 serves to support the coupler CM. The coupler support module 150 may include a support structure 156 to which the coupler CM is fixed and a holder 154 to fix the support structure 156 .

The support structure 156 includes a first fixing plate 151 to which the coupler CM is fixed, a second fixing plate 152 spaced apart from the first fixing plate 151, and the first fixing plate 151 and the second fixing plate 152. It may include a plurality of connecting members 153 connecting the. The connection member 153 may have elasticity, but is not necessarily limited thereto. The first fixing plate 151 and the second fixing plate 152 may have a disk shape, but are not necessarily limited thereto and may be deformed into various shapes.

The coupler CM may include a nozzle inserted into the inlet of the container 10, a transfer tube connected to the nozzle, and at least one key code. The key code may be inserted into a groove formed at the inlet of the container 10 . The keycode AP1 may be aligned by rotating the support structure 156 and the coupler CM by the second rotation unit ( 155 in FIG. 5 ).

The holder 154 of the coupler support module 150 may have the base portion 136 fixed to one side and the elevating module 160 connected to the other side. When the coupler support module 150 is moved up and down by the elevating module 160, the second vertically moving member 135, the first vertically moving member 134, the horizontal moving member 133 connected to the holder 154, and The cap gripping part 120 may also be moved up and down together. Accordingly, the cap gripping unit 120 may move up and down independently by the first and second vertical moving members 134 and 135 or together with the coupler support module 150 by the lifting module 160. there is.

The angle adjustment modules 170 and 180 include a first adjusting unit 170 that rotates the cap gripping unit 120 and the coupler CM in a first direction (X-axis direction) as an axis, and a second direction (Y A second control unit 180 for rotating the cap gripping unit 120 and the coupler CM with the cap gripping unit 120 as an axis may be included. The first direction and the second direction may be directions perpendicular to each other.

The first control unit 170 may include a first connection unit 172 connected to the elevating module 160 and a first driving unit 171 for pivoting the first connection unit 172 . Accordingly, the cap gripping part 120 and the coupler CM connected to the elevating module 160 may be rotated based on the axis of the first connecting part 172 by the first adjusting part 170 .

The second adjusting unit 180 may include a second connecting unit 182 connected to the first adjusting unit 170 and a second driving unit 181 that rotates the second connecting unit 182 . The cap gripping part 120 and the coupler CM connected to the first adjusting part 170 may be rotated based on the axis of the second connecting part 182 by the second adjusting part 180 .

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

However, according to the embodiment, since the opening/closing module 110 and the coupler support module 150 are integrally manufactured, the angles of the cap gripping part 120 and the coupler CM can be adjusted at once with one angle adjusting module 170 or 180. There are advantages to being Therefore, manufacturing cost can be reduced and size reduction can be made possible.

The sensing module 190 may be disposed on the second support part 132 . The sensing module 190 may include a first sensing unit 191 for sensing the position of the lid 11 and a plurality of second sensing units 192 for sensing the flatness of the lid 11 .

The first sensing unit 191 may acquire a top surface image of the container 10 and sense the position of the lid 11 . The control unit 300 acquires the coordinates of the position of the lid 11 through the image and outputs a driving signal to the first transfer module and the second transfer module to move the cap gripper 120 to the top of the lid 11. can do. The first sensing unit 191 may be a camera capable of capturing an image, but is not necessarily limited thereto, and various equipment capable of obtaining an image may be selected.

The second sensing unit 192 may measure the flatness of the lid 11 . Illustratively, the second sensing unit 192 is composed of a plurality of height sensors to measure heights relative to the lid 11 , respectively. The controller 300 may determine how inclined the lid 11 is by using height signals of the plurality of second sensing units 192 . The number of height sensors is not particularly limited. For example, four height sensors may be disposed, but fewer or more height sensors may be disposed.

6 is a partial enlarged view of FIG. 2 . Figure 7 is a cross-sectional view of Figure 6;

Referring to Figures 6 and 7, the coupler (CM) serves to inhale the medicine in the container 10 and discharge it to the outside, so after the discharge operation is completed, the medicine may remain inside and outside the coupler (CM). Therefore, over time, chemicals remaining inside and outside the coupler (CM) may be exposed to the outside.

