Method and apparatus for automatic fastening of a chemical hose for performing a calibration drive

Abstract

The present invention relates to a method and apparatus for automatic fastening of a chemical hose, in which the chemical hose is automatically moved quickly and accurately in a short time to be fastened in the supply of chemicals. To this end, the present invention comprises the steps of: gripping a male connector placed in a male connector placement unit by a gripping portion of a mechanical arm; moving the gripping portion to the front of a female connector disposed in a chemical supply chamber; moving the gripping portion in the direction of the female connector to insert the male connector into the female connector; determining whether the male connector collides or not by a control portion, and performing a calibration drive using the gripping portion in the case of collision determination. According to the present invention, there are advantages in that the phenomenon that the male connector cannot be properly inserted into the female connector is overcome, and furthermore, the male connector can automatically find the center of the female connector to achieve quick and accurate insertion to be combined.

Description

Technical Field

[0001] This invention relates to a method and apparatus for automatically tightening chemical hoses by performing calibration-driven operation. More specifically, it relates to a method and apparatus for automatically tightening chemical hoses by performing calibration-driven operation in the supply of chemicals to quickly and accurately move the chemical hoses for tightening within 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, the neck and other parts of the male connector are made of softer materials, so they can easily undergo various deformations. For example, they may be affected by the weight of the head during long-term use, or the male connector may be subjected to impacts 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

[0008] (The problem to be solved)

[0009] The present invention is intended to solve the above-mentioned problems and to provide an automatic fastening method and apparatus for chemical hoses, overcoming the phenomenon that the male connector cannot be accurately inserted into the female connector due to various reasons, so that the male connector automatically finds the center of the female connector to achieve fast and accurate insertion for connection.

[0010] (Solutions)

[0011] To achieve the above objectives, the present invention provides an automatic tightening method for chemical hoses, comprising the following steps: a gripping part of a mobile robotic arm grips a male connector placed in a male connector placement unit; the gripping part is moved to the front of a female connector disposed in a chemical supply chamber; the gripping part is moved toward the female connector to insert the male connector into the female connector; a control unit determines whether the male connector is colliding, and if a collision is determined, a calibration drive is performed using the gripping part.

[0012] The alignment sensing unit includes a pressure sensor. Preferably, the control unit executes a calibration drive when the pressure of the pressure sensor exceeds a set value or the load of the robotic arm motor exceeds a set value.

[0013] That is, the alignment sensor can identify whether a collision has occurred by recognizing the pressure from the pressure sensor or the increased load on the robotic arm's motor. Accordingly, in this case, the alignment sensor can measure the motor load, and if the motor load exceeds a set value, the control unit can also perform calibration drive.

[0014] Preferably, the calibration drive includes the following steps: the clamping part rotates the male connector in a clockwise or counterclockwise direction while applying pressure towards the female connector to insert the male connector.

[0015] Preferably, the mobile robotic arm is equipped with a vision camera to identify the position of the female connector and move the clamping part accordingly.

[0016] The female connector includes a locking lever at the front and is capable of performing the following steps: if the male connector is inserted, the locking lever is rotated to prevent the male connector from disengaging.

[0017] The mobile robotic arm can be moved via a moving part, which includes: a platform part disposed on a track; a rolling pinion part disposed below the platform part; a drive motor for driving the rolling pinion part; and a reduction part for reducing the drive load rate of the drive motor between the drive motor and the rolling pinion part.

[0018] According to the present invention, an automatic tightening method for chemical hoses is also provided, utilizing a mobile robotic arm having a vision camera, and comprising the following steps: confirming the positions of the male connector and the female connector; clamping the male connector placed in the male connector placement unit by the clamping part of the mobile robotic arm; moving the clamping part to the front of the female connector disposed in the chemical supply chamber; and moving the clamping part forward to insert the male connector into the female connector.

