Cap removal device

Abstract

To automate a work of suitably removing a cap part from a plug.SOLUTION: A liquid supply device comprises a plug 10, a cap part 50 and a cap jig 60 that removes the cap part 50 from the plug 10. The cap jig 60 includes: a holding part that holds the cap part 50; a grip part 62 that is gripped by a robot that grips the cap jig 60; a support part 63 that is mounted on the grip part 62 and movably supports the holding part along a cap axis line Zc1; a spring 64 that applies an energizing force to the holding part along the cap axis line Zc1 in a direction approaching the plug 10; and a rotation shaft 65 that rotates the holding part around the cap axis line Zc1. The rotation shaft 65 removes the cap part 50 from the plug 10 by rotating the holding part 61 holding the cap part 50 around the cap axis line Zc1.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to a cap removal device.

Background Art

[0002] Conventionally, a liquid supply device that supplies liquid stored in a liquid storage container to a plurality of destination devices has been known (see, for example, Patent Document 1). The liquid supply device disclosed in Patent Document 1 fixes a plug to the opening of the liquid storage container and attaches a socket to the plug, thereby connecting the liquid flow path formed in the plug and the liquid flow path formed in the socket. When attaching the socket to the plug, an operator engages a male screw formed on a mounting nut of the socket with a female screw portion formed on the plug.

[0003] In the liquid storage container disclosed in Patent Document 1, in order to prevent the liquid stored inside from flowing out to the outside through the plug, a sealing portion is attached to the inner peripheral surface of the plug. By fastening the screw of the sealing portion to the screw of the plug, the sealing portion is fixed to the plug. When supplying the liquid stored in the liquid storage container to the destination device, the socket is attached instead of the sealing portion.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When supplying the liquid stored in the liquid storage container to the destination device, in order to attach the socket, an operator needs to rotate the sealing portion to release the fastening between the screw of the sealing portion and the screw of the plug. Therefore, the work burden of the operator increases, and when handling highly dangerous liquids, the operator may be exposed to danger.

[0006] Therefore, in order to prevent an increase in the workload of workers and to prevent workers from being exposed to danger, it is conceivable to automate the process of removing the sealing part from the plug using a robotic hand that holds the sealing part. For example, it is conceivable to pre-store the position of the sealing part as disclosed in Patent Document 1, move the robotic hand to the stored position to hold the sealing part, and then rotate the sealing part.

[0007] However, when the sealing part is rotated to release the screw fastening between the sealing part and the plug, the sealing part moves away from the plug in proportion to the rotation. Therefore, the robot hand must be moved appropriately according to this amount of movement. If this amount of movement is not appropriate, it may not be possible to properly remove the sealing part from the plug, or the robot hand may not be able to maintain a position where it is holding the sealing part.

[0008] The present invention has been made in view of these circumstances, and aims to provide a cap removal device that can automate the process of removing the cap from the plug by appropriately moving a holding part that holds the cap according to the amount of movement of the cap. [Means for solving the problem]

[0009] To solve the above problems, the present invention employs the following means. A cap removal device according to one aspect of the present invention comprises a plug fixed to an opening provided on the upper surface of a liquid storage container, having a liquid flow path extending along a first axis and a groove extending in an annular shape around the first axis, a cap portion inserted into the groove and having an insertion portion extending cylindrically around the first axis, sealing the liquid flow path, and a removal mechanism for removing the cap portion from the plug, wherein the insertion portion has a first threaded portion, and the groove has a second threaded portion that engages with the first threaded portion, and the removal mechanism has a holding portion for holding the cap portion and a second axis The device comprises a gripping portion formed in a cylindrical shape along a line and gripped by a gripping mechanism that grips the removal mechanism; a support portion attached to the gripping portion and supporting the holding portion so as to be movable along the second axis; a biasing portion formed of an elastic member that expands and contracts along the second axis and applies a biasing force to the holding portion in a direction approaching the plug along the second axis; and a rotating portion that rotates the holding portion around the second axis, wherein the rotating portion removes the cap portion from the plug by rotating the holding portion that holds the cap portion in a predetermined direction around the second axis.

