Chemical hose automatic fastening male connector placement jig and automatic fastening method

Abstract

The present invention relates to a male connector placement jig for automatic fastening of a chemical hose and a method for automatic fastening of a chemical hose using the same, which automatically moves a chemical hose quickly and accurately in a short time to enable fastening. To this end, the present invention provides a male connector placement jig for automatic fastening of a chemical hose, which places a male connector connected to a chemical hose, the male connector placement jig for automatic fastening of a chemical hose being configured with a bottom portion located at a lower portion to support the male connector, the bottom portion being configured with a jig key code portion including a protrusion or a groove corresponding to a male connector key code portion formed in the male connector. Accordingly, according to the present invention, a male connector placement jig is provided, in which a mobile robot arm can easily and reliably grip a male connector to automatically fasten the male connector to an opposite female connector.

Description

Technical Field

[0001] This invention relates to a male connector placement clamp for automatic tightening of chemical hoses and a method for automatic tightening of chemical hoses using the same. More specifically, it relates to a male connector placement clamp for automatic tightening of chemical hoses that enables rapid and accurate automatic movement of chemical hoses for tightening within a short time and a method for automatic tightening of chemical hoses using the same. 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 male connector placement fixture in which a mobile robotic arm can easily and reliably hold a male connector.

[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 a male connector placement clamp for automatic fastening of chemical hoses, for placing male connectors connected to chemical hoses. The male connector placement clamp for automatic fastening of chemical hoses has a bottom portion configured to support the male connector. The bottom portion is provided with a clamp key portion, which includes a protrusion or groove corresponding to the male connector key portion formed on the male connector.

[0014] Preferably, the automatic fastening male connector placement clamp for chemical hoses further includes: a support portion disposed on the bottom and for placing the male connector; a cover portion rotatably disposed on the support portion and covering the upper part of the male connector; and a fixing portion for fixing the support portion and the cover portion.

[0015] Preferably, the clamp key portion is arranged parallel to the bottom at a predetermined distance and includes a plurality of protrusions or grooves formed by a panel protruding from the bottom.

[0016] Preferably, at least one of the two ends of the bottom is provided with an upwardly formed sidewall portion, the sidewall portion being a side surface that supports the male connector, so as to support more than one surface including the bottom surface when the male connector is placed.

[0017] Preferably, the male connector includes a hose flange and a male connector key code portion, the hose flange is connected to the hose, and the male connector key code portion is disposed on the lower part of the hose flange; the lower part of the male connector key code portion is formed as a plane.

[0018] According to the present invention, an automatic tightening method for chemical hoses using a placement clamp is also provided. The placement clamp for an automatic tightening male connector of chemical hoses is configured with a bottom portion to support the male connector. The bottom portion is provided with a clamp key portion, which includes a protrusion or groove corresponding to a male connector key portion formed on the male connector. The automatic tightening method for chemical hoses includes the following steps: placing the male connector on the bottom portion such that the male connector key portion corresponds to the clamp key portion; clamping the placement clamp with a gripping portion of a moving robotic arm; and inserting the male connector fixed in the placement clamp into a female connector for tightening.

[0019] Preferably, when the key code portion of the male connector does not correspond to the key code portion of the clamp, the male connector is not placed close to the bottom.

[0020] (The effect of the invention)

[0021] According to the present invention, a male connector placement fixture is provided, wherein a mobile robotic arm clamps the male connector and automatically secures it to the opposite female connector, wherein the mobile robotic arm can easily and reliably clamp the male connector.

[0022] In addition, a male connector placement clamp is provided so that, when the types of chemicals are different, the male connector is not accurately placed against the bottom or support, thereby preventing incorrect chemical dispensing.