Since drugs are toxic chemicals, it is important to manage them so that they are not exposed to the outside. According to the embodiment, since the coupler (CM) is inserted into the drain module 140 except when coupled to the container 10, the chemicals remaining inside and outside the coupler (CM) can be discharged to the drain module 140. there is.

The drain module 140 may include an opening groove 141 into which the end of the coupler CM is inserted, a supply line 142a connected to the opening groove 141, and a discharge line 143a connected to the opening groove 141. can

The opening groove 141 may have a diameter that can be inserted into the end of the coupler (CM). A first sealing member CM12 is disposed at the end CM11 of the coupler CM so that it can be sealed when inserted into the opening groove 141 . The first sealing member may be an O-ring, but is not necessarily limited thereto.

The supply line 142a may wash chemicals leaked from the coupler CM by flowing washing water therein. At this time, the coupler CM may also be washed by the washing water. The chemical may be diluted by the washing water and discharged to the outside through the discharge line 143a. Washing water may be sprayed at predetermined time intervals. In addition, in the case of chemicals that react with washing water and for various reasons, washing may not be performed.

Gas may be introduced through the supply line 142a and chemicals may be discharged through the discharge line 143a. In addition, the opening groove 141 and the ends of the coupler CM may be dried by gas injection. The gas may be nitrogen gas, but is not necessarily limited thereto, and various drying gases may be injected.

8 and 9 are views showing a process of loading a plurality of containers into at least one integrated coupling module.

Referring to FIGS. 8 and 9 , a plurality of containers 10 may be carried into a working position defined by a pair of first transfer members 210 and a pair of second transfer members 220 . The plurality of containers 10 may be carried to the working position by a moving member in a state of being disposed on the pedestal 20 . Moving members include conveyor rollers, conveyor belts, forklifts, hand lifts, and electric lifts. Various transport means capable of moving the container 10, such as a cart or a rail, may be applied without limitation.

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

10 is a view showing a process of sensing the position and flatness of the lid 11 coupled to the container.

Referring to FIG. 10 , the first sensing unit 191 may acquire a top image of the container 10 and check the position of the lid 11 . The control unit 300 obtains the positional coordinates of the lid 11 through the image image and outputs a driving signal to the first transfer member and the second transfer member to move the cap gripping unit 120 to the top of the lid 11. can do. The first sensing unit 191 may be a camera capable of capturing images, but is not necessarily limited thereto. The controller 300 may extract positional coordinates of the lid 11 using the image obtained by the first sensing unit 191 and check the position of the protrusion of the lid 11 . This process may be performed by various image analysis techniques.

The second sensing unit 192 may measure the flatness of the lid 11 . Illustratively, the second sensing unit 192 is composed of a plurality of height sensors to measure heights relative to the lid 11 , respectively. The controller 300 may determine how inclined the lid 11 is by using height signals of the plurality of second sensing units 192 . The number of height sensors is not particularly limited. For example, four height sensors may be disposed, but fewer or more height sensors may be disposed.

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

11 is a view showing a state in which the cap gripping part and the coupler are tilted according to the tilt of the lid. Fig. 12 is a rear view of Fig. 11;

Referring to FIGS. 11 and 12 , the lid 11 coupled to the container 10 may be inclined for various reasons. The container 10, such as a drum, may require chemical resistance depending on the type of drug, so a relatively weak resin material (eg, PP, PE) may be used. Therefore, when the container 10 is manufactured, there is a possibility that an inclination may occur at the lid 11 and the inlet.

In addition, an inclination may occur due to an error in adjusting the pressure of the gas injected after filling the container 10 with the medicine, or an inclination may occur due to gas not being discharged from the container 10 during the filling of the medicine. In addition, when the chemicals in the container 10 are discharged, fine pressure gas is filled to maintain an appropriate pressure, but if the pressure is not well controlled, the container 10 shrinks, causing the lid 11 and the inlet to incline. may be

When the lid 11 is inclined for various reasons, it may be difficult to accurately grip the tilted lid 11 when the cap gripping part 120 descends vertically. Therefore, the integrated coupling module according to the embodiment can adjust the angle of the cap gripping part 120 using the angle adjusting modules 170 and 180 .

The angle adjusting modules 170 and 180 include a first adjusting unit 170 that rotates the cap gripping unit 120 and the coupler CM in a first direction as an axis, and a cap gripping unit in a second direction as an axis. 120 and a second control unit 180 that rotates the coupler CM.