[0010] According to one aspect of the present invention, a cap removal device has a gripping portion that is gripped by a gripping mechanism, and the removal mechanism holds the cap portion attached to the plug with a holding portion. The rotating portion of the removal mechanism removes the cap portion from the plug by rotating the holding portion in a predetermined direction around a second axis. When the cap portion is removed from the plug, the engagement between the first threaded portion of the cap portion and the second threaded portion of the plug is gradually released, and the cap portion moves away from the plug.

[0011] The retaining part that holds the cap is supported by a support part so as to be movable along the second axis, and a biasing force is applied by a biasing part in the direction toward the plug along the second axis. Therefore, when the cap is removed from the plug, as the cap moves away from the plug, the elastic member of the biasing part contracts while the position of the support part remains fixed, and the retaining part moves away from the plug along the second axis.

[0012] Since the position of the holding part on the second axis changes relative to the support part while the position of the support part remains fixed, there is no need to move the position of the gripping mechanism that grips the gripping part in accordance with the movement of the cap part. Therefore, it is possible to provide a cap removal device that can automate the process of removing the cap part from the plug by appropriately moving the holding part that holds the cap part in accordance with the amount of movement of the cap part.

[0013] A cap removal device according to one aspect of the present invention may be formed in an elongated shape from an elastically deformable material and connected to a power mechanism, and may have a transmission unit that transmits rotational power generated by the power mechanism to the rotating part. With this cap removal device configuration, since the transmission part is elastically deformable, the rotational power generated by the power mechanism can be reliably transmitted to the rotating part even if the removal mechanism is positioned at any location in three-dimensional space by the gripping mechanism. Furthermore, since there is no need to provide a power mechanism that generates rotational power in the removal mechanism, the removal mechanism gripped by the gripping mechanism can be miniaturized.

[0014] The cap removal device having the above configuration preferably comprises: a first detection unit for detecting an extended state in which the elastic member is extended; a second detection unit for detecting a contracted state in which the elastic member is contracted; and a control unit that controls the transmission of rotational power from the power mechanism to the transmission unit when the first detection unit detects the extended state, and stops the transmission of rotational power from the power mechanism to the transmission unit when the second detection unit detects the contracted state.

[0015] In the cap removal device of this embodiment, the control unit controls the power mechanism so as to start transmitting rotational power to the transmission unit when the first detection unit detects the extension state of the elastic member. Therefore, the operation to remove the cap from the plug can be started when the cap is biased by the biasing unit to a position close to the plug. Furthermore, the control unit controls the power mechanism so as to stop transmitting rotational power to the transmission unit when the second detection unit detects the contraction state of the elastic member. Therefore, the transmission of rotational power from the power mechanism to the rotating unit can be stopped when the elastic member of the biasing unit has contracted and the cap has been removed from the plug.

[0016] In a cap removal device according to one aspect of the present invention, the cap portion is formed of a resin material, and the upper surface of the cap portion has a housing groove formed in an annular shape around the first axis and housing the holding portion, and a central portion positioned on the inner circumference side of the housing groove and held by the holding portion, and the lower surface of the holding portion has a recess formed thereon where a locking mechanism for holding the central portion by elastic force is arranged, and the holding portion may be configured to hold the central portion housed in the recess so as not to rotate around the second axis by the locking mechanism.

[0017] In this cap removal device, the retaining part, housed in a groove formed on the upper surface of the cap, is held by a locking mechanism to prevent the central part of the cap from rotating around the second axis. Therefore, the rotating part rotates the retaining part around the second axis, thereby allowing the cap to rotate around the second axis. Furthermore, since the central part of the cap is housed in a recess formed on the lower surface of the retaining part and fixed by the locking mechanism, there is no risk of the cap, which is made of resin material, elastically deforming and releasing the locking mechanism that secures the cap. This is because the locking mechanism applies a force that fixes the central part inward toward the second axis, resulting in almost no elastic deformation of the cap.

[0018] In the cap removal device according to one aspect of the present invention, the rotating portion may be configured to attach the cap portion to the plug by rotating the holding portion in the reverse direction of the predetermined direction while holding the cap portion.

