Coupler support module for drum container

Abstract

To provide a coupler support module to support a coupler for a drum container to be coupled for liquid flow to a drum container receiving a liquid in various types, more specifically a coupler support module for a drum container allowed to support a coupler to be inclined to an angle of a discharge port of a drum container.SOLUTION: A coupler support module for a drum container according to the present invention is allowed to tiltably support a coupler 300 to which a fluid line is coupled using a tilt joint 140, so that the coupler when vertically descending toward a drum container can be stably inserted, while being inclined to an angle of a discharge port of the drum container, into the discharge port. Thus, application is possible to an automated device to automatically couple a coupler to a drum container into effective use.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a coupler support module that supports a drum container coupler that is connected to a drum container in a liquid-flowable manner to store various liquids, and more particularly, to a drum container coupler support module that supports the coupler so that it can be tilted to match the angle of the drum container's discharge port. [Background technology]

[0002] High purity and highly corrosive liquids or chemicals are often used in industries such as semiconductor processing and chemical manufacturing. For example, various chemicals are used for each process in semiconductor manufacturing, such as PR, BARC, HMDS, Thinner, and Developer in the photo process, Slurry in the CMP process, Hydrofluoric acid, BHF, Stripper, Sulfuric acid, Hydrogen peroxide, Ammonia, Hydrochloric acid, and Phosphoric acid in the wet process, and TEOS and copper plating solution in the thin film process.

[0003] In particular, in semiconductor manufacturing, the number of manufacturing processes has increased as semiconductor devices have become more highly integrated in recent years, and a cleaning process to remove residues or contaminants remains on the surface after each process, making it even more important. Currently, the semiconductor device manufacturing process has about 400 manufacturing steps, and at least 20% of these steps consist of cleaning and surface treatment processes to prevent wafer contamination. Contaminants generated during the semiconductor device manufacturing process have a particularly large impact on the performance, reliability, and yield of the device by causing distortion of the structural shape and degrading the electrical characteristics of the device, and therefore must be removed.

[0004] Currently, the main contaminants generated on silicon substrates during semiconductor manufacturing processes are particles, organic contaminants, metal contaminants, native oxide films, etc., which have a significant impact on product yield, quality, and reliability. There are two methods for removing these contaminants: wet cleaning and dry cleaning. Among these, wet cleaning is the cleaning method currently most widely used during semiconductor device manufacturing processes. Wet cleaning has the advantages of being easily rinsed with deionized water (DI water), leaving very little residue after drying, and being able to use a variety of appropriate chemical solutions depending on the contaminants to be removed.

[0005] In the wet cleaning process, various liquids such as hydrofluoric acid are used, and such liquids are usually stored and transported in drum containers having excellent physical properties such as chemical resistance, durability, and impact resistance due to quality and safety issues. Such drum containers of various structures have been developed and are in use, as disclosed in Patent Document 1 and the like.

[0006] When connecting a drum container to a pump or the like in a process line in order to use the process liquid stored in the drum container, great care is required. Liquids such as hydrofluoric acid are very harmful to the human body, so there is a risk of loss of life in the event of a leak.

[0007] For this reason, devices that automate the process of connecting couplers to drum containers have been developed and are in use, but the performance is insufficient.When drum containers are often shaped differently and the orientation of the drum containers varies, a need has arisen for a drum container coupler support module that can insert and fasten couplers at accurate positions and orientations in response to such orientations and angles. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] U.S. Patent No. 6,045,000 (April 4, 2000) Summary of the Invention [Problem to be solved by the invention]

[0009] The present invention has been devised to solve the above-mentioned needs, and its object is to provide a drum container coupler support module that supports a drum container coupler so that the coupler can be tilted to match the angle of the drum container outlet to enable automatic attachment and detachment of the drum container coupler to and from a drum container containing liquid. [Means for solving the problem]

[0010] In order to achieve the above object, the present invention provides a coupler support module for a drum container that is connected to a coupler transport unit that moves back and forth and left and right and rises and falls up and down, and supports a coupler that discharges liquid contained inside a drum container, the coupler support module including: a base frame that is connected to the coupler transport unit and moved up and down and horizontally; a slide frame that is installed to allow horizontal sliding relative to the base frame; a tilt support part connected to the slide frame, and a tilt joint having a tilt part connected to the tilt support part so that the tilt angle can be adjusted in multiple directions relative to the tilt support part; and a coupler holder that is inserted into a discharge port of a drum container to be connected to the coupler that discharges liquid inside the drum container and supports the coupler, and is connected to the tilt part of the tilt joint. Effect of the Invention

[0011] The drum coupler support module according to the present invention uses a tilt joint to tiltably support a coupler connected to a fluid line, so that when the coupler descends vertically toward the drum, it can be stably inserted into the outlet while tilting it to match the angle of the outlet of the drum. Therefore, it can be effectively used in an automated device that automatically connects a coupler to a drum.

