Chemical hose automatic fastening device with easily attachable clamp

Abstract

The present invention relates to a chemical hose automatic fastening device having a clamping portion that is easily combined, and a chemical hose is automatically moved fast and accurately in a short time to be fastened. To this end, the present invention provides a chemical hose automatic fastening device including a clamping portion that clamps a male connector of a hose placed in a chemical hose placing unit or a placing jig that places the male connector, a hose moving portion that moves the clamped male connector to a female connector disposed in a chemical supply chamber, and a control portion that controls driving of the clamping portion and the hose moving portion, and the clamping portion includes a pair of connection portions to which the clamping portion is connected to clamp differently sized portions of the male connector or the placing jig that places the male connector, respectively. Accordingly, according to the present invention, a clamping portion is provided, in which a moving robot clamps a male connector to be automatically fastened to an opposite female connector, and the moving robot can easily and reliably clamp the male connector.

Description

Technical Field

[0001] This invention relates to an automatic tightening device for chemical hoses having an easily engaging clamping part, and more specifically, to an automatic tightening device for chemical hoses having an easily engaging clamping part that allows for rapid and accurate automatic movement and tightening of chemical hoses in a short time. Background Technology

[0002] It is crucial to supply the chemicals needed for manufacturing and operations quickly and safely at sites where large quantities of chemicals are stored in tank trucks.

[0003] In particular, due to the extensive use of chemicals harmful to human health in semiconductor processes, research is ongoing to automate the supply of these chemicals.

[0004] This chemical transport method is as follows: chemicals are transported from tank trucks parked outside the building to chemical tanks installed inside the building, and then from the chemical tanks to the chambers where the unit process is carried out.

[0005] According to prior art patent No. 10-2207227, an automatic connection system for a chemical supply hose is disclosed, comprising: a connector fixing unit for fixing a connector disposed at the end of a chemical supply hose at a first point spaced apart from the position of a corresponding connector installed in a chemical storage facility; a guide rail for guiding the movement of the connector fixing unit to a second point where the connector fixing unit is fixed at the first point or the connector of the connector fixing unit is connected to the corresponding connector, the guide rail being positioned higher than the fixed connector and the corresponding connector to support the connector fixing unit and guide the movement of the connector fixing unit; and a robotic arm having a hand unit that can be engaged and disengaged from the connector fixing unit, wherein if the hand unit is engaged with the connector fixing unit, the hand unit is moved to move the connector fixing unit engaged with the hand unit along the guide rail from the first point to the second point or from the second point to the first point.

[0006] This system offers the advantage of protecting workers from residual chemicals that leak and drip from the joint or corresponding joint during the movement, connection, and disconnection of the hose.

[0007] However, when using a robotic arm to grip the male connector, there is a significant challenge in correctly gripping it. Specifically, errors in the vision camera's recognition can prevent the proper gripping and extraction of the male connector. Furthermore, during extraction, the circular shape of the male connector often causes it to spin freely. Therefore, a reliable and easy-to-grip device is needed.

[0008] In addition, the neck of the male connector is made of a softer material, so it can easily undergo various deformations. For example, it may be affected by the weight of the head during long-term use, or the male connector may be subjected to impact due to improper operation, or additional tightening operations may be required due to chemical leakage from the flange of the male connector. Due to various reasons, eccentricity may occur, resulting in the inability to accurately insert the female connector. Summary of the Invention

[0009] (The problem to be solved)

[0010] The present invention is intended to solve the above-mentioned problems, specifically to provide a clamping part for a mobile robotic arm to easily and reliably clamp male connectors.

[0011] In addition, it overcomes the phenomenon that the male connector cannot be accurately inserted into the female connector due to various reasons, and enables the male connector to automatically find the center of the female connector to achieve fast and accurate insertion for mating.

[0012] (Solutions)

[0013] To achieve the above objectives, the present invention provides an automatic fastening device for chemical hoses, comprising: a clamping part for clamping a male connector of a hose placed in a chemical hose placement unit or a placement clamp for placing the male connector; a hose moving part for moving the clamped male connector to a female connector disposed in a chemical supply chamber; and a control part for controlling the driving of the clamping part and the hose moving part; wherein the clamping part includes a pair of connecting parts, the clamping part being connected to the connecting parts to respectively clamp different sized portions of the male connector or the placement clamp for placing the male connector.