The first control unit 170 may include a first connection unit 172 connected to the elevating module 160 and a first driving unit 171 for pivoting the first connection unit 172 . The cap gripping part 120 and the coupler CM connected to the elevating module 160 may be rotated based on the axis of the first connecting part 172 by the first adjusting part 170 .

In this case, since the cap gripper 120 is connected to the coupler support module 150, when adjusting the angle of the cap gripper 120, the angle of the coupler support module 150 may also be adjusted in advance. Accordingly, the cap gripper 120 and the coupler CM may be inclined at a predetermined angle θ1 with respect to the vertical direction.

The second adjusting unit 180 may include a second connecting unit 182 connected to the first adjusting unit 170 and a second driving unit 181 that rotates the second connecting unit 182 . The cap gripping part 120 and the coupler CM connected to the first adjusting part 170 may be rotated based on the axis of the second connecting part 182 by the second adjusting part 180 .

Since the second adjusting unit 180 rotates the horizontal moving member 133 in the second direction as an axis, the cap gripping unit 120 and the coupler CM may be inclined at a predetermined angle with respect to the vertical direction X1. there is.

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

13 is a view showing a state in which the cap gripping part is lowered and coupled to the lid. 14 is a perspective view of a cap gripping part. 15 is a cross-sectional perspective view of a cap gripper. 16 is a view showing a tilted state of the cap gripper.

Referring to FIG. 13, the cap gripping part 120 is lowered by the elevating module 160 while being rotated to have the same angle as the inclination of the lid 11 by the angle adjusting modules 170 and 180, and the lid ( 11) can be grasped. At this time, the coupler support module 150 may also descend together.

Referring to FIGS. 14 and 15 , the cap gripping part 120 includes a plurality of hooks 121 coupled to the lid 11 and a first through hole H1 formed in the center connecting the plurality of hooks 121 . A first body 122 including a, a second body 123 disposed in the first through hole H1, and a first elastic member 126 connecting the first body 122 and the second body 123. ) may be included.

The first elastic member 126 may include various elastic materials. Illustratively, the first elastic member 126 may be synthetic rubber or fluoropolymer (Fluoropolymer Elastomer), but is not necessarily limited thereto.

The second body 123 may include a plurality of protrusions 124 protruding in the radial direction, and the first body 122 may include a plurality of receiving grooves 125 into which the plurality of protrusions 124 are inserted. .

In this case, the plurality of protrusions 124 may be spaced apart from the bottom surface 125a of the plurality of receiving grooves 125 while being accommodated in the plurality of receiving grooves 125 .

The cap gripper 120 may include a protruding pin 127a and an elastic unit 127b disposed behind the protruding pin 127a. The protruding pin 127a may press the upper surface of the lid 11 . Accordingly, if the protruding pin 127a is not pushed up by the lid 11 even when the cap gripping part 120 is lowered to the proper position, it can be determined that the lid 11 is not present or not disposed in the proper position. In addition, if the protruding pin is not pushed up during the process of opening or moving the lid, it may be determined that the cap gripper does not grip the lid.

Referring to FIG. 16 , when the lid 11 is tilted, the first body 122 may be tilted according to the tilt of the lid 11 while the cap gripping part 120 descends. In contrast, since the second body 123 is rotatably fixed to the first support, it may not be inclined.

When the first body 122 is inclined, one of the plurality of protrusions 124 comes into contact with the bottom surface 125a of the receiving groove 125. Accordingly, the first body 122 can no longer be tilted by the protrusion 124 . Thus, the protrusion 124 can control the inclination angle of the first body 122 .

The inclination angle of the first body 122 may be within 5 degrees, but is not necessarily limited thereto. Illustratively, the inclination angle may be 5 degrees or more. The inclination angle can be further increased or decreased by adjusting the length of the elastic member and the distance between the protrusion and the bottom of the receiving groove.

Since the first body 122 can be further tilted in a state where the cap gripping part 120 is tilted by the angle adjustment modules 170 and 180, the lid 11 can be gripped more easily. In addition, when adjusting the inclination angle of the first body 122 to be larger, the angle adjusting modules 170 and 180 may be omitted.