[0012] In addition, the drum container coupler support module of the present invention can align the coupler while taking into consideration the change in horizontal position during the process of inserting the coupler while tilted in accordance with the angle of the drum container discharge port, thereby enabling safer and more efficient work execution. [Brief description of the drawings]

[0013] [Figure 1] 1 is a front view of a coupling device in which a drum container coupler support module according to an embodiment of the present invention is used. [Diagram 2] FIG. 2 is a right side view of the coupling device shown in FIG. 1. [Diagram 3] FIG. 2 is a plan view of the coupling device shown in FIG. 1; [Figure 4] FIG. 2 is a perspective view of a portion of the drum coupler support module shown in FIG. 1. [Diagram 5] FIG. 2 is a bottom perspective view of a portion of the drum coupler support module shown in FIG. 1. [Figure 6] FIG. 2 is a cross-sectional front view of a portion of the drum coupler support module shown in FIG. 1. [Figure 7] 2 is a diagram for explaining the operation of the drum container coupler support module shown in FIG. 1. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a drum container coupler support module according to the present invention will be described in detail with reference to the accompanying drawings.

[0015] FIG. 1 is a front view of a coupling device in which a drum container coupler support module according to one embodiment of the present invention is used, FIG. 2 is a right side view of the coupling device shown in FIG. 1, and FIG. 3 is a plan view of the coupling device shown in FIG. 1.

[0016] The coupling device using the drum container coupler support module of this embodiment automatically connects or disconnects the fluid line 20 to the drum container 10 in which fluids such as chemicals are stored, thereby significantly shortening the time it takes to connect or disconnect the fluid line 20 to the drum container 10 and significantly reducing the risk of safety accidents in which workers are exposed to liquids stored in the drum container 10.

[0017] The drum 10 has an internal tube 11 extending into the interior where liquid is stored. The internal tube 11 has a coupler coupling part 12 exposed to the outside from the top surface of the drum 10, and an internal tube 13 extending from the coupler coupling part 12 to the bottom surface side of the drum 10. An outlet 14 is provided in the center of the coupler coupling part 12. After the coupler 300 is connected to the drum 10, when a pump connected to the fluid line 20 is operated, the liquid stored in the drum 10 is discharged to the outside via the internal tube 11, the coupler 300, and the fluid line 20.

[0018] The drum container receiving unit 200 includes a base 210, a base rotation mechanism 220, a drum container support mechanism 230, and a base horizontal transfer mechanism 240. The drum container receiving unit 200 supports the drum container 10, rotates it about a vertical rotation axis (Z-axis), and transfers it horizontally in the Y-axis direction.

[0019] The base 210 supports the drum 10. A weight sensor may be installed on the base 210. When the drum 10 is placed on the base 210, the weight sensor detects it and provides a detection signal to the control unit 800. The control unit 800 can determine that the drum 10 has been loaded onto the base 210 from the detection signal of the weight sensor, and sequentially performs operations after the loading of the drum 10.

[0020] The base rotation mechanism 220 is installed between the base 210 and the base horizontal transfer mechanism 240. The base rotation mechanism 220 rotates the base 210 about a vertical rotation axis. The base rotation mechanism 220 rotates the base 210, so that the angular displacement of the drum container 10 placed on the base 210 can be adjusted in various ways. The base rotation mechanism 220 can be of various structures that are connected to the base 210 and can rotate the base 210 about a vertical rotation axis.

[0021] The platform horizontal transfer mechanism 240 includes a guide rail disposed on the base 110 in the Y-axis direction.

[0022] As shown in Figures 1 to 4, the coupler 300 includes a head portion 310 that is connected to the coupler coupling portion 12 of the drum container 10, and an insertion tube 320 extending from the head portion 310 so as to be inserted into the central outlet 14 of the coupler coupling portion 12.