[0014] Preferably, the clamping part includes a first clamping part and a second clamping part respectively connected to the connecting part, and the clamping surfaces of the first clamping part and the second clamping part are provided with anti-slip or anti-free rotation friction pads.

[0015] According to the present invention, an automatic fastening device for chemical hoses is also provided, comprising: a clamping part for clamping a male connector of a hose placed in a chemical hose placement unit; a hose moving part for moving the clamped male connector to a female connector disposed in a chemical supply chamber; and a control part for controlling the driving of the clamping part and the hose moving part; the clamping part comprising: a main body part for engaging with the hose moving part; a pair of finger-like parts for engaging with the main body part and moving left and right; and a finger-like driving part for driving the finger-like parts.

[0016] Preferably, the clamping part is equipped with a vision camera, and the control part moves the clamping part by recognizing the position of the female connector through the vision camera.

[0017] Preferably, the finger portion is provided with an inwardly protruding engagement protrusion; the engagement protrusion is inserted into the male connector or formed in an engagement groove of a placement clamp for holding the male connector.

[0018] (The effect of the invention)

[0019] According to the present invention, a clamping part is provided, wherein a mobile robotic arm clamps a male connector and automatically secures it to an opposite female connector, wherein the mobile robotic arm can easily and reliably clamp the male connector.

[0020] In addition, it has the following advantages: it overcomes the phenomenon that the male connector cannot be accurately inserted into the female connector, and the male connector can automatically find the center of the female connector to achieve fast and accurate insertion for mating. Attached Figure Description

[0021] Figure 1 This is a perspective view showing the structure of the automatic tightening device for chemical hoses according to the present invention;

[0022] Figure 2 yes Figure 1 A floor plan;

[0023] Figure 3 It is used for explanation Figure 1 A diagram illustrating the working process of the China Mobile robotic arm;

[0024] Figure 4 It is shown Figure 3 Example diagram of the structure of the middle clamping part;

[0025] Figure 5 and Figure 6 This is an example diagram showing another embodiment of the clamping part;

[0026] Figure 7 and Figure 8 This is a structural diagram used to show the internal structure of the clamping part;

[0027] Figure 9 It is an explanatory diagram used to illustrate the operation of the clamping part;

[0028] Figure 10 This is an explanatory diagram illustrating the automatic tightening process of chemical hoses and the rotation process of the locking lever;

[0029] Figure 11 This is a perspective view showing the structure of the moving part;

[0030] Figure 12 This is a side view showing the structure of the moving part;

[0031] Figure 13 This is an internal perspective view showing the structure of the moving part;

[0032] Figure 14 It is a bottom view showing the operating principle of the moving part.

[0033] (Explanation of reference numerals in the attached image)

[0034] 100: Chemical hose placement unit; 110: Male connector

[0035] 130: Male connector holder 150: Control panel

[0036] 300: Chemical supply chamber; 310: Female connector

[0037] 315: Pressure sensor; 350: Locking lever

[0038] 351: Connector joint; 354: Drive frame

[0039] 355: Moving hole; 352: Drive track

[0040] 500: Mobile robotic arm; 510: Moving part

[0041] 533: First clamping part; 534: Second clamping part

[0042] 535: Connecting part

[0043] 550: Hose Moving Part

[0044] 600: Clamping part; 610: Finger-shaped driving part

[0045] 630: Finger-like part; 640: Main body part

[0046] 650: Insert the sensor unit Detailed Implementation

[0047] The structure and function of specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0048] Reference Figure 1 and Figure 2 According to the present invention, the automatic tightening device for chemical hoses includes a movable robotic arm 500 having a clamping part, which serves to tighten or separate the hose, wherein the hose delivers chemicals while moving between the chemical hose placement unit 100 and the chemical supply chamber 300.

[0049] The chemical hose placement unit 100 serves to place the chemical hoses connected to the chemical storage tanks of the tanker truck transporting chemicals. A control panel can be configured in front of it, which sends commands to the mobile robotic arm to start tightening and loosening the hoses to control the system.

[0050] The chemical hose placement unit 100 can hold chemical hoses or nitrogen hoses, and has a male connector 110 at the end of the hose for engaging with a female connector 310 disposed in the chemical supply chamber.

[0051] Reference Figure 3 The chemical hose placement unit 100 is equipped with a male connector placement rack 130, on which the male connector at the end of the hose connected to the chemical storage tank during chemical transportation can be placed.