[0019] According to another example, the mobile robotic arm is equipped with a vision camera to form grooves and protrusions constituting key codes on the male or female connector. The control unit performs the following steps: imaging the key codes through the vision camera to confirm whether the male and female connectors are a corresponding pair; the gripping part of the mobile robotic arm grips the male connector placed in the male connector placement unit; the gripping part is moved to the front of the female connector disposed in the chemical supply chamber; the gripping part is moved forward to insert the male connector into the female connector.

[0020] Then, according to the present invention, an automatic fastening device for chemical hoses is 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 for inserting the male connector; a control part for controlling the driving of the clamping part and the hose moving part; an alignment sensing part disposed in the clamping part for determining whether the male connector is colliding during insertion; and, in the case of receiving a collision signal through the alignment sensing part, the control part performing a calibration drive using the clamping part.

[0021] (The effect of the invention)

[0022] According to the present invention, the following advantages are achieved: the phenomenon that the male connector cannot be accurately inserted into the female connector is overcome, and the male connector can automatically find the center of the female connector to achieve fast and accurate insertion for connection. Attached Figure Description

[0023] Figure 1 This is a perspective view showing the structure of the automatic tightening device for chemical hoses according to the present invention;

[0024] Figure 2 yes Figure 1 A floor plan;

[0025] Figure 3 It is used for explanation Figure 1 A diagram illustrating the working process of the China Mobile robotic arm;

[0026] Figure 4 and Figure 5 It is shown Figure 3 Example diagram of the structure of the middle clamping part;

[0027] Figure 6 This is an example diagram used to illustrate the structure of the alignment sensor;

[0028] Figure 7 This is an example diagram illustrating the automatic tightening process of chemical hoses and the rotation process of the locking lever;

[0029] Figure 8 This is an example diagram showing the collision between the male connector and the female connector during the fastening of the male connector;

[0030] Figure 9 and Figure 10 This is an example diagram illustrating a calibration driver;

[0031] Figure 11 This is an example diagram showing an example of attaching a barcode or QR code to a male or female connector;

[0032] Figure 12 This is an example diagram showing how key codes (grooves and protrusions, etc.) are formed in male and female connectors;

[0033] Figure 13 This is a perspective view showing the structure of the moving part;

[0034] Figure 14 This is a side view showing the structure of the moving part;

[0035] Figure 15 This is an internal perspective view showing the structure of the moving part;

[0036] Figure 16 It is a bottom view illustrating the operating principle of the moving part.

[0037] (Explanation of reference numerals in the attached image)

[0038] 100: Chemical hose placement unit; 110: Male connector

[0039] 130: Male connector rack 150: Control panel

[0040] 300: Chemical supply chamber; 310: Female connector

[0041] 315: Pressure sensor; 350: Locking lever

[0042] 351: Connector joint; 354: Drive frame

[0043] 355: Moving hole; 352: Drive track

[0044] 500: Mobile robotic arm; 510: Moving part

[0045] 530: Clamping part; 533: First clamping part

[0046] 534: Second clamping part; 535: Connecting part

[0047] 550: Hose moving part; 570: Alignment sensor part Detailed Implementation

[0048] The structure and function of specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0049] 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.

[0050] 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.

[0051] 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 chamber.

[0052] 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.

[0053] Similar to the hose, the male connector may also be configured with a male connector for chemical hoses and a male connector for nitrogen hoses.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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 530 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.

[0059] 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.

[0060] Reference Figures 13 to 16 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.

[0061] The platform section 518 is configured on a track and includes various components that house the mobile robotic arm.

[0062] 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.

[0063] 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.

[0064] 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, and realizes the driving force generated by the drive motor as high-precision linear motion without vibration and noise.

[0065] A mobile robotic arm control unit 517 may also be configured on the platform section 518.

[0066] 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.

[0067] 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.

[0068] 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 determines the moving part's position, thus enabling safer and more precise control of the moving part.

[0069] In another embodiment, the moving part is equipped with wheels and can be driven automatically.