[0023] The coupling structure for maintaining a stable contact state between the coupler 300 and the coupler coupling part 12 of the drum container 10 is not limited to the one shown in the figure and can be modified in various ways. A fluid detection sensor for detecting the flow rate of a fluid passing through the coupler 300 is coupled to one side of the coupler 300. The coupler 300 is supported so as to be tilted by the coupler support module 100 of the present invention and moved by the coupler transport unit 500. In addition, a pair of insertion grooves are provided on the outer surface of the head part 310 of the coupler 300 for coupling with the coupler holder 410 of the coupler support module 100 of the present embodiment.

[0024] 1 to 3, the drum container coupler support module according to the present embodiment is used by being installed on a housing-type base 110 formed to accommodate a drum.

[0025] A coupler transfer unit 500 is installed on the base 110. The coupler transfer unit 500 is configured to transfer the drum container coupler support module of the present invention back and forth, left and right, and up and down relative to the base 110. That is, the drum container coupler support module of the present invention is installed on the coupler transfer unit 500 and is transferred by the coupler transfer unit 500 in the horizontal and up and down directions.

[0026] The drum container coupler support module of this embodiment includes a base frame 120, a slide frame 130, a tilt joint 140, and a coupler holder 410.

[0027] The base frame 120 is coupled to the coupler transport unit 500. As a result, the base frame 120 is transported in the horizontal and vertical directions by the coupler transport unit 500. By installing the base frame 120 on the coupler transport unit 500, the coupler 300 is ready to be transported to any desired position.

[0028] The slide frame 130 is installed so as to be allowed to slide horizontally relative to the base frame 120. The slide frame 130 is configured to take into consideration a tilted state of the coupler coupling portion 12 of the drum. Taking into consideration that the horizontal position of the coupler holder 410 that holds the coupler 300 changes during the process of inserting the coupler 300 into the coupler coupling portion 12 of the drum, the slide frame 130 is configured to accommodate such horizontal movement of the coupler holder 410.

[0029] In this embodiment, the slide frame 130 includes a first slide member 131, a second slide member 132, a first stopper 133, and a second stopper 134.

[0030] The first slide member 131 is coupled to the base frame 120 so as to be able to slide in the first direction, which is a horizontal direction. In this embodiment, the first direction is the X direction with reference to FIG. 3. The second slide member 132 is coupled to the first slide member 131 so as to be able to slide in the second direction, which is a horizontal direction perpendicular to the first direction. In this embodiment, the second direction is the Y direction with reference to FIG. 3. The tilt joint 140 is coupled to the second slide member 132 of the slide frame 130. As a result, the tilt joint 140 is installed in a state in which it can freely slide in the first direction and the second direction with respect to the base frame 120 by the slide frame 130. In this way, in order to install the first slide member 131 and the second slide member 132 so as to be able to slide in the first direction and the second direction, respectively, a configuration such as a guide rail or a ball bush can be used. In this embodiment, a guide rail is used as shown in FIG. 4 and FIG. 5.

[0031] The first stopper 133 operates to allow or prevent the first slide member 131 from sliding in the first direction. In this embodiment, the first stopper 133 is formed in a cylindrical shape. When the first stopper 133 presses the guide rail of the first slide member 131, the first slide member 131 is prevented from sliding in the first direction and is fixed. When the cylindrical first stopper 133 releases the pressure on the guide rail of the first slide member 131, the first slide member 131 becomes freely slidable in the first direction. Similarly, the second stopper 134 operates to allow or prevent the second slide member 132 from sliding in the second direction. In this embodiment, the second stopper 134 is also formed in a cylindrical shape. When the second stopper 134 presses the guide rail of the second slide member 132, the second slide member 132 is prevented from sliding in the second direction and is fixed. When the cylindrical second stopper 134 releases the pressure on the guide rail of the second slide member 132, the second slide member 132 becomes freely slidable in the second direction. By such operation of the first stopper 133 and the second stopper 134, the tilt joint 140 becomes a state in which horizontal sliding is permitted relative to the base frame 120, or a state in which sliding is prevented and the tilt joint 140 is fixed.