17 is a view showing a state in which the coupler is separated from the drain module. 18 is a partial enlarged view of FIG. 17 . 19 is a view showing a state in which the cap gripping part is separated from the lower part of the coupler. 20 is a view showing a state in which an end cap is coupled to a drain module. Fig. 21 is a cross-sectional view of Fig. 20;

Referring to FIGS. 17 and 18 , when the first vertically movable member 134 descends, the cap gripper 120 and the drain module 140 may also descend. Accordingly, the coupler CM may be separated from the drain module 140 .

Referring to FIG. 19 , as the horizontal moving member 133 moves in the horizontal direction, the cap gripping part 120 and the drain module 140 move in the horizontal direction and can be disposed in the second position.

Then, as the first vertically moving member 134 and the second vertical moving member 135 rise, the cap gripping part 120 and the drain module 140 can vertically rise from the second position.

Referring to FIGS. 20 and 21 , the end cap 137 attached to the second vertically movable member 135 may be inserted into the drain module 140 . Therefore, while the coupler CM is fastened to the container 10, the drain module 140 is sealed to prevent exposure of fumes remaining inside and outside the drain module. Also, it is possible to prevent the drain module 140 from being contaminated by outside air. At this time, a second sealing member may be disposed on an outer circumferential surface of the end cap 137 to seal the drain module 140 .

22 is a view showing a coupler fixed to a support structure. 23 is a view showing the first fixing plate and the second fixing plate of the supporting structure. Fig. 24 is a cross-sectional view of Fig. 23; 25 is a view showing a state in which the coupler is tilted.

22 to 24, the support structure 156 includes a first fixing plate 151 to which the coupler CM is fixed, a second fixing plate 152 spaced apart from the first fixing plate 151, and a first fixing plate ( 151) and a plurality of connecting members 153 connecting the second fixing plate 152.

The first fixing plate 151 includes a second sub fixing plate 151a including a first sub fixing plate 157 to which the coupler CM is fixed and a second through hole H2 into which the first sub fixing plate 157 is inserted, The second elastic member 158 connecting the first sub-fixing plate 157 and the second sub-fixing plate 151a is disposed on the second sub-fixing plate 151a and extends toward the center of the second through hole H2. A plurality of stoppers 159 may be included.

The first sub-fixing plate 157 is configured such that the two division units 157a and 157b are assembled to fix the coupler CM therein, and the second sub-fixing plate 151a has a second through hole H2 therein. ) can be manufactured in a ring shape formed.

The plurality of second elastic members 158 may connect the first sub fixing plate 157 and the second fixing plate 152 at three points. The second elastic member 158 may be synthetic rubber or fluoropolymer (Fluoropolymer Elastomer), but is not necessarily limited thereto.

The stopper 159 may extend above the first sub-fixing plate 157 and be spaced apart from the upper surface of the first sub-fixing plate 157 . The stopper 159 may be disposed on the second sub fixing plate 151a while being inserted into the connecting member 153, but is not limited thereto and may be directly fixed to the second sub fixing plate 151a.

Referring to FIG. 25 , when the inlet of the container 10 is inclined, while the coupler CM descends, the first sub fixing plate 157 may be inclined according to the inclination of the inlet. In contrast, the second sub fixing plate 151a may not be inclined by the support structure 156 .

When the first sub-fixing plate 157 is tilted, a part of the outer surface of the first sub-fixing plate 157 comes into contact with the stopper 159 . Accordingly, the first sub fixing plate 157 cannot be tilted any further by the stopper 159 . Thus, the stopper 159 can control the inclination angle of the first sub fixing plate 157 .

The inclination angle of the first sub fixing plate 157 may be within 5 degrees, but is not necessarily limited thereto and may be adjusted to 5 degrees or more. Since the first sub fixing plate 157 and the coupler CM can be further tilted while the coupler CM is already tilted by the angle adjusting modules 170 and 180, they can be more easily inserted into the inlet of the container 10. can In addition, when adjusting the inclination angle of the first sub fixing plate 157, the angle adjusting modules 170 and 180 may be omitted.

In the process of inserting the coupler (CM), the first sensing unit 191 may acquire a video image of the entrance from which the lid 11 is removed and check whether the keycode AP1 is aligned with the groove of the entrance. If it is determined that the keycode AP1 and the align groove of the entrance are not aligned, the second rotation unit 155 may be driven to rotate the keycode AP1.