[0023] Then, 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

[0024] Figure 1 This is a perspective view showing the structure of the automatic tightening device for chemical hoses according to the present invention;

[0025] Figure 2 yes Figure 1 A floor plan;

[0026] Figure 3 It is used for explanation Figure 1A diagram illustrating the working process of the China Mobile robotic arm;

[0027] Figure 4 It is shown Figure 3 Example diagram of the structure of the middle clamping part;

[0028] Figure 5 and Figure 6 This is an example diagram showing another embodiment of the clamping part;

[0029] Figure 7 and Figure 8 This is a structural diagram used to show the internal structure of the clamping part;

[0030] Figure 9 It is an explanatory diagram used to illustrate the operation of the clamping part;

[0031] Figure 10 and Figure 11 This is a structural diagram illustrating the structure for placing the clamp;

[0032] Figure 12a and Figure 12b This is an explanatory diagram illustrating the placement process of the male connector in the placement fixture;

[0033] Figures 13a to 13i This is an illustrative diagram illustrating the process of clamping the male connector to secure it to the female connector;

[0034] Figure 14 It is an explanatory diagram used to illustrate the structure and operation of the locking lever;

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

[0036] Figure 16 This is a side view showing the structure of the moving part;

[0037] Figure 17 This is an internal perspective view showing the structure of the moving part;

[0038] Figure 18 It is a bottom view showing the operating principle of the moving part.

[0039] (Explanation of reference numerals in the attached image)

[0040] 100: Chemical hose placement unit; 110: Male connector

[0041] 130: Male connector holder 150: Control panel

[0042] 200: Placement clamp 210: Connecting groove

[0043] 220: Support part; 230: Fixing part

[0044] 240: Bottom 260: Fixture key code section

[0045] 255: Connecting groove

[0046] 300: Chemical supply chamber; 310: Female connector

[0047] 315: Pressure sensor; 350: Locking lever

[0048] 351: Connector joint; 354: Drive frame

[0049] 355: Moving hole; 352: Drive track

[0050] 500: Mobile robotic arm; 510: Moving part

[0051] 533: First clamping part; 534: Second clamping part

[0052] 535: Connecting part

[0053] 550: Hose Moving Part

[0054] 600: Clamping part; 610: Finger-shaped driving part

[0055] 630: Finger-like part; 640: Main body part

[0056] 650: Insertion of sensor unit; 710: Flexible hose flange

[0057] 730: Male connector key code section; 800: Support block

[0058] 810: Bootstrap Block Detailed Implementation

[0059] The structure and function of specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] Similar to hoses, the male connectors may also be configured with male connectors for chemical hoses and male connectors for nitrogen hoses.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] Reference Figures 15 to 18 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.

[0072] The platform section 518 is configured on a track and includes various components that house the mobile robotic arm.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] A mobile robotic arm control unit 517 may also be configured on the platform section 518.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] In another embodiment, the moving part is equipped with wheels and can be driven automatically.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] The finger-shaped drive unit 610 serves to drive the finger-shaped unit 630 and may include a servo motor.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] In cases where different types of medicines have different location markings (barcodes or QR codes), an alarm can be issued to confirm this.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] A pressure sensor 670 is disposed inside the engagement protrusion to measure the clamping pressure, thereby maintaining an appropriate clamping force.

[0120] Alternatively, the appropriate clamping force can be maintained by utilizing the magnitude of the torque detected by the finger-driven portion.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] On the other hand, refer to Figure 10 and Figure 11 The male connector can be placed in the placement fixture 200.

[0125] The placement clamp 200 is configured to support the male connector and guide the clamping part corresponding to the clamping part of the mobile robotic arm so that the male connector can be easily clamped before the mobile robotic arm clamps the male connector.

[0126] The placement fixture includes: a bottom 240, a support 220, a cover 210, a fixing part 230, a side wall part 250, a fixture key part 260, and a mating groove 255.

[0127] The bottom 240 is configured as a lower surface with a predetermined quadrilateral area, so that other components can be arranged on the upper part. However, it is not limited to this, and may also be configured as a lower surface with a predetermined circular area.

[0128] In addition, a side wall portion 250 formed upward from the bottom is disposed at at least any one of both ends of the bottom 240, and the side wall portion serves to support the side surface of the male connector. That is, when the male connector is placed on the placement jig, one or more surfaces including the bottom surface are supported, so that the male connector can be supported more stably.

[0129] A support portion 220 for supporting the male connector is actually disposed on the bottom. The support portion 220 is configured to have a curved surface shape corresponding to the shape of the male connector and supports the male connector at a predetermined height.