[0032] The tilt joint 140 is coupled to the second slide member 132 of the slide frame 130 as described above. The tilt joint 140 includes a tilt support part 141 and a tilt part 142. The tilt support part 141 is coupled to the first slide member 131 in a state in which it can rotate about a rotation axis in the vertical direction. The tilt part 142 is connected to the tilt support part 141 so that the tilt angle can be adjusted and supported in multiple directions. The tilt support part 141 and the tilt part 142 are connected to each other in the form of a universal joint. In this embodiment, the tilt joint 140 further includes a first joint 143 and a second joint 144 to configure a universal joint. The first joint 143 is installed on the tilt support part 141 so as to be tilted about a horizontal rotation axis. The second joint 144 is installed on the first joint 143 so as to be tilted about a rotation axis different from the rotation axis of the first joint 143, and is coupled to the tilt part 142. With this structure, the angle of tilt section 142 can be adjusted so that it can be tilted in any direction relative to tilt support section 141.

[0033] The coupler rotation module 436 is installed on the second slide member 132 of the slide frame 130. The coupler rotation module 436 adjusts the rotation angle of the tilt joint 140 relative to the second slide member 132. In this embodiment, the coupler rotation module 436 is configured in the form of a motor 437, a driving pulley, a driven pulley, and a belt, and adjusts the angular displacement of the tilt joint 140 as required. The specific structure of the coupler rotation module 436 can be changed to various other structures other than the belt pulley structure.

[0034] The coupler holder 410 is coupled to the tilt portion 142 of the tilt joint 140. The coupler holder 410 is coupled to the coupler 300 that is inserted into the outlet 14 of the drum 10 and discharges liquid contained inside the drum 10. The coupler holder 410 is configured to support the coupler 300 and operates to assist the insertion of the coupler 300 into the outlet 14 of the drum 10.

[0035] Meanwhile, the tilt joint 140 is configured to vertically align the coupler holder 410 and the coupler 300 by gravity acting on the coupler holder 410 in a free state in which no external force is applied.

[0036] The operation of the drum container coupler support module constructed as described above will now be described.

[0037] As shown in Figures 1 to 5, the coupler support module for a drum container of this embodiment supports the coupler 300 so that the coupler 300 can be tilted to match the angle of the discharge outlet 14 of the drum container 10, and thereby operates so that when the coupler 300 descends toward the drum container 10, the coupler 300 is smoothly and stably inserted into the discharge outlet 14 of the drum container 10.

[0038] First, the drum 10 is loaded onto the base 210 of the drum receiving unit 200 at the loading operation position. When the drum 10 is loaded, a weight sensor installed on the base 210 detects it and provides a detection signal to the control unit 800. When the drum 10 is placed on the base 210, if the drum 10 moves out of position and is detected by the drum detection sensor, the detection signal is provided to the control unit 800. The control unit 800 then corrects the loading position of the drum 10 on the base 210 by, for example, generating a warning signal.

[0039] When the drum 10 is stably placed on the base 210, the drum support mechanism 230 is operated to support the drum 10 so that it does not fall over. If the drum 10 is not centered on the base 210, the drum support mechanism 230 aligns the drum 10 to the center of the base 210. After the drum 10 is supported by the drum support mechanism 230, the photographing unit 600 photographs the top surface of the drum 10 and provides the image to the control unit 800. When the photographing unit 600 provides the photographed image to the control unit 800, the control unit 800 calculates coordinates for the position and angle of the coupler coupling part 12 to which the discharge port 14 of the drum 10 is provided. Then, the control unit 800 operates the base rotation mechanism 220 of the drum receiving unit 200 to rotate the drum 10 about a vertical rotation axis, thereby adjusting the angular displacement of the drum 10 for subsequent work.

[0040] After the photographing unit 600 photographs the drum container 10 , the plug attaching / detaching unit is operated to detach the plug coupled to the coupler coupling portion 12 of the drum container 10 from the drum container 10 .

[0041] When the stopper is separated from the drum 10, the control unit 800 operates the coupler transport unit 500 to horizontally transport the coupler 300 above the discharge port 14 of the drum 10. At this time, the control unit 800 operates the first stopper 133 and the second stopper 134 of the slide frame 130 to maintain a state in which the first slide member 131 and the second slide member 132 are prevented from sliding.

