Chemical hose automatic fastening device

Abstract

Disclosed is a chemical hose automatic fastening device. The chemical hose automatic fastening device of an embodiment of the present invention is used to fasten a female connector of a storage supply section after a male connector of a transfer via section is transferred to a transfer incoming section, and includes a transfer robot that can move along a transfer robot movement path provided between the transfer incoming section and the transfer via section, and can fasten the male connector to the female connector, a chemical hose support unit provided in the transfer incoming section and capable of supporting a chemical hose connected to the male connector, and a controller capable of controlling whether the transfer robot is operated, the transfer robot including a movement portion capable of moving along the transfer robot movement path, and a gripping portion provided at an end of the movement portion and capable of gripping the male connector.

Description

Technical Field

[0001] This invention relates to chemical handling technology, and more specifically, to an automatic tightening device for chemical hoses. Background Technology

[0002] A wide variety of chemicals are used in the manufacturing processes of semiconductors, semiconductor devices, display devices, and so on. The methods for supplying chemicals from external sources are also diverse.

[0003] One method of supply involves transferring chemicals from tank lorries parked outside a building to chemical storage tanks located inside the building, and then from the storage tanks to process chambers where a specific process is performed. Conversely, there are also cases where chemicals are transferred from storage tanks to tank lorries.

[0004] In the process of transferring chemicals received from tank trucks to chemical storage tanks, the ACQC (Automatic Clean Quick Coupler Unit) of the automated chemical supply system plays a relay supply role. The automated chemical supply system may include: a male connector support unit that supports the male connector; a female connector; and a transfer robot that transfers the male connector to the female connector.

[0005] In automated chemical supply systems, when a designated work area is set up and workers are allowed inside the system, worker safety must be ensured. However, within the work area, there is a risk of collision between a worker's body or the connector and a moving or driving transport robot, as the worker's body or the connector may leave the work area while performing tasks such as placing or retrieving male connectors.

[0006] Such incidents not only cause work delays but also lead to worker injuries, product damage, and manufacturing performance issues. There are concerns that the overall stability and efficiency of the manufacturing process may be reduced when the safety of personnel in the area of ​​the automated chemical supply unit cannot be guaranteed.

[0007] The Korean Patent Publication (Registration No.: 2689610) does not provide additional safety devices to address dangerous situations that may occur to workers while they are performing their duties.

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 0001: Korean Patent Registration No. 2689610 (Publication Date: July 30, 2024) Summary of the Invention

[0011] To solve the problem

[0012] One technical problem to be solved by the present invention is to provide an automatic chemical hose tightening device that can ensure the safety of workers and prevent dangerous situations in advance.

[0013] Solution to the problem

[0014] To address the aforementioned technical problem, the present invention provides an automatic tightening device for chemical hoses.

[0015] An embodiment of the present invention provides an automatic chemical hose fastening device for fastening a male connector of a transport section to a female connector of a storage supply section after the male connector of the transport section is delivered to the transport section. The device includes: a transport robot capable of moving along a transport robot movement path disposed between the transport section and the storage supply section, and capable of fastening the male connector to the female connector; a chemical hose support unit disposed in the transport section and capable of supporting the chemical hose connected to the male connector; and a controller capable of controlling whether the transport robot operates, the transport robot including... The controller comprises: a moving part that can move along the movement path of the transfer robot; and a gripping part that extends from the end of the moving part and can grip the male connector. The gripping part can be located in one of the infeed section, the transfer passage section, or the storage supply section. As needed, the infeed section, the transfer passage section, and the storage supply section include work areas where workers can perform tasks. As needed, the controller assigns access permissions to different areas of the infeed section, the transfer passage section, and the storage supply section to the workers, and can arbitrarily reset the work areas according to the access permissions.

[0016] According to one embodiment, in the storage supply section, a plurality of storage supply chambers are provided in a direction parallel to the movement path of the transfer robot, and at any position in the movement path of the transfer robot, the moving part faces one of the plurality of storage supply chambers.

[0017] According to one embodiment, the chemical hose support unit may include a male connector bracket, which is disposed on one of the exterior of a building, the interior of a building, or a wall of a building that divides the exterior and interior of the building, and can hold the male connector.

[0018] According to one embodiment, the present invention may include a region sensor for detecting movement between the infeed section and the transfer via section.

[0019] According to one embodiment, if, during the execution of the work, a part of the worker's body or the male connector leaves the work area, and the area sensor detects that the worker or the transfer robot has moved, the controller can control the transfer robot to stop or reduce its operating speed.