[0052] Similar to hoses, the male connectors may also be configured with male connectors for chemical hoses and male connectors for nitrogen hoses.

[0053] In addition, commands related to the placement, movement, fastening and separation of the hose can be sent to the unit that performs the functions via the control panel 150 located in front of the chemical hose placement unit 100, thereby automating the delivery of chemicals using the hose.

[0054] The chemical hose placement unit 100 has a chemical supply chamber 300 for storing and delivering chemicals at its rear. The chemical supply chamber 300 has a female connector for fastening and detaching the male connector. Similar to the male connector, the female connector can also be configured as a chemical female connector and a nitrogen female connector.

[0055] Preferably, multiple chemical hose placement units 100 and chemical supply chambers 300 can be configured, and for work efficiency, multiple chemical hose placement units 100 and chemical supply chambers 300 are arranged side by side. That is, multiple chemical hose placement units 100 are arranged side by side at a predetermined distance in front, and multiple chemical supply chambers 300 are arranged side by side at a predetermined distance behind. Preferably, the chemical hose placement units and chemical supply chambers can be configured as a corresponding pair.

[0056] A mobile robotic arm 500 for connecting or separating male and female connectors is disposed between the chemical hose placement unit 100 and the chemical supply chamber 300.

[0057] The mobile robotic arm 500 includes: a moving part 510 for moving to various chemical hose placement units or chemical supply chambers; a clamping part 600 for clamping male connectors; a hose moving part 550, including a multi-joint arm, for moving hoses to the chemical supply chamber side; and an alignment sensing part 570 for accurate and safe alignment when fastening and separating male and female connectors.

[0058] In this embodiment, the moving part 510 is configured to move along a track 512 arranged in a direction parallel to the plurality of chemical hose placement units 100 and the chemical supply chamber 300. Accordingly, the moving part 510 may include a drive motor for track driving.

[0059] Reference Figures 11 to 14 The moving part 510 includes: a platform part 518, a drive motor 511, a reduction part 516, a rolling pinion part 513, a rack part 514, and an LM guide part 515.

[0060] The platform section 518 is configured on a track and includes various components that house the mobile robotic arm.

[0061] A rolling pinion 513 is disposed at the lower part of the platform section 518. The rolling pinion 513 moves while meshing and rotating with the rack section 514. That is, the rolling pinion 513 receives rotational force from a drive motor to rotate precisely, and is driven by meshing with the rack section 514, which has a straight shape with serrated teeth.

[0062] The drive motor 511 is a servo motor responsible for power supply and precise control, and is configured to precisely control position and speed. Additionally, the reduction gear 516 connected to the drive motor includes multiple gears, reducing the drive load rate of the drive motor, extending its service life, and improving drive stability.

[0063] The two sides of the platform 518 can be connected to the LM guide 515. The LM guide supports high loads while minimizing friction loss, realizing the driving force generated by the drive motor as high-precision linear motion without vibration and noise.

[0064] A mobile robotic arm control unit 517 may also be configured on the platform section 518.

[0065] On the other hand, a safety shaft 519 may be configured at the end of the track. The safety shaft protrudes in the direction of the platform portion 518 and is preferably combined with an elastic member such as a spring that can absorb shock.

[0066] The safety shaft is designed to prevent malfunction of the moving part 510 when it collides with the moving part during driving, and to absorb impact to protect the moving part.

[0067] Furthermore, a displacement sensor is installed on the safety shaft to measure the distance to the moving part, thereby enabling real-time monitoring of the moving part's position. The control unit, by simultaneously driving the drive motor and measuring the distance to the moving part via the safety shaft, more accurately monitors the moving part's position, thus enabling safer and more precise control of the moving part.

[0068] In another embodiment, the moving part is equipped with wheels and can be driven automatically.

[0069] The moving part 510 is configured to move the robotic arm to the chemical hose placement unit included in the hose moving command if a hose moving command is received from the control unit. In this case, if a connected hose is present, to avoid contact with the hose, the hose moving part 550 and the clamping part 600 are preferably moved in a low-profile position.

[0070] The control unit can be located in the chemical hose placement unit 100 or a mobile robotic arm, but it can also be configured as a separate remote control device. Furthermore, the hose movement command may include: the ID of the target chemical hose placement unit, the hose type, and the ID of the chemical supply chamber to be tightened or separated, etc.