[0042] Next, the control unit 800 operates the coupler rotation module 436. The control unit 800 analyzes the shape of the outlet 14 of the drum container 10 from the image acquired by the photographing unit 600, and adjusts the angular displacement of the tilt joint 140 by the coupler rotation module 436 so that the angular displacement of the coupler 300 corresponds to the direction of the outlet 14 of the drum container 10. As a result, the angular displacement of the coupler 300 clamped to the coupler holder 410 corresponds to the direction of the outlet 14. If a portion of the coupler 300 is configured to be rotatable relative to the main body of the coupler 300 in order to prevent twisting of the fluid line 20, only the portion rotates so that each displacement matches the direction of the outlet 14.

[0043] Next, the control unit 800 operates the coupler transport unit 500 to vertically lower the drum container coupler support module according to this embodiment. At this time, the control unit 800 operates the first stopper 133 and the second stopper 134 of the slide frame 130 to maintain a state in which the first slide member 131 and the second slide member 132 are allowed to slide. When the coupler 300 together with the tilt joint 140 descends toward the coupler coupling portion 12 of the drum container 10, the insertion tube 320 of the coupler 300 enters the inside of the discharge port 14 while contacting the coupler coupling portion 12. At this time, the tilt portion 142 of the tilt joint 140 is tilted relative to the tilt support portion 141 by the reaction force applied to the coupler 300 from the drum container 10, as shown in FIG. 7. At this time, the slide frame 130 is in a state in which it can freely slide horizontally by the first slide member 131 and the second slide member 132. Therefore, even if the horizontal displacement of the coupler holder 410 changes according to the inclination of the outlet 14 while the coupler 300 descends, the first slide member 131 and the second slide member 132 accommodate the change in the horizontal displacement of the coupler holder 410. As a result, the first slide member 131 and the second slide member 132 eliminate the stress inside the device that may occur due to the angle change of the tilt part 142 while the coupler holder 410 descends, so that the insertion operation of the coupler 300 into the outlet 14 can be smoothly performed. In addition, damage to the drum container 10 and the drum container coupler support module can be prevented. As described above, the first slide member 131 and the second slide member 132 increase the degree of freedom of the coupler holder 410's movement, so that it is possible to effectively handle the angle change and position change of the tilt part 142 that may occur during the descending process of the coupler holder 410. In particular, when the horizontal position of the coupler holder 410 is adjusted and fixed by the coupler transport unit 500 and the coupler holder 410 is moved only in the vertical direction, the angle of the tilt portion 142 often changes.At this time, the first slide member 131 and the second slide member 132, which are in a free sliding state, move passively in accordance with the direction of the force acting on the tilt portion 142, while the position and direction of the coupler 300 naturally change in accordance with the outlet 14. As a result, it is possible to perform the insertion operation of the coupler 300 into the outlet 14 with a relatively simple and straightforward mechanical configuration without using a sophisticated control device or actuator.

[0044] When the insertion of the coupler 300 into the discharge port 14 is completed as described above, the fluid line 20 connected to the coupler 300 and the drum container 10 are connected.

[0045] After the coupler 300 is connected to the drum 10, when a pump connected to the fluid line 20 connected to the coupler 300 is operated, the liquid stored in the drum 10 is discharged to the outside through the built-in tube 11, the coupler 300, and the fluid line 20. When all the liquid is discharged from the drum 10, the control unit 800 operates the coupler transport unit 500 to lift the coupler support module 100, thereby separating the coupler 300 from the drum 10. Even when the coupler holder 410 is lifted by the coupler transport unit 500, the tilt joint 140 and the slide frame 130 interact with each other, so that the coupler 300 naturally comes out without applying any special external force to the discharge port 14 of the drum 10.

[0046] When the coupler 300 is separated from the drum container 10, the tilt unit 142 and the coupler 300, which were tilted, naturally stand upright due to their own weight caused by gravity. When the coupler 300 is completely separated from the discharge port 14, the control unit 800 operates the first stopper 133 and the second stopper 134 to prevent the first sliding member 131 and the second sliding member 132 from sliding. This operation prevents the coupler 300 from moving unnecessarily.

[0047] After the coupler 300 is separated from the drum 10, the drum 10 loaded in the drum receiving unit 200 is transferred to the unloading position and unloaded from the drum receiving unit 200. A new drum 10 is then loaded into the drum receiving unit 200 at the loading position, and the above-mentioned process is repeated. Before the drum 10 is unloaded, a plug may be coupled to the outlet 14 of the drum 10 by the plug attachment / detachment unit.