[0020] According to one embodiment, the present invention includes a door disposed between the inbound section and the transfer passage section, and capable of being opened and closed. The door can be configured such that, when work is performed in the chemical hose support unit of the inbound section, an interlock is activated by operation of an operating unit, causing the door to be closed and restricting its opening operation; when no work is performed and no operation is performed, the interlock is released, allowing the door to be opened.

[0021] According to one embodiment, a fence that can prevent workers from approaching the transfer route section may be included between the transfer route section and the storage supply section.

[0022] According to one embodiment, the fence may include an entrance / exit gate, which may include an operating unit. The operating unit can de-interlock through the operation of the worker or the control of the controller, and can operate the opening and closing of the entrance / exit gate.

[0023] According to one embodiment, the operating unit can operate the transfer robot to stop driving.

[0024] According to one embodiment, the present invention may include an ankle detection sensor disposed adjacent to the moving part and capable of detecting whether a worker is approaching the moving part of the transfer robot. The ankle detection sensor may also include a controller that de-interlocks during detection, thereby allowing the transfer robot to stop operating.

[0025] According to one embodiment, the present invention may include a torque sensor capable of detecting the degree of load applied to the transfer robot in the transfer passage segment, and the controller may control the transfer robot to stop when a fault condition is detected based on the measurement value of the torque sensor.

[0026] The effects of the invention

[0027] According to embodiments of the present invention, there is a space that can separate and divide different areas of the inbound section, the transfer passage section and the storage supply section, so as to ensure the working stability of the staff in each different area.

[0028] According to one embodiment of the present invention, sensors or shielding doors are installed at the boundaries of different areas of the infeed section, the transfer passage section and the storage supply section, thereby improving the work stability of the workers and increasing the process efficiency of the transfer robot.

[0029] According to one embodiment of the invention, in the event of an emergency that restricts the actuation of the transfer robot, the transfer passage section and the storage supply section have working areas that allow workers to perform their tasks, thereby helping to ensure worker safety, improve work efficiency, and improve the accuracy of fastening the male connector to the female connector. Attached Figure Description

[0030] Figure 1 A perspective view is provided to briefly illustrate an embodiment of the automatic chemical hose fastening device of the present invention.

[0031] Figure 2 A top view is provided to briefly illustrate an embodiment of the automatic chemical hose fastening device of the present invention.

[0032] Figure 3 For brevity Figure 2 An enlarged top view of the inlet section.

[0033] Figure 4 A top view is provided to briefly illustrate the working area and operating area of ​​an embodiment of the present invention.

[0034] Figure 5 A perspective view of the rear face of the feed section according to an embodiment of the present invention is shown for illustrative purposes.

[0035] Figure 6 A top view is provided to briefly illustrate another embodiment of the automatic chemical hose fastening device of the present invention.

[0036] Figure 7 A side view of an automatic chemical hose fastening device according to another embodiment of the present invention is shown for illustrative purposes.

[0037] Figure 8 A perspective view of a transfer path segment according to an embodiment of the present invention is provided for illustrative purposes.

[0038] Figure 9 A perspective view is shown of a moving part facing the storage and supply chamber in the movement path of a transfer robot according to an embodiment of the present invention.

[0039] Figure 10 A perspective view of an ankle detection sensor according to an embodiment of the present invention is shown.

[0040] Figure 11 A top view illustrating an ankle detection sensor in a transfer passage section and a storage supply section according to an embodiment of the present invention.

[0041] Figure 12 A top view of a support for a transfer passage section and a storage supply section according to an embodiment of the present invention.

[0042] Figure 13 A perspective view illustrating a transfer robot that secures a male connector to a female connector according to an embodiment of the present invention.

[0043] Explanation of reference numerals in the attached figures

[0044] 1: Automatic tightening device for chemical hoses

[0045] S10: Transport Section

[0046] 110: Male connector

[0047] 120: Chemical hoses

[0048] 130: Chemical hose support unit; 131: Male connector bracket

[0049] 210: Area Sensor

[0050] 220: Door

[0051] S30: Transfer via section

[0052] 310: Transfer Robot 311: Transfer Robot Movement Path

[0053] 312: Moving part; 313: Holding part

[0054] 320: Torque Sensor

[0055] 410: Fence 411: Doorway

[0056] 420: Ankle detection sensor 430: Bracket

[0057] S50: Storage and Supply Section

[0058] 510: Storage and supply chamber; 520: Female connector

[0059] 600: Controller Detailed Implementation

[0060] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical concept of the present invention is not limited to the several embodiments described herein, and may be embodied in other forms. Rather, the embodiments described herein are provided to make the disclosure more thorough and complete, and to fully convey the spirit of the present invention to those skilled in the art.