26 is a view showing a state in which the coupler is inserted into the container. 27 is a view showing a state in which the discharge of the solution inside the container is completed, the coupler rises, and the cap gripping part returns to the lower part of the coupler. 28 is a view showing a state in which the lid is fastened to the container again.

Referring to FIG. 26, when it is determined that the key codes AP1 are aligned, the coupler CM is lowered by the lifting and lowering module 160, and the coupler CM is inserted into the discharge hole of the inlet to store the storage in the container 10. The liquid can be drained into a storage tank. As a method of transferring the solution in the container 10 to the storage tank, various fluid transfer methods may be applied without limitation. At this time, since the cap gripper 120 is disposed above the coupler CM by the driving module 130, it may not come into contact with the container 10.

Referring to FIG. 27 , when the discharge of the liquid in the container 10 is completed, the coupler CM is raised by the elevating module 160, and the cap gripper 120 is moved by the driving module 130. ) can be returned to its original position. Then, as the first vertical movable member 134 of the driving module 130 rises, the coupler CM may be inserted into the drain module 140 again.

Referring to FIG. 28 , the cap gripping unit 120 gripping the lid 11 by the elevating module 160 descends, and while the cap gripping unit 120 rotates, the lid 11 is coupled to the inlet again to process the process. can complete.

29 is a view showing an opening/closing module according to an embodiment of the present invention.

Referring to FIG. 29 , the opening/closing module 110 according to the embodiment includes a cap gripping unit 120 coupled to a lid of a container, a first rotating unit 129 rotating the cap gripping unit 120, and a cap gripping unit ( 120) may include a lifting module (160A) for lifting and lowering.

The opening/closing module according to the embodiment may have a form in which the opening/closing module is separated from the integral coupling module described above. Excluding the non-integral structure, the detailed configuration of the cap gripping unit 120, the configuration of the first rotating unit 129, and the configuration of the elevating module 160A may be applied as they are. The configuration of the angle adjusting member may be further added, but is not necessarily limited thereto.

The configuration described above may be applied as it is to the configuration in which the cap gripping unit 120 is inclined along the inclination of the lid. Referring to FIGS. 14 and 15 , the cap gripping part 120 includes a plurality of hooks 121 coupled to the lid 11 and a first through hole H1 formed in the center connecting the plurality of hooks 121 . A first body 122 including a, a second body 123 disposed in the first through hole H1, and a first elastic member 126 connecting the first body 122 and the second body 123. ) may be included.

The first elastic member 126 may include various elastic materials. Illustratively, the first elastic member 126 may be synthetic rubber or fluoropolymer (Fluoropolymer Elastomer), but is not necessarily limited thereto. A plurality of first clips 122-1 may be disposed on the first body 122 to fix the first elastic member 126.

The second body 123 may include a plurality of protrusions 124 protruding in the radial direction, and the first body 122 may include a plurality of receiving grooves 125 into which the plurality of protrusions 124 are inserted. . The plurality of protrusions 124 may be spaced apart from the bottom surfaces 125a of the plurality of receiving grooves 125 while being accommodated in the plurality of receiving grooves 125 .

At this time, a cover (not shown) covering the receiving groove 125 in a state where the plurality of protrusions 124 are accommodated in the plurality of receiving grooves 125 may be further included. According to this configuration, since the protrusion 124 is inserted between the receiving groove 125 and the cover, it is possible to prevent the first body connected to the first elastic member from sagging downward. However, it is not necessarily limited thereto, and various structures capable of preventing the first body from being lowered may be selected without limitation.

The cap gripper 120 may include a protruding pin 127a and an elastic unit 127b disposed behind the protruding pin 127a. The protruding pin 127a may press the upper surface of the lid 11 . Accordingly, if the protruding pin 127a is not pushed up by the lid 11 even when the cap gripping part 120 is lowered to the proper position, it can be determined that the lid 11 is not present or not disposed in the proper position. In addition, if the protruding pin is not pushed up during the process of opening or moving the lid, it may be determined that the cap gripper does not grip the lid.

Referring to FIG. 16 , when the lid 11 is tilted, the first body 122 may be tilted according to the tilt of the lid 11 while the cap gripping part 120 descends. On the other hand, since the second body 123 is rotatably fixed to the central axis, it may not be inclined. That is, as the plurality of first elastic members 126 are bent according to the degree of inclination of the lid, the first body 122 may be inclined.