[0070] 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 530 are preferably moved in a low-profile position.

[0071] 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.

[0072] 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.

[0073] A clamping portion 530 for clamping a male connector is provided at the end of the flexible tube moving portion 550. Preferably, the clamping portion 530 is configured in a replaceable form to have various shapes and functions.

[0074] Reference Figure 4 and Figure 5 The clamping part 530 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.

[0075] 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.

[0076] 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.

[0077] Pressure sensors are provided in the first clamping part 533 and the second clamping part 534. If a predetermined pressure is applied, rotation stops and clamping is completed. Alternatively, the torque can be controlled by measuring the magnitude of the reverse resistance detected by the motor driving the clamping part, thereby enabling clamping with only a predetermined force.

[0078] On the other hand, key codes 112 are formed on the male connector. These key codes have different shapes depending on the type of chemical being transported; for example, they may be formed as specific grooves on the male connector. Additionally, key codes with a shape corresponding to the key codes are formed on the female connector, and may consist of protrusions corresponding to the specific shape.

[0079] Reference Figure 6 An alignment sensor 570 is disposed on the flexible tube moving part adjacent to the clamping part. The alignment sensor 570 may include a vision camera 572, an illumination unit 574, and a displacement sensor 576, etc. Alternatively, the components disposed on the alignment sensor may not be independent components, but may be all or partly integrated into one component. Then, as... Figure 5 The alignment sensing unit can also be configured in the clamping unit.

[0080] The vision camera 572 images the position of the male or female connector or its attached position markings (barcodes or QR codes) when the male and female connectors are fastened or detached, so that accurate positioning can be controlled through image analysis. At this time, driving the illumination unit 574 in the dark ensures a clear image.

[0081] 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.

[0082] At this point, since the number, angle, and length of the protrusions and grooves may vary due to different types of medicines, simply rotating them will not achieve a secure fastening. Therefore, an alarm can be issued to prompt confirmation.

[0083] 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.

[0084] In cases where different types of medicines have different location markings (barcodes or QR codes), an alarm can be issued to confirm this.

[0085] The displacement sensor 576, together with the vision camera, uses laser to accurately determine the relative position (or distance) 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 alignment sensor accurately secures the male and female connectors, preventing equipment malfunctions or even damage.

[0086] 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.

[0087] 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.

[0088] Then, refer to Figure 7 This describes the process of inserting the male connector into the female connector to form a mating connection.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] Conversely, if the lever opening / closing confirmation sensor 353 indicates that the lever is not in an open state, the control unit will move the horizontal drive frame to open the locking lever. The drive frame can be moved by its own drive motor or by a robotic arm.

[0095] 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.

[0096] Once the male connector is inserted, the drive frame is moved horizontally to switch the locking lever to the closed state, and the robotic arm is moved to release the clamping part.

[0097] At this time, as the drive frame moves horizontally along the drive track, the connecting joint 351 rises upward along the moving hole, thereby shortening the distance between the pair of connecting parts while rotating the locking rod.

[0098] 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.

[0099] On the other hand, refer to Figure 8 For male connectors, misalignment can occur due to factors such as insufficient tightening strength of the end flange, impact caused by improper handling, or tilting of the neck in any direction (up, down, left, or right). Alternatively, the weight of the male connector head can cause it to tilt downwards over prolonged use, also resulting in misalignment. Because the gap between the male and female connectors is very narrow, collisions frequently occur during insertion of the male connector into the female connector, preventing successful insertion due to the aforementioned reasons.

[0100] Reference Figure 5 and Figure 9 In this embodiment, an alignment sensor 570 is configured around the clamping part or the female connector inlet to monitor in real time whether there are any problems during the insertion of the male connector. The alignment sensor 570 may include a 3D camera (or a vision camera and displacement sensor) and a pressure sensor, and the detection value of the alignment sensor can be sent to the control unit.