[0019] According to the cap removal device of this configuration, the cap portion can be attached to the plug by rotating the holding portion in the reverse direction of the predetermined direction by the rotating portion of the removal mechanism used to remove the cap portion from the plug.

Effect of the Invention

[0020] According to the present invention, it is possible to provide a cap removal device capable of automating the operation of appropriately removing the cap portion from the plug by appropriately moving the holding portion that holds the cap portion according to the movement amount of the cap portion.

Brief Description of the Drawings

[0021] [Figure 1] It is a side view showing a liquid supply device according to an embodiment of the present invention, showing a state where a robot grips and conveys a cap jig. [Figure 2] It is a side view showing a liquid supply device according to an embodiment of the present invention, showing a state where a robot arranges a cap jig near a plug. [Figure 3] It is a plan view of the liquid supply device shown in FIG. 1 as viewed from above, showing a state where a robot grips and conveys a cap jig. [Figure 4] It is a partial cross-sectional view showing a state where a socket is fixed to a plug. [Figure 5] It is a flowchart showing a control method of the liquid supply device of this embodiment, showing a process of removing a cap portion from a plug. [Figure 6] It is a flowchart showing a control method of the liquid supply device of this embodiment, showing a process of attaching a cap portion to a plug. [Figure 7] It is a partial cross-sectional view showing a state where a cap jig is moved near a plug. [Figure 8]This is a plan view of the plug and cap section as seen from above. [Figure 9] This is a plan view of the cap jig from below. [Figure 10] This is a partial cross-sectional view showing the cap being held in place by the cap jig. [Figure 11] This is a partial cross-sectional view showing the cap removed from the plug using a cap jig. [Figure 12] This is a partial cross-sectional view showing the cap jig moved above the plug. [Modes for carrying out the invention]

[0022] Hereinafter, a liquid supply device (cap removal device) 100 according to one embodiment of the present invention will be described with reference to the drawings. Figures 1 and 2 are side views showing the liquid supply device 100 of this embodiment. Figure 1 shows the state in which the robot 30 is gripping and transporting the cap jig 60. Figure 2 shows the state in which the robot 30 has positioned the cap jig 60 near the plug 10. Figure 3 is a top view of the liquid supply device 100 shown in Figure 1, showing the state in which the robot 30 is gripping and transporting the cap jig 60.

[0023] The liquid supply device 100 of this embodiment, shown in Figure 1, is a device that supplies liquid contained in a liquid storage container 200 to a plurality of receiving devices (not shown). Here, the liquid in this embodiment is, for example, pure water or various chemical solutions used in the semiconductor manufacturing process of a semiconductor manufacturing apparatus.

[0024] As shown in Figures 1 to 3, the liquid supply device 100 comprises a plug 10, a sealing stopper 15, a socket 20, a robot (gripping mechanism) 30, an imaging unit (recognition unit) 40, a cap unit 50, a cap jig (removal mechanism) 60, and a control unit 70.

[0025] As shown in Figure 1, the liquid storage container 200 is a cylindrical container formed around a vertically extending axis Z1, and has a first opening 210 and a second opening 220 on its top surface (top plate). Female threads are formed on the inner circumferential surfaces of the first opening 210 and the second opening 220.

[0026] The plug 10 is fixed to the first opening 210 and has a plug-side liquid channel 11 that extends along the plug axis (first plug axis) Zp1. The plug-side liquid channel 11 extends to the vicinity of the bottom 230 of the liquid storage container 200. A male thread is formed on the outer circumferential surface of the upper end of the plug 10. The plug 10 is fixed to the first opening 210 by engaging the male thread of the plug 10 with the female thread of the first opening 210.

[0027] Figure 4 is a partial cross-sectional view showing the socket 20 positioned on the plug 10. As shown in Figure 4, the tip (upper end) of the plug 10 has a groove (first groove) 12 that extends in an annular shape around the plug axis Zp1. The groove 12 has a fixing groove 12a for fixing the lock ball 21Aa of the socket 20. The fixing groove 12a is formed in an annular shape around the plug axis Zp1. As shown in Figures 7 and 10, the groove 12 of the plug 10 has a male thread (second thread) 12b that engages with the female thread (first thread) 51a of the cap 50.