When the first body 122 is inclined at a predetermined angle or more, one of the plurality of protrusions 124 comes into contact with the bottom surface 125a of the receiving groove 125. Accordingly, the first body 122 can no longer be tilted by the protrusion 124 . Thus, the protrusion 124 can control the inclination angle of the first body 122 .

The inclination angle of the first body 122 may be within 5 degrees, but is not necessarily limited thereto. Illustratively, the inclination angle may be 5 degrees or more. The inclination angle can be further increased or decreased by adjusting the length of the elastic member and the distance between the protrusion and the bottom of the receiving groove. Since the first body 122 can be further tilted while the cap gripping part 120 is tilted by the angle adjusting modules 170 and 180, the lid 11 can be gripped more easily. When adjusting the possible inclination angle of the first body 122 to be larger, the angle adjustment module may be omitted.

The first body 122 and the second body 123 can rotate together because the protrusion 124 and the receiving groove 125 are coupled. Therefore, when the second body 123 is rotated by the first rotation unit, the second body 122 also rotates to rotate the lid.

30 is a view showing a coupler support module according to an embodiment of the present invention. 31 is a view showing a state in which the drain module is separated from the end of the coupler. 32 is a view showing a state in which the drain module is moved to a second position that does not overlap with the coupler. 33 is a view showing a state in which the drain module is raised and coupled with an end cap.

Referring to FIG. 30, the coupler support module includes a support structure 156 for supporting the coupler CM inserted into the inlet of the container, a second rotating part 155 for rotating the support structure 156, and a support structure 156 ) may include a lifting and lowering module (160B) for lifting and lowering.

The coupling module according to the embodiment may have a form in which the opening/closing module and the coupler support module are separated from the above-described integral coupling module. Therefore, the specific configuration of the coupler support module and the configuration of the elevating module 160B may be applied as is. In addition, the configuration of the angle adjusting member may be further added, but is not necessarily limited thereto.

22 to 24, the support structure 156 includes a first fixing plate 151 to which the coupler CM is fixed, a second fixing plate 152 spaced apart from the first fixing plate 151, and a first fixing plate ( 151) and a plurality of connecting members 153 connecting the second fixing plate 152.

The first fixing plate 151 includes a second sub fixing plate 151a including a first sub fixing plate 157 to which the coupler CM is fixed and a second through hole H2 into which the first sub fixing plate 157 is inserted, The second elastic member 158 connecting the first sub-fixing plate 157 and the second sub-fixing plate 151a is disposed on the second sub-fixing plate 151a and extends toward the center of the second through hole H2. A plurality of stoppers 159 may be included.

The first sub-fixing plate 157 is configured such that the two division units 157a and 157b are assembled to fix the coupler CM therein, and the second sub-fixing plate 151a has a second through hole H2 therein. ) can be manufactured in a ring shape formed.

The plurality of second elastic members 158 may connect the first sub fixing plate 157 and the second fixing plate 152 at three points. The second elastic member 158 may be synthetic rubber or fluoropolymer (Fluoropolymer Elastomer), but is not necessarily limited thereto.

The stopper 159 may extend above the first sub-fixing plate 157 and be spaced apart from the upper surface of the first sub-fixing plate 157 . The stopper 159 may be disposed on the second sub fixing plate 151a while being inserted into the connecting member 153, but is not limited thereto and may be directly fixed to the second sub fixing plate 151a.

Referring to FIG. 25 , when the inlet of the container 10 is inclined, while the coupler CM descends, the first sub fixing plate 157 may be inclined according to the inclination of the inlet. In contrast, the second sub fixing plate 151a may not be inclined by the support structure 156 . That is, since the plurality of second elastic members 158 are bent, the first sub-fixing plate 157 may be inclined according to the inclination of the inlet even though the second sub-fixing plate 151a is not relatively inclined.

When the first sub-fixing plate 157 is tilted at a predetermined angle or more, a part of the outer surface of the first sub-fixing plate 157 comes into contact with the stopper 159 . Accordingly, the first sub fixing plate 157 cannot be tilted any further by the stopper 159 . Thus, the stopper 159 can control the inclination angle of the first sub fixing plate 157 .