[0101] When the clamping part moves the male connector toward the female connector at a predetermined speed, if the 3D camera analysis detects that the male connector stops moving or the pressure value detected by the pressure sensor exceeds a set value, the control unit determines that the male connector has collided and executes a calibration drive. The pressure sensor may also be configured around the clamping part or the inlet of the female connector.

[0102] As another example, the control unit can also identify phenomena such as increased motor load on the robotic arm to determine whether a collision has occurred. That is, the load of the motors configured with multiple joints on the robotic arm is sent to the control unit in real time. The control unit measures the load of the motors and then determines whether a collision has occurred with the male connector. Therefore, in this case, the determination of whether a collision has occurred with the male connector can be performed by measuring the motor load. If the motor load exceeds a set value, it is preferable to perform a calibration drive in the control unit.

[0103] Reference Figure 9 When the eccentricity and disengagement direction of the male connector are identified and confirmed by a vision camera or displacement sensor, the gripping part of the mobile robotic arm moves the male connector in the opposite direction to the eccentricity while applying pressure towards the female connector to perform a calibration drive. The calibration drive may include the following: the gripping part moves the male connector in a straight line along the upper / lower / left / right diagonal direction opposite to the collision point confirmed by the alignment sensor, while simultaneously moving towards the female connector.

[0104] Furthermore, upon confirming the collision location of the male connector, pressure is applied towards the female connector while moving the male connector in the opposite direction to the collision direction, thereby enabling calibration drive. For this purpose, multiple pressure sensors 315 are arranged around the inlet of the female connector. Upon collision with the male connector, the detection values ​​from these pressure sensors are sent to the control unit, which uses the detection values ​​from the multiple pressure sensors to infer the collision location.

[0105] To illustrate, if the collision location is confirmed by means of a pressure sensor or motor load direction included in the robotic arm, the male connector can be moved in the opposite direction of the collision while applying pressure to the female connector, thereby performing a calibration drive.

[0106] On the other hand, refer to Figure 10 If the eccentricity or collision location of the male connector is not confirmed, the control unit uses the gripping part of the moving robotic arm to rotate the male connector clockwise or counterclockwise while applying pressure towards the female connector to move the male connector. At this time, a calibration drive is executed to find the center while gradually increasing the rotation radius.

[0107] For example, when the male connector is not inserted, the control unit rotates the male connector while increasing the rotation radius by 0.5mm intervals. For example, the male connector is rotated with a rotation radius 0.5mm larger than the original radius based on the current center. If it still cannot be inserted, the male connector is rotated with a rotation radius 1mm larger than the original radius.

[0108] Alternatively, the clamping part can also be a spiral rotating male connector that performs calibration drive simultaneously.

[0109] Reference Figure 11 A mark (barcode or QR code, etc.) is attached to the male or female connector. The control unit images the barcode or QR code using a vision camera located on the clamping part. Information corresponding to the barcode or QR code can be retrieved from a database, including object information, location information, drug information, and whether it corresponds to the male or female connector.

[0110] Therefore, by imaging the barcode or QR code with a vision camera, accurate location information can be ensured, the male and female connectors can be accurately fastened, and it can be confirmed that the imaged male and female connectors are a matching pair, thereby preventing accidents of different drugs (chemicals) being delivered to the chemical supply chamber.

[0111] Reference Figure 12Keying (protrusions and grooves, etc.) is formed on the male and female connectors. The control unit detects information such as the number, position, size, and length of the protrusions and grooves using a vision camera located on the clamping part. Based on this, the male and female connectors can be accurately tightened, and it can be confirmed whether the imaged male and female connectors are a corresponding pair, thereby preventing accidents such as different drugs (chemicals) being delivered to the chemical supply chamber.

[0112] 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 method for chemical hoses, comprising the following steps: The gripping part of the mobile robotic arm grips and places the male connector in the male connector placement unit; Move the clamping part to the front of the female connector located in the chemical supply chamber; Move the clamping part toward the female connector to insert the male connector into the female connector; The control unit determines whether the male connector is colliding. If it is determined to be colliding, the clamping unit performs a calibration drive.