[0071] The hose moving part 550 may be composed of multiple joints, and can fasten or separate the male connector and the female connector while moving back and forth between the chemical hose placement unit 100 and the chemical supply chamber 300.

[0072] A clamping portion 600 for clamping a male connector is provided at the end of the flexible tube moving portion 550. Preferably, the clamping portion 600 is configured in a replaceable form to have various shapes and functions.

[0073] Reference Figure 4 The clamping part 600 includes a pair of connecting parts 535, each having a first rotating part 531 and a second rotating part 532, with the first clamping part 533 and the second clamping part 534 connected to the second rotating part 532.

[0074] The connecting part 535 is rotatably connected to the end of the flexible hose moving part 550 via the first rotating part 531, and the first clamping part 533 and the second clamping part 534 are rotatably connected via the second rotating part 532.

[0075] The clamping part is configured to clamp all male connectors of different sizes via the first rotating part and the second rotating part. That is, for male connectors for chemicals with a relatively larger diameter, the angle between the pair of connecting parts is controlled to be larger, and the male connector can be firmly clamped by the second rotating part. In addition, for male connectors for nitrogen with a relatively smaller diameter, the angle between the pair of connecting parts is controlled to be narrower, and the male connector can be firmly clamped by the second rotating part.

[0076] Pressure sensors are provided in the first clamping part 533 and the second clamping part 534. If a predetermined pressure is applied, rotation is stopped to complete clamping. Alternatively, the torque can be controlled by the magnitude of the reverse resistance detected by the motor driving the clamping part, thereby enabling clamping with only a predetermined force.

[0077] The first clamping part 533 and the second clamping part 534 can be driven by a motor or a cylinder, and can directly clamp the flange or neck of the male connector in at least two directions.

[0078] Preferably, the clamping surfaces of the first clamping portion 533 and the second clamping portion 534 are configured in a curved shape corresponding to the shape of the male connector, and a friction pad may be provided to prevent slippage or free rotation.

[0079] The first clamping part 533 and the second clamping part 534 have the advantage of being able to clamp surfaces with different sizes or heights at one time.

[0080] As another embodiment, refer to Figure 5 and Figure 6 The clamping part 600 includes: a main body part 640, a finger-shaped part 630, an insertion sensing part 650, and a finger-shaped driving part 610.

[0081] The main body 640 is combined with the flexible hose moving part 550 and serves to install various components required for clamping the male connector.

[0082] That is, the flexible hose moving part 550 can be connected to the arm connecting part 660 formed on the upper part of the main body, and various components required for driving can be arranged inside and outside.

[0083] The finger-like portion 630 serves to directly contact and clamp the male connector 110 or the placement clamp 200 for placing the male connector, and is configured to allow the pair of finger-like portions to move symmetrically from left to right while clamping and releasing.

[0084] The finger-shaped drive unit 610 serves to drive the finger-shaped unit 630 and may include a servo motor.

[0085] However, it is not limited to this; the finger-shaped drive unit can also be a regular motor or a cylinder driven by compressed air.

[0086] A pressure sensor is installed in the clamping part. If a predetermined pressure is applied, rotation stops, and clamping is completed. Alternatively, the torque is controlled by the torque detected by the finger-shaped drive part, thereby enabling clamping with a predetermined force.

[0087] On the other hand, key codes are formed on the male connector. These key codes have different shapes depending on the type of chemical being transported; for example, a groove of a specific shape may be formed on the male connector. Additionally, key codes of a shape corresponding to the key codes are formed on the female connector, and may consist of protrusions corresponding to the specific shape.

[0088] However, depending on the type of chemical, it does not mean that it is limited to a specific shape, but rather that it can be composed of different numbers or different positions (angles) of protrusions and grooves depending on the type of chemical.

[0089] The insertion sensing unit 650 includes a vision camera, a change sensor, an illumination sensor, and illumination, which serves to determine the position of the male connector and the female connector and to achieve precise position adjustment when the male connector is inserted into the female connector.

[0090] The vision camera images the position or position markings (barcodes or QR codes, etc.) of the male or female connector when they are fastened or separated, so that the precise position can be controlled through image analysis. If the illumination sensor determines that the surrounding area is dark, the illumination is activated to ensure image quality; or, to ensure a predetermined illuminance regardless of brightness, the illumination can be activated during each image capture.

[0091] In addition, the vision camera is used to confirm the shape of the raised key code of the female connector and the recessed key code of the male connector to confirm whether the male connector and the female connector to be connected match. If the position of the raised key code of the female connector is different from the position of the recessed key code of the placed male connector, the male connector can be tightened to the female connector by rotating the clamping part.