[0028] As shown in Figure 1, the sealing plug 15 is a component that is fixed to the second opening 220 and seals the second opening 220. A male thread is formed on the outer surface of the sealing plug 15. The sealing plug 15 is fixed to the second opening 220 by engaging the male thread of the sealing plug 15 with the female thread of the second opening 220.

[0029] The socket 20 is a device that is attached to the plug 10 by the robot 30 after the cap portion 50 has been removed from the plug 10 by the cap jig 60. The socket 20 is a device for supplying the liquid stored in the liquid storage container 200 to the receiving device via the plug-side liquid flow path 11 of the plug 10.

[0030] As shown in Figure 4, the socket 20 is detachably attached to the plug 10 and has a socket-side liquid channel 21a extending along the socket axis (first socket axis) Zs1. The socket 20 is connected to a liquid pipe LL1 for supplying liquid to a receiving device and a gas pipe GL1 for supplying gas to the liquid storage container 200. The gas supplied from the gas pipe GL1 is delivered to the space above the liquid storage container 200 via the plug-side gas channel 13 of the plug 10. The socket 20 is grasped by the hand 31 of the robot 30.

[0031] As shown in Figure 4, the tip (lower end) of the socket 20 has multiple lock balls 21Aa that extend in an annular shape around the socket axis Zs1 and are fixed to the fixing groove 12a of the plug 10. The lock balls 21Aa are arranged at multiple locations with intervals around the socket axis Zs1.

[0032] The socket 20 has an adjustment part (not shown) that adjusts the position of the tip side where the lock ball 21Aa is located and inserts it into the groove 12 of the plug 10. By adjusting the position of the tip side with the adjustment part, the socket 20 switches between a connected state in which the lock ball 21Aa is fixed to the fixing groove 12a of the plug 10 and a released state in which the lock ball 21Aa is not fixed to the fixing groove 12a of the plug 10.

[0033] As shown in Figures 1 to 3, the robot 30 is a mechanism that grips the socket 20 and the cap jig 60 and positions the socket 20 and the cap jig 60 in a predetermined orientation at a three-dimensional position defined by axes X, Y, and Z within the operating range. The robot 30 is, for example, a 6-axis articulated robot. The robot 30 has a hand section 31, a wrist section 32, a first arm section 33, a second arm section 34, a base section 35, and a rotating body 36.

[0034] The rotating drum 36 is supported so as to be rotatable around a vertical axis Zr1 relative to the base 35. The first arm 33 is supported so as to be rotatable relative to the rotating drum 36 around a horizontal axis Zr2. The second arm 34 is supported so as to be rotatable relative to the first arm 33 around a horizontal axis Zr3. One end of the wrist 32 is attached to the second arm 34, and the other end is attached to the hand 31.

[0035] By combining the rotational movement of the swivel body 36 relative to the base 35, the rotational movement of the first arm 33 relative to the swivel body 36, and the rotational movement of the second arm 34 relative to the first arm 33, the wrist portion 32 can be positioned at any three-dimensional position within the range of motion. Furthermore, the wrist portion 32 is rotatable in three axes, and the hand portion 31 can be displaced in three axes to achieve any desired posture.

[0036] The imaging unit 40 is a device that images the upper surface of the plug 10 and recognizes the position of the plug 10 in three-dimensional space and the orientation of the plug axis Zp1 of the plug 10. The imaging unit 40 transmits the recognition results of the position of the plug 10 in three-dimensional space and the orientation of the plug axis Zp1 of the plug 10 to the control unit 70.

[0037] As shown in Figure 7, the cap portion 50 is a component that seals the liquid flow path 11 on the plug side and is made of a resin material. The cap portion 50 has an insertion portion 51 that is inserted into the groove portion 12 of the plug 10. The insertion portion 51 is formed to extend cylindrically around the cap axis Zc1. An internal thread (first thread portion) 51a is formed on the inner circumferential surface of the insertion portion 51.