[0061] In this specification, when a structural element is mentioned as being located on other structural elements, it means that it can be directly formed on the other structural elements, or that a third structural element is disposed between them. Furthermore, in the various figures, the shapes and dimensions of the various structural elements are enlarged for the purpose of effectively illustrating the technical content.

[0062] Furthermore, although terms such as first, second, and third are used in various embodiments of this specification to describe multiple structural elements, such structural elements should not be limited to these specific structural elements. These terms are only used to distinguish certain structural elements from other structural elements. Therefore, what is referred to as a first structural element in one embodiment may be referred to as a second structural element in another embodiment. The embodiments described and illustrated herein also include their complementary embodiments. Furthermore, in this specification, "and / or" is used to include at least one of the listed structural elements.

[0063] In this specification, singular expressions include plural expressions unless the context explicitly implies otherwise. Furthermore, terms such as "comprising" or "having" are used to specify the presence of features, numbers, steps, structural elements, or combinations thereof described in the specification, rather than precluding the presence or additional possibility of one or more other features or numbers, steps, structural elements, or combinations thereof. Also, in this specification, "connected" is used to mean both indirect and direct connections between multiple structural elements.

[0064] Furthermore, in the following description of the present invention, detailed descriptions of relevant well-known functions or structures will be omitted if it is determined that such detailed descriptions would unnecessarily obscure the essence of the present invention.

[0065] For ease of explanation, the first direction refers to the X-axis in the orthogonal coordinate system, the second direction refers to the Y-axis in the orthogonal coordinate system, and the third direction refers to the Z-axis in the orthogonal coordinate system. In this case, the first, second, and third directions are mutually orthogonal.

[0066] Figure 1 To briefly illustrate a perspective view of an automatic chemical hose fastening device according to an embodiment of the present invention, Figure 2 To briefly illustrate a top view of an automatic chemical hose fastening device according to an embodiment of the present invention, Figure 3 For brevity Figure 2 An enlarged top view of the inlet section. Figure 4 To briefly illustrate a top view of the working area and operating area of ​​an embodiment of the present invention, Figure 5 To briefly illustrate a perspective view of the rear view of the conveying section according to an embodiment of the present invention, Figure 6 To briefly illustrate a top view of another embodiment of the automatic chemical hose fastening device of the present invention, Figure 7For the purpose of briefly illustrating a side view of an automatic chemical hose fastening device according to another embodiment of the present invention, Figure 8 To provide a simplified perspective view of the transfer path segment according to an embodiment of the present invention, Figure 9 A perspective view is briefly shown of a moving part facing the storage and supply chamber in the movement path of a transfer robot according to an embodiment of the present invention. Figure 10 To illustrate a perspective view of an ankle detection sensor according to an embodiment of the present invention, Figure 11 To illustrate a top view of an ankle detection sensor in a transfer passage section and a storage supply section according to an embodiment of the present invention, Figure 12 A top view of the support structure for the transfer passage section and the storage supply section according to an embodiment of the present invention is provided. Figure 13 A perspective view illustrating a transfer robot that secures a male connector to a female connector according to an embodiment of the present invention.

[0067] The following is for reference Figures 1 to 13 The structure and operation of an automatic chemical hose fastening device 1 according to an embodiment of the present invention are observed.

[0068] Reference Figures 1 to 13 In the automatic chemical hose fastening device 1, the transfer robot 310 can fasten the male connector 110 connected to the chemical hose 120 at the female connector 520. More specifically, in one embodiment of the automatic chemical hose fastening device 1, after being transferred to the transfer passage section S30 by means of the transfer robot 310, the male connector 110 of the transport section S10 can be fastened to the female connector 520 of the storage supply section S50.

[0069] The automatic chemical hose fastening device 1 may include a transfer robot 310, a chemical hose support unit 130, and may further include an area sensor 210 or a door 220, a fence 410, an ankle detection sensor 420, a bracket 430, and a controller 600.

[0070] The automatic chemical hose fastening device 1 can be divided into an inlet section S10, a transfer section S30, and a storage and supply section S50 according to different spaces. More specifically, along the second direction, the automatic chemical hose fastening device 1 can be arranged in the order of the inlet section S10, the transfer section S30, and the storage and supply section S50.