[0048] As described above, the drum coupler support module 100 according to this embodiment supports the coupler 300 tiltably using the tilt joint 140, and the coupler 300 can be lowered and inserted into the outlet 14 of the drum 10 while tilting it to match the angle of the outlet 14. This allows the coupler 300 to be stably connected to the drum 10 without manual labor by an operator. In addition, the risk of an accident in which liquid leaks from the drum 10 due to operator error or carelessness can be significantly reduced.

[0049] Although the present invention has been described above with reference to preferred embodiments, the scope of the present invention is not limited to these embodiments.

[0050] For example, the slide frame 130 can be modified into various structures, and the first stopper 133 and the second stopper 134 of the slide frame 130 can also have various mechanical configurations other than the cylindrical structure.

[0051] Additionally, the coupler rotation module 436 may have a variety of configurations other than a belt pulley structure.

[0052] Furthermore, the structure of tilt joint 140 can be other than a universal joint, and various other configurations that can allow for angle changes of tilt portion 142 relative to tilt support portion 141 can be used.

[0053] Furthermore, the structure of the drum container receiving unit 200 that supports the lower portion of the drum container 10 can also be modified in various ways.

[0054] Although the above description is based on an example in which liquid is discharged with one drum 10 placed in the chamber-shaped housing at a time, the drum coupler support module of the present invention can also be used in cases in which liquid is dispensed with multiple drums placed in the housing at once. In this case, the coupler can be transferred to each drum in sequence by the coupler transfer unit while the liquid is discharged. [Explanation of symbols]

[0055] 10 Drum container 11 Built-in tube 12 Coupler connection part 13 Built-in tube 14 Outlet 20 Fluid Lines 100 Coupler Support Module 120 Base Frame 130 Slide Frame 131 First slide member 132 Second slide member 133 First Stopper 134 Second Stopper 140 Tilt joint 141 Tilt support 142 Tilt section 143 First Joint 144 Second Joint 110 Base 200 Drum container receiving unit 210 Pedestal 220 Pedestal rotation mechanism 230 Drum container support mechanism 240 Pedestal horizontal transfer mechanism 300 Coupler 310 Head 320 Insertion tube 410 Coupler holder 436 Coupler Rotation Module 437 Motor 500 Coupler Transfer Unit 600 shooting units 800 Control section

Claims

1. A drum container coupler support module is connected to a coupler transport unit that moves back and forth and left and right and moves up and down, and supports a coupler that discharges liquid contained inside a drum container, a base frame coupled to the coupler transport unit and transported in vertical and horizontal directions; a slide frame that is installed so as to be allowed to slide horizontally relative to the base frame; a tilt joint including a tilt support part connected to the slide frame, and a tilt part connected to the tilt support part so that the tilt angle can be adjusted and supported in multiple directions with respect to the tilt support part; a coupler holder that is inserted into the outlet of a drum container to connect to a coupler that discharges liquid from the drum container and is configured to support the coupler, and that is connected to a tilt portion of the tilt joint.

2. The slide frame is a first slide member coupled to the base frame so as to be slidable in a first direction, which is a horizontal direction; 2. The drum container coupler support module of claim 1, further comprising: a second slide member coupled to the first slide member so as to be capable of sliding in a second direction, which is a horizontal direction perpendicular to the first direction.

3. The slide frame is a first stopper that operates to allow or prevent the first slide member from sliding in the first direction; 3. The drum coupler support module of claim 2, further comprising a second stopper operable to allow or prevent sliding of said second slide member in said second direction.

4. The tilt joint is installed on the second slide member of the slide frame so as to be rotatable about a rotation axis in a vertical direction, 3. The drum coupler support module of claim 2, further comprising: a coupler rotation module mounted on the second slide member and configured to adjust a rotation angle of the tilt joint relative to the second slide member.

5. 5. The drum container coupler support module of claim 4, wherein the coupler rotation module rotates the tilt joint based on a control signal so that the coupler coupled to the coupler holder is at an angle corresponding to the discharge opening of the drum container.

6. 6. The drum coupler support module according to claim 1, wherein the tilt support portion and the tilt portion of the tilt joint are connected to each other in the form of a universal joint.

7. The tilt joint is 7. The drum container coupler support module of claim 6, further comprising: a first joint mounted on the tilt support portion so as to be tilted about a horizontal rotation axis; and a second joint mounted on the first joint so as to be tilted about a rotation axis different from the rotation axis of the first joint and coupled to the tilt portion, wherein the tilt portion is coupled to the second joint.

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