[0130] Preferably, a hinge portion is disposed at one end of the support portion 220 so as to be rotatably coupled to the cover portion 210. Similar to the support portion, the inner circumferential surface of the cover portion 210 is also configured to have a curved surface shape corresponding to the shape of the male connector.

[0131] A fixing portion 230 for fixing the support portion and the cover portion is disposed on the side wall portion 250, and the cover portion can be fastened or released through the fixing portion.

[0132] A jig key code portion 260 is configured to be disposed on the bottom at a predetermined distance from and parallel to the support portion. The jig key code portion includes protrusions and grooves corresponding to a male connector key code portion formed on the male connector. The protrusions and grooves are arranged at a predetermined size and distance, and there is no problem in placing the male connector when they accurately correspond, but the male connector is not placed when they do not correspond.

[0133] The jig key code portion 260 is configured in a "C" shape and is coupled to the side wall portion at both ends, and can maintain a firm form.

[0134] Refer to Figure 12a and Figure 12b , and the placement process of the male connector will be described. Figure 12a is a view before the male connector is placed, Figure 12b is a view after the male connector is placed.

[0135] The male connector includes a hose flange 710 and a male connector key code portion 730. The hose flange 710 is connected to a hose, and the male connector key code portion 730 is disposed below the hose flange. The hose flange is a portion that is coupled to the hose using a screw and is configured in a circular shape, and the lower surface of the male connector key code portion is configured to be flat.

[0136] The male connector key code portion forms protrusions and grooves according to a specific drug at a set position and size, and protrusions and grooves corresponding to the male connector key code portion are formed on a jig key code portion 260 located below the male connector.

[0137] As Figure 12b If the male connector is placed in the placement fixture, the key code part of the male connector and the key code part of the fixture are inserted into each other. If the key code part of the male connector and the key code part of the fixture do not correspond, the bottom of the male connector will not be accurately placed against the bottom or support, so the cover cannot be closed.

[0138] On the other hand, a plurality of mating grooves 255 are provided on the outer side of the side wall portion. When the moving robotic arm needs to clamp the male connector, the mating grooves serve to guide the mating protrusions of the clamping portion, so that the moving robotic arm can easily clamp the male connector.

[0139] Next, the automatic tightening method for chemical hoses using a placement clamp according to the present invention will be described.

[0140] Reference Figure 13a A clamp 200 is placed on a support block 800 on a male connector placement rack. The support block 800 serves to guide the placement of the clamp to the accurate position.

[0141] For this purpose, a pair of upwardly protruding guide blocks 810 are arranged on the support block, and the clamp is moved to be positioned between the pair of guide blocks.

[0142] In addition, a pair of position fixing parts 270 are provided on both sides of the placement clamp. The pair of position fixing parts 270 are driven by the cylinder and contact the side walls of the placement clamp to fix the placement clamp in place and prevent it from moving.

[0143] However, it is not limited to this, but the position fixing part can also be driven by a drive part such as a motor.

[0144] That is, at least one of the pair of position fixing parts is connected to the pneumatic cylinder; when the placement clamp is in a fixed state, the control unit moves the pneumatic cylinder forward, so that the position fixing part contacts the side wall of the placement clamp to fix the placement clamp; when the placement clamp is held in a movable state, the control unit moves the pneumatic cylinder backward so that the position fixing part is away from the side wall of the placement clamp, thereby controlling the placement clamp to be in a movable state.

[0145] Reference Figure 13b With the cover of the placement fixture open, the male connector 110 is placed in the placement fixture. At this time, if the key code portion of the male connector corresponds perfectly with the key code portion of the fixture, the male connector is placed correctly; if the key code portion of the male connector does not correspond perfectly with the key code portion of the fixture, the male connector is not placed in the placement fixture.

[0146] If the male connector is placed in the placement fixture, then as Figure 13c Close the cover and use the fixing part to fix the male connector to the placement clamp.

[0147] If the operator initiates automatic movement using the control unit, the mobile robotic arm moves to a pre-set position and monitors the position and status of the female connector. Specifically, the mobile robotic arm uses a vision camera and position sensor to determine the position and tilt of the plug end cap inserted in front of the female connector. It then rotates the clamping part according to this tilt to grip the plug end cap and remove it. At this point, the status of the locking lever is checked, and then the locking lever is switched to the open state.