[0071] The inbound section S10, the transfer route section S30, and the storage and supply section S50 may include a working ground (WG) where workers can perform their tasks. More specifically, the transfer route section S30 and the storage and supply section S50 may be limited to including the working ground (WG).

[0072] Re-reference Figures 1 to 7 , Figure 9The receiving section S10 can be an area adjacent to the area used for supplying external chemicals. The receiving section S10 can also be an area adjacent to a parking space (not shown) where tank trucks (not shown) can stop. A chemical hose support unit 130 can be installed in the receiving section S10. More specifically, a chemical hose support unit 130 capable of receiving a wide variety of chemicals can be installed in the receiving section S10. Although... Figure 4 An example with a first chemical hose support unit 130a, a second chemical hose support unit 130b, and a third chemical hose support unit 130c is shown, but this is only one embodiment of the invention, and the number and configuration of the chemical hose support units 130 can be varied as needed.

[0073] According to one embodiment, a plurality of chemical hose support units 130 may be disposed in the infeed section S10. The plurality of chemical hose support units 130 may be arranged side-by-side with each other along a first direction in the infeed section S10. More specifically, referring back to... Figure 4 The first chemical hose support unit 130a, the second chemical hose support unit 130b and the third chemical support unit 130c can be spaced apart in the first direction in the transport section S10 and arranged side by side.

[0074] The infeed section S10 may include work areas WGa, WGb, and WGc for personnel performing tasks such as placing or retrieving the male connector 110 in the chemical hose support unit 130. According to one embodiment, as... Figure 4 As shown, when worker W places or retrieves male connector 110 in the second chemical hose support unit 130b, the work area WGb is restricted to the area corresponding to the second chemical hose support unit 130b, while the areas WGa and WGc corresponding to the first chemical hose support unit 130a and the third chemical support unit 130c can be defined as separate work areas.

[0075] The work area WG can be a space for workers W to perform their work. According to one embodiment, tasks such as placing or retrieving the male connector 110 and connecting or disconnecting the chemical hose 120 can be performed in the work area WG. The area where a chemical hose support unit (one of 130a, 130b, 130c) is located in the inlet section S10 is a representative work area WG, and, as needed, the area where the male connector 110 is secured to the female connector 520 in the storage and supply section S50 via the transfer section S30 (hereinafter referred to as the "female connector securing area") can be restrictedly reset to the work area WG.

[0076] The operating ground (RG) provides the space for the transfer robot 310 to perform a series of operations involving gripping, transferring, and securing the male connector 110. (Re-reference) Figure 4 In the event of an overlap between the operating range RG of the transfer robot 310 and the work area, the controller 600, which will be described later, can stop the transfer robot 310 or reduce its speed to prevent a collision.

[0077] The work area WG of worker W can physically overlap with the operating area of ​​transfer robot 310 in the inbound section S10. Therefore, while worker W is approaching the second chemical hose support unit 130b of the inbound section S10 to perform work, controller 600 can control the operation of transfer robot 310 to prevent transfer robot 310 from entering the second chemical hose support unit 130b of the inbound section S10. This prevents the actual worker W and transfer robot 310 from being simultaneously located in the second chemical hose support unit 130b of the inbound section S10.

[0078] like Figure 4 As shown, while the worker W is approaching the second chemical hose support unit 130b of the inbound section S10 to perform work, the transfer robot 310 may also approach the second chemical hose support unit 130b of the inbound section S10. However, due to a malfunction of the transfer robot 310, if the transfer robot 310 approaches the second chemical hose support unit 130b of the inbound section S10 while the worker W is performing tasks such as placing or retrieving the male connector 110 into the second chemical hose support unit 130b of the inbound section S10, this can be considered an intrusion.

[0079] When the area sensor 210, which will be described later, approaches the second chemical hose support unit 130b of the inbound section S10 to detect a part of the transfer robot 310 that is considered to be intruding, the area sensor 210 can send intrusion information to the controller 600. Based on the intrusion information from the area sensor 210, the controller 600 can control the transfer robot 310 to stop driving or significantly reduce the operating speed of the transfer robot 310, thereby minimizing the risk of conflict between the transfer robot 310 and the worker W.

[0080] The chemical hose support unit 130 can support the chemical hose 120 connected to the male connector 110.