[0038] Figure 8 is a plan view of the plug 10 and cap portion 50 as seen from above. As shown in Figure 8, a housing groove 52 is formed on the upper surface of the cap portion 50, which is annularly formed around the plug axis Zp1 and capable of accommodating the retaining portion 61. As shown in Figures 7 and 8, a plurality of fixing grooves 52a are formed in the housing groove 52, for which a plurality of lock balls 61a are fixed. A convex central portion 53 is formed on the upper surface of the cap portion 50, which is positioned on the inner circumference side of the housing groove 52 and held by the retaining portion 61.

[0039] As shown in Figure 7, the cap jig 60 is a mechanism that rotates the cap portion 50 around the cap axis (second axis) Zc1 and removes the cap portion 50 from the plug 10. The cap jig 60 includes a holding portion 61, a gripping portion 62, a support portion 63, a spring (biasing portion) 64, a rotating shaft (rotating portion) 65, a flexible shaft (transmission portion) 66, a bearing 67, and a bearing 68.

[0040] The retaining portion 61 is a member that detachably holds the cap portion 50 and is provided with a lock ball (locking mechanism) 61a that generates a biasing force toward the cap axis Zc1. The retaining portion 61 is housed in the housing groove 52 and engages multiple lock balls 61a with multiple fixing grooves 52a, thereby biasing the lock balls 61a toward the fixing grooves 52a toward the inner circumference and holding the cap portion 50.

[0041] The retaining portion 61 has a main body portion 61A that houses the lock ball 61a, and a shaft portion 61B that is fixed to the main body portion 61A and extends along the cap axis Zc1. As shown in Figures 7 and 9, a recess 61C is formed on the lower surface of the main body portion 61A where the lock ball 61a, which elastically holds the central portion 53 of the cap portion 50, is positioned. The upper end of the shaft portion 61B is housed in the support portion 63 in a state that allows it to move along the cap axis Zc1. The upper end of the shaft portion 61B is biased by a spring 64 in a direction that brings the shaft portion 61B closer to the plug 10.

[0042] As shown in Figure 8, the central portion 53 of the cap portion 50 has a roughly rectangular shape when viewed along the plug axis Zp1. The recess 61C of the retaining portion 61 has a roughly rectangular shape when viewed along the cap axis Zc1 so as to accommodate the central portion 53.

[0043] Therefore, the central portion 53 of the cap portion 50 does not rotate around the cap axis Zc1 relative to the holding portion 61 while it is housed in the recess 61C of the holding portion 61. In this way, the holding portion 61 holds the central portion 53 of the cap portion 50 housed in the recess 61C by the lock ball 61a so that it does not rotate around the cap axis Zc1.

[0044] As shown in Figure 7, the gripping portion 62 is formed in a substantially cylindrical shape along the cap axis Zc1 and is gripped by the hand portion 31 of the robot 30 that grips the cap jig 60. A recess 62a is formed on the outer circumference of the gripping portion 62, which is annularly formed around the cap axis Zc1. The recess 62a is the portion that is gripped by the hand portion 31.

[0045] The support portion 63 is attached to the gripping portion 62 and is a member that supports the holding portion 61 so that it can move along the cap axis Zc1. The support portion 63 is connected to the rotating shaft 65 and is attached to the gripping portion 62 via a bearing 67 so that it can rotate around the cap axis Zc1. When the rotating shaft 65 rotates, the support portion 63 rotates together with the rotating shaft 65 around the cap axis Zc1.

[0046] The spring 64 is formed from an elastic member (metal material, resin material, etc.) that expands and contracts along the cap axis Zc1, and is a member that applies a biasing force to the holding part 61 in a direction approaching the plug 10 along the cap axis Zc1.

[0047] The rotating shaft 65 is a component that rotates the holding portion 61 around the cap axis Zc1. The rotating shaft 65 is attached to the gripping portion 62 via a bearing 68 so as to be rotatable around the cap axis Zc1. The rotating shaft 65 transmits the rotational power around the cap axis Zc1 transmitted from the flexible shaft 66 to the support portion 63.