[0148] Then, as Figure 13d The mobile robotic arm uses a vision camera and displacement sensors located in the gripper to monitor the position and status of the male connector. If the male connector is not accurately inserted into the gripper, an alarm can be triggered.

[0149] However, this is not the only possibility. If the placement detection sensor at the bottom of the placement fixture fails to detect properly, or the locking detection sensor at the fixing part of the placement fixture fails to detect properly, the system will first determine that the male connector is accurately fixed to the placement fixture and will issue an alarm.

[0150] If the location of the male connector is known, then... Figure 13e The mobile robotic arm uses its gripping part to hold and place the fixture. At this time, the finger-shaped part of the driving gripping part inserts the engaging protrusion into the engaging groove of the fixture, thereby completing the gripping.

[0151] Once clamping is complete, the retracting pneumatic cylinder of the control unit disengages the position fixing part from the placement fixture, thereby releasing the state to the state of movable placement fixture.

[0152] If the placement fixture is changed to a moving state, then as follows Figure 13f and Figure 13g The clamping part raises and places the clamp itself, thereby moving the male connector. At this time, the moving robotic arm uses a vision camera and displacement sensor located on the clamping part to determine the position of the female connector, such as... Figure 13h Insert the male connector into the female connector and tighten it.

[0153] Then, as Figure 13i Release the clamp from the fixture and begin delivering the medicine through the hose.

[0154] The mobile robotic arm can move to secure other hoses during drug delivery.

[0155] Then, refer to Figure 14 This explains the structure and operation of the locking lever.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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. A male connector holder for automatically fastening chemical hoses, for holding male connectors connected to chemical hoses. The automatic fastening male connector holder for chemical hoses is equipped with a bottom portion to support the male connector. The bottom is provided with a clamp key code portion, which includes a protrusion or groove corresponding to the male connector key code portion formed on the male connector.

2. The automatic fastening male connector placement clamp for chemical hoses according to claim 1, characterized in that, The automatic fastening male connector placement clamp for chemical hoses also includes: A support portion is disposed on the bottom and a male connector is placed thereon; A cover portion, rotatably disposed on the support portion, and covering the upper portion of the male connector; and The fixing part secures the support part and the cover part.

3. The automatic fastening male connector placement clamp for chemical hoses according to claim 1, characterized in that, The clamp key section is arranged parallel to the bottom at a predetermined distance and includes a plurality of protrusions or grooves formed by a panel protruding from the bottom.

4. The automatic fastening male connector placement clamp for chemical hoses according to claim 1, characterized in that, At least one of the two ends of the bottom is provided with an upwardly formed sidewall portion, the sidewall portion being a side surface that supports the male connector, so as to support more than one surface, including the bottom surface, when the male connector is placed.

5. The automatic fastening male connector placement clamp for chemical hoses according to claim 1, characterized in that, The male connector includes a hose flange and a male connector key code portion. The hose flange is connected to the hose, and the male connector key code portion is disposed on the lower part of the hose flange. The underside of the key code section of the male connector is formed as a plane.

6. A method for automatically fastening chemical hoses using a placement clamp, comprising a placement clamp for a male connector used for automatically fastening chemical hoses, the clamp having a bottom portion located at the bottom to support the male connector, the bottom portion having a clamp key portion including a protrusion or groove corresponding to a male connector key portion formed on the male connector. The automatic tightening method for chemical hoses includes the following steps: Place the male connector at the bottom so that the key code portion of the male connector corresponds to the key code portion of the clamp; The gripping part of the mobile robotic arm grips the placement fixture; The gripping part of the mobile robotic arm is fixed by inserting the male connector of the fixture into the female connector for fastening.

7. The automatic fastening method for chemical hoses using a clamping device according to claim 6, characterized in that, If the key code portion of the male connector does not correspond to the key code portion of the clamp, the male connector is not placed tightly against the bottom.

8. The automatic tightening method for chemical hoses according to claim 6, characterized in that, The step of placing the male connector on the bottom also includes closing the cover and securing it with the fixing part.

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