[0081] According to one embodiment, a plurality of chemical hose support units 130 may be arranged in the infeed section S10 in a direction parallel to the movement path 311 of the transfer robot. More specifically, in one embodiment, a plurality of chemical hose support units 130 may be arranged side by side with each other in the infeed section S10 along a first direction.

[0082] The chemical hose support unit 130 may include a male connector bracket 131. The male connector bracket 131 may be located on the exterior of a building, inside a building, or in one of the walls of a building that divides the exterior and interior of a building.

[0083] A male connector 110, which connects the chemical hose 120 to a tanker truck (not shown) located in a parking space (not shown), can be installed in the chemical hose support unit 130 of the transport section S10. More specifically, different types of chemicals can be carried in different tanker trucks (not shown), and can be supplied and stored in multiple storage and supply chambers 510 via a female connector 520 that is fastened to the male connector 110.

[0084] The transport section S10 can be the area where workers W can perform the work of placing or retrieving the male connector 110.

[0085] The male connector 110 may include a male connector head that can be inserted into the female connector; and a male connector neck that can be secured to the chemical hose 120 by means of a flange.

[0086] Re-reference Figures 1 to 3 , Figure 5 In one embodiment, the area sensor 210 can detect movement between the infeed section S10 and the transfer passage section S30. To prevent collisions between the operating transfer robot 310 and the worker W or the male connector 110, the area sensor 210 can detect movement between the infeed section S10 and the transfer passage section S30. The area sensor 210 may be positioned at the boundary region between the infeed section S10 and the transfer passage section S30. More specifically, the area sensor 210 can detect positional movement of a portion of the worker W's body or the male connector 110. In one embodiment, the area sensor 210 can detect whether a portion of the worker W's body or the male connector 110 intrudes into (or disengages from) the transfer passage section S30.

[0087] The area sensor 210 may include a transmitter and a receiver. The transmitter may face the receiver. The transmitter may emit light. The transmitter may include a light-emitting element.

[0088] Re-reference Figure 6 , Figure 7In another embodiment, door 220 may be located between the inlet section S10 and the transfer passage section S30. Door 220 can open and close when de-interlocked by controller 600. Door 220 can open and close manually or automatically. With door 220 closed, worker W can place or retrieve male connector 110 in the chemical hose support unit 130, and the flow of any part of worker W's body or male connector 110 from the inlet section S10 to the transfer passage section S30 can be prevented. With door 220 open, transfer robot 310 can enter the inlet section S10 from the transfer passage section S30, thereby grasping or releasing the male connector 110 of the chemical hose support unit 130.

[0089] In the case where a chemical hose support unit (one of 130a, 130b or 130c) in the inlet section S10 forms a work area (one of WGa, WGb or WGc) for workers W to approach and perform work, the interlock can be activated in advance by operating the operating unit (not shown), and the door 220 can restrict the opening operation in the closed state.

[0090] In the case where the operator (not shown) approaches and performs work in a chemical hose support unit (one of 130a, 130b or 130c) in the inlet section S10 without the operator W performing the work, the interlock is released if the operator (not shown) does not perform the operation in advance, allowing the door 220 to be opened.

[0091] Re-reference Figure 1 , Figure 2 , Figures 6 to 9 , Figures 10 to 13 During the process of the transfer robot 310 moving the male connector 110 connected to the chemical hose 120, the transfer passage section S30 can be the area traversed by the male connector 110 before being fastened to the female connector 520.

[0092] In principle, the transfer passage section S30 can be considered a restricted area for staff member W. If staff member W approaches the transfer passage section S30 due to carelessness or other reasons, this can be considered an intrusion.

[0093] If the area sensor 210 detects a part of the worker W's body in the transfer passage segment S30, the area sensor 210 can send intrusion information to the controller 600. Based on the intrusion information from the area sensor 210, the controller 600 can control the transfer robot 310 to stop driving or significantly reduce the operating speed of the transfer robot 310, thereby minimizing the risk of conflict between the transfer robot 310 and the worker W.

[0094] In the event of an emergency, such as when the transfer robot 310 malfunctions, the transfer route S30 can be reset by the controller 600 to include the work area WG. In this case, the worker W can exceptionally transfer the male connector 110 and the chemical hose 120 connected to the male connector 110 from the transfer route S30. In the event of an emergency, the transfer route S30 may, to a limited extent, include the work area where the worker W can perform his / her work.

[0095] The transfer path section S30 can be located between the inbound section S10 and the storage supply section S50. The transfer robot 310 can be configured in the transfer path section S30.