[0048] The support portion 63 supports the shaft portion 61B of the retaining portion 61 so that it does not rotate relative to the cap axis Zc1. Therefore, when the support portion 63 rotates around the cap axis Zc1, the retaining portion 61 rotates around the cap axis Zc1 in synchronization with the support portion 63. The rotating shaft 65 removes the cap portion 50 from the plug 10 by rotating the retaining portion 61 in a counterclockwise direction (a predetermined direction) around the cap axis Zc1 via the support portion 63.

[0049] As shown in Figure 7, the support portion 63 is provided with a magnetic proximity sensor (first detection unit) 63a and a magnetic proximity sensor (second detection unit) 63b. The magnetic proximity sensors 63a and 63b are sensors that turn ON when a magnet 61Ba embedded in the upper end of the shaft portion 61B of the holding portion 61 is positioned in close proximity to them. The detection state (ON or OFF) of the magnetic proximity sensors 63a and 63b is output to the control unit 70.

[0050] The magnetic proximity sensor 63a is positioned so that the magnet 61Ba is close to the spring 64 when it is extended. Therefore, the magnetic proximity sensor 63a can detect the extended state of the spring 64. The magnetic proximity sensor 63b is positioned so that the magnet 61Ba is close to the spring 64 when it is retracted. Therefore, the magnetic proximity sensor 63a can detect the retracted state of the spring 64.

[0051] The flexible shaft 66 is a device that transmits rotational power, generated when the rotating shaft 65 rotates around the cap axis Zc1, to the holding part 61 via the rotating shaft 65. The flexible shaft 66 is formed in an elongated shape from an elastically deformable material and is connected to a motor (power mechanism) 69. The rotational speed and direction of the motor 69 are controlled by control signals transmitted from the control unit 70.

[0052] Based on the recognition results of the position of the plug 10 in three-dimensional space and the orientation of the plug axis Zp1 of the plug 10 transmitted from the imaging unit 40, the control unit 70 controls the robot 30 so that the socket 20 or cap jig 60 gripped by the hand unit 31 is positioned in the desired position and orientation.

[0053] Next, with reference to Figure 5, the control method of the liquid supply device 100 of this embodiment will be described. Figure 4 is a flowchart showing the control method of the liquid supply device 100 of this embodiment, and shows the process of removing the cap portion 50 from the plug 10. Each process shown in Figure 5 is performed by the control unit 70 executing a control program.

[0054] In step S101, the control unit 70 controls the robot 30 to grasp the cap jig 60 installed on the mounting base TB1. The control unit 70 has previously memorized the position of the cap jig 60 installed on the mounting base TB1, and moves the hand unit 31 to a position near the cap jig 60 to grasp the cap jig 60.

[0055] In step S102, the control unit 70 controls the robot 30 so that the cap jig 60 moves toward the vicinity of the plug 10 while the hand unit 31 is gripping the cap jig 60. The control unit 70 controls the robot 30 so that the tip of the holding unit 61 is positioned at a certain distance along the plug axis Zp1 relative to the position of the plug 10 in three-dimensional space recognized by the imaging unit 40. When the robot 30 positions the cap jig 60 toward the vicinity of the plug 10, it grips the cap jig 60 so that the orientation of the plug axis Zp1 recognized by the imaging unit 40 coincides with the orientation of the cap axis Zc1.

[0056] In step S103, the control unit 70 controls the robot 30 to grip the cap jig 60 so that it holds the cap portion 50 with the cap jig 60. The robot 30 moves the cap jig 60 toward the cap portion 50 along the plug axis Zp1. The cap jig 60 moves toward the cap portion 50 so that the holding portion 61 is housed in the housing groove 52 and the lock ball 61a is fixed in the fixing groove 52a.

[0057] As the cap jig 60 is moved further downward while the lock ball 61a is in contact with the central part 53 of the cap part 50, the spring 64 contracts and the biasing force of the spring 64 gradually increases. As the biasing force of the spring 64 increases and the lock ball 61a moves away from the plug axis Zp1, the lock ball 61a moves to the position of the fixing groove 52a and is fixed in the fixing groove 52a. As a result, the cap part 50 is held in place by the holding part 61 of the cap jig 60.