2. The automatic tightening method for chemical hoses according to claim 1, characterized in that, The mobile robotic arm includes a pressure sensor. If the detected value of the pressure sensor exceeds a set value, the control unit executes a calibration drive.

3. The automatic tightening method for chemical hoses according to claim 1, characterized in that, The control unit measures the load on the motors mounted on the mobile robotic arm, and if the load on the motors exceeds a set value, it executes a calibration drive.

4. The automatic tightening method for chemical hoses according to claim 1, characterized in that, The calibration drive includes the following steps: the clamping part rotates the male connector in a clockwise or counterclockwise direction while moving it toward the female connector.

5. The automatic tightening method for chemical hoses according to claim 1, characterized in that, An alignment sensor is provided in the clamping part, and the alignment sensor determines whether the male connector collides during the insertion process; The calibration drive includes the following steps: the clamping part moves the male connector toward the female connector in a straight line direction opposite to the collision part confirmed by the alignment sensing part, either up / down / left / right or diagonally.

6. The automatic tightening method for chemical hoses according to claim 1, characterized in that, The mobile robotic arm is equipped with a vision camera to identify the position of the female connector and move the clamping part accordingly.

7. The automatic tightening method for chemical hoses according to claim 1, characterized in that, The female connector includes a locking lever at the front and performs the following steps: Once the male connector is inserted, rotate the locking lever to prevent the male connector from disengaging.

8. The automatic tightening method for chemical hoses according to claim 1, characterized in that, The mobile robotic arm moves via a movable part. The moving part includes: The platform section is located on the track. A rolling pinion section is disposed at the lower part of the platform section; Drive motor, drive the rolling pinion; and The deceleration section reduces the drive load rate of the drive motor between the drive motor and the rolling pinion section.

9. An automatic tightening method for chemical hoses, utilizing a mobile robotic arm, characterized in that, The mobile robotic arm is equipped with a vision camera. The control unit performs the following steps: The positions of the male and female connectors are confirmed using the visual camera. The gripping part of the mobile robotic arm grips and places the male connector in the male connector placement unit; Move the clamping part to the front of the female connector located in the chemical supply chamber; and Move the clamping part toward the female connector to insert the male connector into the female connector.

10. The automatic tightening method for chemical hoses according to claim 9, characterized in that, The male or female connector is attached with a position mark, and the control unit performs the following steps: the position mark is imaged by the vision camera to confirm the position of the male and female connectors; The location markers are imaged using the vision camera to confirm whether the male and female connectors are a corresponding pair.

11. The automatic tightening method for chemical hoses according to claim 9, characterized in that, The male or female connector forms a groove and a protrusion that constitute a key code, and the control unit performs the following steps: the key code is imaged by the vision camera to confirm whether the male and female connectors are a corresponding pair.

12. An automatic tightening device for chemical hoses, comprising: Clamping part, for clamping the male connector of the hose placed in the chemical hose placement unit; The hose moving part moves the clamped male connector to the female connector configured in the chemical supply chamber to insert the male connector; The control unit controls the drive of the clamping part and the hose moving part; An alignment sensor is provided in the clamping part, and the alignment sensor is used to determine whether the male connector is colliding during the insertion process; The control unit performs calibration drive using the clamping unit when a collision signal is received by the alignment sensing unit.

13. An automatic tightening device for chemical hoses, comprising: Clamping part, for clamping the male connector of the hose placed in the chemical hose placement unit; The hose moving part moves the clamped male connector to the female connector configured in the chemical supply chamber to insert the male connector; A vision camera is used to directly image the male and female connectors or to image the attached location markers; and The control unit controls the calibration drive of the clamping unit and the flexible tube moving unit through the imaging information of the vision camera.

Images