[0096] The transfer robot 310 can move along the transfer robot movement path 311. The transfer robot 310 can fasten the male connector 110 to the female connector 520.

[0097] The transfer robot 310 may include a moving part 312 and a holding part 313, and may further include a vision camera.

[0098] The moving part 312 can move along the transfer robot's movement path 311. The transfer robot's movement path 311 can provide a movement path for the moving part 312 in a first direction. More specifically, in one embodiment, the moving part 312 can move in position along the first direction.

[0099] The moving part 312 can move to any position along the transfer robot's movement path 311 in the first direction. The moving part 312 can move one of the plurality of chemical hose support units 130a, 130b, 130c facing each other in the second direction so as to be in position with a corresponding pair of support units 130 and the plurality of storage and supply chambers 510, which will be described later.

[0100] The holding part 313 may extend to the end of the moving part 312. The holding part 313 may hold the male connector 110.

[0101] The gripping part 313 may be located in one of the infeed section S10, the transfer section S30, or the storage supply section S50. More specifically, the gripping part 313 may be driven to grip the male connector 110 in the infeed section S10 and to fasten the male connector 110 to the female connector 520 in the storage supply section S50 via the transfer section S30.

[0102] The torque sensor 320 can detect the degree of load applied to the transfer robot 310. More specifically, the torque sensor 320 can have a maximum torque value preset in any interval of the transfer robot's movement path 311, or in the same manner, and can detect the degree of load applied to the transfer robot 310.

[0103] A vision camera can be mounted on the end of the transfer robot 310 and can capture images of the male connector 110 and the female connector 520. More specifically, the vision camera can be mounted on the moving part 312. In one embodiment, the vision camera can capture images of the end of the male connector 110 that can move towards the receiving section S10 and the storage supply section S50. In another embodiment, the vision camera can capture images of the end of the female connector 520 that is adjacent to the transfer passage section S30.

[0104] More specifically, the vision camera can capture images not only of the male connector 110, but also of the end of the chemical hose 120 that is fastened to the male connector 110 by means of a flange.

[0105] Re-reference Figure 1 , Figure 2 , Figure 6 and Figure 11 In one embodiment, a fence 410 can be installed between the transfer path section S30 and the storage supply section S50, thereby physically separating the transfer path section S30 and the storage supply section S50. The fence 410 can prevent personnel W from entering or exiting from the storage supply section S50 to the transfer path section S30.

[0106] The fence 410 can physically prevent the worker W from approaching the transfer route S30, which is the radius of the transfer robot 310.

[0107] Fence 410 may include entrance 411.

[0108] The access door 411 may include an operating unit (not shown) that can operate the opening and closing of the access door 411.

[0109] The operating unit (not shown) can operate the opening and closing of the entrance / exit door 411 through operation by the operator W or control by the controller 600. According to one embodiment, the operating unit (not shown) can operate the release of the interlock and the opening of the entrance / exit door 411. According to another embodiment, the operating unit (not shown) can be operated in a manner that releases the interlock and stops the drive of the transfer robot 310.

[0110] Re-reference Figure 10 , Figure 11 In one embodiment, the ankle detection sensor 420 can be disposed adjacent to the moving part 312. In another embodiment, the ankle detection sensor 420 can be disposed adjacent to the fence 410. The ankle detection sensor 420 can detect whether the worker W is approaching the moving part 312 of the transfer robot 310 or can detect obstacles.

[0111] According to another embodiment, the ankle detection sensor 420 can be a proximity sensor, infrared sensor, laser sensor, Hall sensor, or other sensor capable of detecting a part of the worker W's body or an obstacle, but is not limited to these.

[0112] Re-reference Figure 12 In one embodiment, the support 430 can be located at any position on the transfer robot's movement path 311. The transfer robot's movement path 311 includes a track, and in the event of an emergency where a worker W enters the transfer passage segment S30, the worker W needs to stand on the track to perform the work, which may make it difficult to move or maintain balance.

[0113] The support 430 can be stored anywhere under normal circumstances, but in an emergency, it can be used as a simple support to cover or place on the track of the transfer robot's movement path 311. When the interlock is released via the controller 600, the support 430 is temporarily set up on the transfer robot's movement path 311 to allow the worker W to manually fill the chemicals, thereby performing the function of a simple support so that the worker W can use it as a footrest for stable work.