The inclination angle of the first sub fixing plate 157 may be within 5 degrees, but is not necessarily limited thereto. Illustratively, the inclination angle may be 5 degrees or more. The inclination angle can be further increased or decreased by adjusting the length of the elastic member or adjusting the distance from the stopper.

Since the first sub fixing plate 157 and the coupler CM can be further tilted while the coupler CM is already tilted by the angle adjusting modules 170 and 180, they can be more easily inserted into the inlet of the container 10. can In addition, when adjusting the possible inclination angle of the first sub fixing plate 157 to a large extent, the angle adjustment module may be omitted.

Referring back to FIG. 30 , the drain module 140 is normally coupled to the end of the coupler CM and may play a role of discharging chemicals remaining inside and outside the coupler CM. The structure described in FIG. 7 may be applied to the drain module 140 as it is.

The horizontal moving member 133 and the vertical moving members 134 and 135 may couple or separate the drain module 140 to the coupler CM. Referring to FIG. 31 , the drain module 140 and the first support part 131 may descend and be separated from the coupler CM by the vertical moving members 134 and 135 .

Referring to FIG. 32 , the coupler CM may be moved from a lower position to a second position by the horizontal moving member 133 . Thereafter, as shown in FIG. 33 , it can be vertically raised from the second position by the vertical moving members 134 and 135 and fastened to the end cap 137 . Referring to FIG. 34 , the drain module 140 and the end cap 137 are raised by the second vertically movable member 135 to prevent interference when the coupler is injected into the container.

Thereafter, when the coupler CM is inserted into the container and discharging the medicine is completed, the drain module 140 moves in the reverse order of the steps described above and can be coupled to the coupler CM again.

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

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

10: Courage
11: lid
100: integrated coupling module
110: open/close module
120: cap gripping part
130: drive module
140: drain module
150: coupler support module
160: lifting module
170: first control unit
180: second control unit

Claims (10)

an opening/closing module including a cap gripping unit for separating or combining a lid and a container in which chemicals are stored; and
An angle adjustment module for adjusting an inclination angle of the cap gripping part,
Coupling device for gripping the lid by adjusting the inclination angle of the cap gripping unit according to the inclination of the lid by the angle adjusting module.
According to claim 1,
The angle adjustment module,
a first control unit for rotating the cap gripping unit in a first direction as an axis; and
and a second adjusting unit configured to rotate the cap gripping unit in a second direction intersecting the first direction as an axis.
According to claim 1,
Further comprising a sensing module for sensing the inclination of the lid,
The angle adjusting module adjusts the inclination angle of the cap gripper according to the inclination of the lid measured by the sensing module.
According to claim 1,
The cap holding part,
A plurality of hooks coupled to the lid;
A first body supporting the plurality of hooks and including a first through hole formed in the center;
A second body disposed in the first through hole, and
A coupling device including a plurality of first elastic members connecting the first body and the second body.
According to claim 4,
When the cap gripping part is coupled to the lid,
The coupling device in which the first body is inclined by bending the plurality of first elastic members according to the degree of inclination of the lid.
A coupler support module for fixing a coupler for injecting or discharging chemicals into a container; and
An angle adjustment module for adjusting the inclination angle of the coupler according to the inclination of the inlet of the container,
Coupling device wherein the coupler is inserted into the inlet by adjusting the inclination angle according to the inclination of the inlet of the container by the angle adjustment module.
According to claim 6,
The angle adjustment module,
a first adjusting unit for rotating the coupler support module in a first direction as an axis; and
A coupling device comprising a second adjusting unit for rotating the coupler support module about a second direction crossing the first direction as an axis.
According to claim 6,
Further comprising a sensing module for sensing the inclination of the inlet of the container,
The angle adjustment module is a coupling device for adjusting the inclination angle of the coupler according to the inclination of the inlet of the container measured by the sensing module.
According to claim 7,
The coupler support module,
A first sub fixing plate to which the coupler is fixed;
A second sub-fixing plate including a second through-hole into which the first sub-fixing plate is inserted; and
A coupling device comprising a plurality of second elastic members connecting the first sub-fixing plate and the second sub-fixing plate.
According to claim 9,
When the coupler is inserted into the inlet, the plurality of second elastic members are bent according to the inclination degree of the inlet, thereby inclining the first sub-fixing plate.

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