[0092] However, when the number, angle, and length of the protrusions and grooves vary due to different types of medicines, simply rotating them cannot achieve a tight fit. Therefore, an alarm can be issued to prompt confirmation.

[0093] In another embodiment, the vision camera images the location marker (barcode or QR code) to confirm whether the male connector and female connector to be connected match, and the male connector can be fastened to the female connector.

[0094] In cases where different types of medicines have different location markings (barcodes or QR codes), an alarm can be issued to confirm this.

[0095] The displacement sensor, together with the vision camera, uses laser to accurately determine the relative position of the male and female connectors, thereby preventing collisions caused by misalignment. In particular, by calibrating the male connector for bending or stretching issues that may occur during prolonged use, the insertion sensor accurately secures the male and female connectors, preventing equipment malfunctions or even damage.

[0096] However, this is not the only case; depending on the type of vision camera, there are also cases where the function of a displacement sensor is included.

[0097] As another embodiment, a location marker is provided around the female connector to confirm its position. Using this location marker, the position of the marker can be detected without directly imaging the female connector to measure its accurate position and distance, thereby confirming the position and distance of the male connector.

[0098] Reference Figure 7 and Figure 8 The drive shaft of the finger drive unit 610 is driven by the finger shaft 635 via a belt 612. Preferably, the belt is a synchronous belt, thereby accurately transmitting the driving force of the finger drive unit to the finger shaft.

[0099] The finger axis 635 forms a screw, and a pair of fingers are attached to the screw, moving symmetrically along the finger axis as the screw rotates.

[0100] A pair of LM guides 637 are arranged in a direction parallel to the finger axis in front of and behind the finger axis. The LM guides support the finger portion at both ends, thereby smoothly and stably guiding the movement of the finger portion.

[0101] However, it is not limited to this; each finger 630 can also be moved directly by two or more finger drive units without the finger shaft 635.

[0102] Reference Figure 9 The driving process of the clamping part will be explained. Figure 9 In the image, (a) shows the state before clamping, and (b) shows the state after clamping.

[0103] The finger-like portions 630 are arranged in pairs on the left and right sides, with the upper part connected to the finger shaft and LM guide inside the main body, and the lower part arranged in a shape that protrudes downwards from the main body.

[0104] An inwardly protruding engagement protrusion 620 is provided at the lower end of the finger-like portion 630. This engagement protrusion is inserted into and engaged with a male connector or with an engagement groove 210 formed in the placement clamp 200 for placing the male connector. Alternatively, an engagement groove may be formed in the finger-like portion, and the engagement protrusion may be provided in the placement clamp.

[0105] The connecting protrusion 620 forms an inclined surface with a gradually decreasing cross-sectional area, and the inner circumferential surface of the connecting groove 210 also forms an inclined surface with a decreasing cross-sectional area towards the inside. Accordingly, even if the center of the connecting protrusion and the center of the connecting groove are not completely aligned, if the connecting protrusion enters the connecting groove, it can still be inserted along the inclined surface, thereby completing the clamping.

[0106] Preferably, the engagement protrusion and engagement groove are arranged in two or more on one side of the finger portion to prevent the male connector or the clamp from rotating or shaking during clamping.

[0107] A pressure sensor 670 is disposed inside the engagement protrusion to measure the clamping pressure, thereby maintaining an appropriate clamping force.

[0108] Alternatively, the appropriate clamping force can be maintained by utilizing the magnitude of the torque detected by the finger-driven portion.

[0109] The finger drive unit 610 is driven by a control signal from the control unit, thereby rotating the finger axis while the finger parts on both sides move inward along the finger axis.

[0110] As the finger-shaped part moves, the connecting protrusion is inserted into the corresponding connecting groove. If the finger-shaped part is clamped with a set pressure or the finger-shaped part moves to a set position and is clamped, the driving of the finger-shaped driving part is stopped according to the control signal of the control unit.

[0111] When releasing the clamp, the finger-shaped drive unit rotates the finger-shaped shaft in the opposite direction, thereby releasing the clamp by moving both finger-shaped parts outward at the same time.

[0112] Then, refer to Figure 10 This describes the process of inserting the male connector into the female connector to form a mating connection.