[0114] Re-reference Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 9 , Figures 11 to 13 The storage supply section S50 can be an area for supplying and storing chemicals after the male connector 110 and the female connector 520 are fastened together. More specifically, the storage supply section S50 can be provided with storage supply chambers 510 capable of storing a variety of chemicals. Multiple storage supply chambers 510 can be arranged in the storage supply section S50 of one embodiment in a direction parallel to the movement path 311 of the transfer robot.

[0115] A portion of the storage supply section S50 may be an area where access by the worker W is restricted. More specifically, in the storage supply section S50, the area where the male connector 110 and the female connector 520 are fastened (hereinafter referred to as the "female connector fastening area") may, in principle, be a restricted area where the worker W is prohibited from approaching. If the worker W approaches the female connector fastening area of ​​the storage supply section S50 due to the worker W's inattention or other reasons, this may be considered an intrusion.

[0116] In the event of an emergency such as the transfer robot 310 becoming inoperable, the storage supply section S50 can be reconfigured by the controller 600 to include a work area. In this case, the worker W can exceptionally perform the task of fastening or disengaging the male connector 110 from the female connector 520 within the storage supply section S50. However, in the event of an emergency, the storage supply section S50 may, to a limited extent, include a work area WG in which the worker W can perform the work.

[0117] Multiple storage and supply chambers 510 may be arranged side by side along a first direction in the storage and supply section S50.

[0118] The storage and supply chamber 510 of the storage and supply section S50 can be arranged facing the chemical hose support unit 130 of the inlet section S10. More specifically, for each corresponding chemical, the storage and supply chamber 510 can face the chemical hose support unit 130.

[0119] A female connector 520 may be provided at the end of the storage and supply chamber 510.

[0120] Re-reference Figure 1 , Figure 2 , Figure 6 , Figure 8 and Figure 9 The controller 600 can control a series of operations for the transfer robot 310, such as movement, gripping, and fastening. When the worker W is performing the work of placing or retrieving the male connector 110 in the chemical hose support unit 130 of the inlet section S10, if the area sensor 210 detects the positional movement of the worker W between the inlet section S10 and the transfer passage section S30, or detects that the male connector 110 has left the working area of ​​the inlet section S10 and encroached upon (or detached from) the transfer passage section S30, the controller 600 can control the transfer robot 310 to stop driving or significantly reduce the running speed of the transfer robot 310, so as to minimize the risk of conflict between the transfer robot 310 and the worker W.

[0121] In the event of an emergency where the drive of the transfer robot 310 is restricted, the controller 600 can, as needed, grant the worker W access permissions to different areas of the transfer passage section S30 and the storage supply section S50. The controller 600 can arbitrarily reset the work area based on the access permissions. The controller 600 can define whether an emergency has occurred that restricts the drive of the transfer robot 310 based on the position of the moving part 312, the direction of movement of the moving part 312 and the gripping part 313, and their operating range within the process flow of each different area. More specifically, the controller 600 can define whether an emergency has occurred that restricts the drive of the transfer robot 310 based on horizontal movement in the first, second, and third directions, as well as the position information of the male connector 110 and the transfer robot 310 in different rotational movements.

[0122] More specifically, in one embodiment, if the area sensor 210 detects movement of the worker W or violation (or detachment) of the male connector 110 from the transfer passage S30, the controller 600 can de-interlock to stop the transfer robot 310 from driving. According to one embodiment, instead of unconditionally stopping the transfer robot 310, the controller 600 can control the transfer robot 310 to significantly reduce its operating speed to prevent a collision hazard with the worker W. In the movement path of the moving part 312, the drive of the moving part 312 can be restricted in a specific area facing the chemical hose support unit 130 to prevent the transfer robot 310 from being in that area, while maintaining the drive of the transfer robot 310 in other working areas. This effectively minimizes the risk of conflict based on the position of the worker W detected by the area sensor 210.

[0123] More specifically, if the ankle detection sensor 420 of one embodiment detects worker W in the transfer passage segment S30, the controller 600 can disengage to control the transfer robot 310 to stop driving. According to one embodiment, if the ankle detection sensor 420 detects worker W in the transfer passage segment S30, the controller 600 can disengage and control the opening of the initial entrance 411 to allow worker W to enter and exit the transfer passage segment S30. The controller 600 can control the operating unit (not shown) for the entrance / exit 411. According to one embodiment, the controller 600 can control the operating unit (not shown) to operate in a manner that disengages and stops the drive of the transfer robot 310, and can operate the opening of the entrance / exit 411.

[0124] The area sensor 210 can detect whether the transfer robot 310 is operating abnormally. The area sensor 210 can detect the positional movement of the transfer robot 310. More specifically, the area sensor 210 can detect the positional movement of the transfer robot 310 during normal positional movement and actuation, for the purpose of holding and moving the male connector 110 between the infeed section S10 and the transfer via section S30.

[0125] The controller 600 may not stop the drive of the transfer robot 310 during normal operation due to the area sensor 210. If the area sensor 210 detects abnormal operation of the transfer robot 310, the controller 600 can control the transfer robot 310 to stop driving. More specifically, if the area sensor 210 detects, physically or in a controlled manner, that an abnormality in the transfer robot 310 has caused erroneous action, or if the transfer robot 310 has intruded upon (or detached from) the transport section S10 while the worker W is preventing or retrieving the male connector 110 from the chemical hose support unit 130, the controller 600 can control the transfer robot 310 to stop driving.

[0126] While the preferred embodiments have been described in detail above, the scope of this invention is not limited to the specific embodiments, but should be interpreted by the appended claims. Furthermore, those skilled in the art will understand that many modifications and variations can be made without departing from the scope of this invention.

Claims

1. An automatic fastening device for chemical hoses, used to fasten to a female connector in a storage and supply section after being fed into a male connector in a transfer section, characterized in that, include: The transfer robot moves along the transfer robot movement path of the transfer passage section located between the infeed section and the storage supply section, and fastens the male connector at the female connector; A chemical hose support unit is disposed in the infeed section and supports the chemical hose connected to the male connector; as well as The controller controls whether the transfer robot runs. The transfer robot includes: The moving part moves along the moving path of the transfer robot; as well as A holding portion extends from the end of the movable portion and holds the male connector. The gripping part is located in one of the infeed section, the transfer section, or the storage and supply section. As needed, the inbound section, transfer section, and storage and supply section include work areas for workers to perform their tasks. As needed, the controller assigns access permissions to different areas of the inbound section, transfer section, and storage supply section, and arbitrarily resets the work area based on the access permissions.

2. The automatic chemical hose tightening device according to claim 1, characterized in that, In the storage and supply section, multiple storage and supply chambers are arranged in a direction parallel to the movement path of the transfer robot. At any point along the movement path of the transfer robot, the moving part faces one of the plurality of storage and supply chambers.

3. The automatic chemical hose tightening device according to claim 1, characterized in that, The chemical hose support unit includes a male connector bracket, which is disposed on one of the walls of a building, either on the exterior of the building, inside the building, or dividing the exterior and interior of the building, and holds the male connector.

4. The automatic chemical hose tightening device according to claim 1, characterized in that, Includes a region sensor that detects movement between the infeed section and the transfer via section.

5. The automatic chemical hose tightening device according to claim 4, characterized in that, If, during the execution of the work, a part of the worker's body or the male connector leaves the work area, and the area sensor detects that the worker or the transfer robot has moved, the controller controls the transfer robot to stop or reduce its operating speed.

6. The automatic chemical hose tightening device according to claim 1, characterized in that, This includes a door positioned between the infeed section and the transfer passage section, which is used for opening and closing. The door is configured such that, When the chemical hose support unit in the inlet section is in operation, the interlock is activated by operating the control unit, causing the door to be closed, restricting its opening. If the operation is not performed and the aforementioned work is not performed, the interlock is released, allowing the door to open.

7. The automatic chemical hose tightening device according to claim 1, characterized in that, A fence is included between the transfer route section and the storage supply section to prevent workers from accessing the transfer route section.

8. The automatic chemical hose tightening device according to claim 7, characterized in that, The fence includes entrances and exits. The access door includes an operating unit, which can be de-interlocked and operated to open and close the access door by means of the operator's operation or the controller.

9. The automatic chemical hose tightening device according to claim 8, characterized in that, The operating unit operates the transfer robot to stop driving.

10. The automatic chemical hose tightening device according to claim 1, characterized in that, This includes an ankle detection sensor positioned adjacent to the moving part of the transfer robot to detect whether a worker is approaching the moving part. The ankle detection sensor also includes a controller that de-interlocks during detection, causing the transfer robot to stop operating.

11. The automatic chemical hose tightening device according to claim 1, characterized in that, Includes a torque sensor that detects the degree of load applied to the transfer robot during the transfer route segment. When a fault is detected based on the measured value of the torque sensor, the controller controls the transfer robot to stop.

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