[0113] The female connector includes a locking lever 350 at the front. The locking lever is engaged and driven by a pair of connectors 356, which are rotatably engaged by connector engagement portions 351 at their ends. Additionally, the other end of each connector is rotatably engaged with the locking lever 350 to rotate the locking lever.

[0114] A drive frame 354 is disposed on the pair of connectors, and a moving hole 355 with a straight line shape inclined vertically is formed in the drive frame 354. In addition, a connector joint portion 351 is engaged with the moving hole 355, and the connector joint portion 351 can be driven along the moving hole.

[0115] Then, a drive rail 352 is arranged on the upper part of the drive frame 354, allowing the drive frame to move horizontally. That is, the drive frame 354 is slidably connected, so that the drive frame 354 can move left and right along the drive rail.

[0116] However, it is not limited to this structure. Alternatively, a cylinder for up-and-down drive can be used in conjunction with a locking lever to move the locking lever directly up and down.

[0117] A lever opening / closing confirmation sensor 353 is disposed adjacent to the locking lever 350 to confirm whether the locking lever is in the open state. That is, the lever opening / closing confirmation sensor 353 can be constructed using a proximity sensor. If the locking lever 350 is located adjacent to it, it can be determined that the lever is in the open state, and a lever open state signal is sent to the control unit.

[0118] Conversely, if the lever opening / closing confirmation sensor 353 indicates that the lever is not in an open state, the control unit's horizontal movement drive will switch the locking lever to the open state. The drive can be moved by its own drive motor or by a mobile robotic arm.

[0119] The mobile robotic arm uses a vision camera or position sensor to confirm the insertion position of the female connector, clamps the male connector, and moves it to the front of the female connector. Then, using the vision camera or position sensor, it confirms the positions of the male and female connectors, moves the clamping part holding the male connector horizontally, and inserts the male connector into the female connector.

[0120] Once the male connector is inserted, the drive frame is moved horizontally, the locking lever is switched to the closed state, and the robotic arm is moved to release the clamping part. At this time, as the drive frame moves horizontally along the drive track, the connector engagement part 351 rises upward along the moving hole, thereby shortening the distance between the pair of connectors while rotating the locking lever.

[0121] As a result, with the end of the locking lever inserted into the male connector, the male connector will not detach from the female connector and will remain in an irremovable state. In this state, the operator can deliver the medicine (chemical) to be delivered.

[0122] The invention has been described above with reference to embodiments thereof; however, it will be understood by those skilled in the art that various modifications and alterations may be made to the invention without departing from the spirit and scope of the invention as set forth in the claims.

Claims

1. An automatic tightening device for chemical hoses, comprising: The clamping part clamps the male connector of the hose placed in the chemical hose placement unit or a placement clamp that places the male connector; The hose moving part moves the clamped male connector to the female connector located in the chemical supply chamber; and The control unit controls the drive of the clamping part and the hose moving part; The clamping part includes a pair of connecting parts that connect to the clamping part to clamp the male connector or a placement fixture for placing the male connector.

2. An automatic tightening device for chemical hoses, comprising: The clamping part clamps the male connector of the hose placed in the chemical hose placement unit or a placement clamp that places the male connector; The hose moving part moves the clamped male connector to the female connector configured in the chemical supply chamber; and The control unit controls the drive of the clamping part and the hose moving part; The clamping part includes: a main body part, which is coupled to the moving part of the hose; and a pair of finger-like parts, which are coupled to the main body part and move left and right; A finger-shaped driving part drives the finger-shaped part.

3. The automatic tightening device for chemical hoses according to claim 2, characterized in that, The clamping part is equipped with a vision camera, and the control part identifies the position of the male connector through the vision camera in order to clamp the male connector or place a clamp for the male connector.

4. The automatic tightening device for chemical hoses according to claim 2, characterized in that, The clamping part is equipped with a vision camera, and the control part uses the vision camera to identify the position of the female connector in order to move the clamping part.

5. The automatic tightening device for chemical hoses according to claim 2, characterized in that, The finger portion is provided with an inwardly protruding engagement protrusion; the engagement protrusion is inserted into an engagement groove formed in the male connector or in a placement clamp for holding the male connector.

6. The automatic tightening device for chemical hoses according to claim 5, characterized in that, The connecting protrusion forms an inclined surface with a gradually decreasing cross-sectional area, and the inner circumferential surface of the connecting groove also forms an inclined surface with a decreasing cross-sectional area towards the inside.

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