[0058] Subsequently, the robot 30 moves the cap jig 60 upward along the plug axis Zp1 so that the contracted spring 64 is at its natural length, resulting in the state shown in Figure 10. The holding part 61 holds the cap part 50 so that it does not rotate relative to the holding part 61 around the cap axis Zc1 by housing the central part 53 in the recess.

[0059] In step S104, the control unit 70 removes the cap portion 50 from the plug 10 by rotating the holding portion 61 counterclockwise while the holding portion 61 is holding the cap portion 50. When the cap portion 50 is rotated counterclockwise, the engagement between the male thread 12b of the plug 10 and the female thread 51a of the cap portion 50 is released, resulting in the state shown in Figure 11, and the cap portion 50 is removed from the plug 10. In step S104, the control unit 70 controls the position in which the hand portion 31 of the robot 30 grips the gripping portion 62 so as not to change.

[0060] As shown in Figure 11, when the engagement between the male thread 12b of the plug 10 and the female thread 51a of the cap portion 50 is released, the holding portion 61 approaches the gripping portion 62 of the cap jig 60, the spring 64 contracts, and the shaft portion 61B is housed inside the support portion 63. In this way, the support portion 63 supports the holding portion 61 so that it can move along the cap axis Zc1 and houses the shaft portion 61B inside. Since the position of the holding portion 61 on the cap axis Zc1 changes relative to the support portion 63 while the position of the support portion 63 remains fixed, there is no need to move the position of the hand portion 31 of the robot 30 that grips the gripping portion 62 in response to the movement of the cap portion 50.

[0061] In step S104, the control unit 70 controls the transmission of rotational power from the motor 69 to the flexible shaft 66 when the magnetic proximity sensor 63a detects that the spring 64 is in an extended state (as shown in Figure 10). The control unit 70 also controls the transmission of rotational power from the motor 69 to the flexible shaft 66 when the magnetic proximity sensor 63b detects that the spring 64 is in a contracted state (as shown in Figure 11).

[0062] In step S105, the control unit 70 controls the robot 30 to move the cap jig 60 to the cap standby position (position indicated by reference numeral 50 in Figure 3) while the cap portion 50 is held by the holding portion 61. A fixing portion (not shown) having a male screw that engages with the female screw 51a of the cap portion 50 is installed at the cap standby position. With the female screw 51a of the cap portion 50 and the male screw of the fixing portion engaged, the control unit 70 rotates the motor 69 clockwise to engage the female screw of the cap portion 50 with the male screw of the fixing portion.

[0063] In step S106, the control unit 70 controls the robot 30 to move the cap jig 60, which does not hold the cap portion 50, to the cap jig standby position (position indicated by reference numeral 60 in Figure 3). Through steps S101 to S106 described above, the cap portion 50 is removed from the plug 10.

[0064] After the cap portion 50 is removed from the plug 10, the control unit 70 controls the robot 30 to attach the socket 20 to the plug 10. Once the socket 20 is attached to the plug 10, the liquid stored in the liquid storage container 200 is supplied to the receiving device via the socket 20.

[0065] The liquid supply device 100 continues to supply liquid to the receiving device as long as there is liquid remaining in the liquid storage container 200. However, if the liquid in the liquid storage container 200 runs out or falls below a predetermined amount, it is necessary to replace it with a new liquid storage container 200. In that case, the socket 20 is removed from the plug 10, and then the cap portion 50 is reattached to the plug 10.

[0066] Next, with reference to Figure 6, the control method of the liquid supply device 100 of this embodiment will be described. Figure 6 is a flowchart showing the control method of the liquid supply device 100 of this embodiment, and shows the process of attaching the cap portion 50 to the plug 10. Each process shown in Figure 6 is performed by the control unit 70 executing a control program.

[0067] In step S201, the control unit 70 controls the robot 30 to grasp the cap jig 60 installed on the mounting base TB1. The control unit 70 has previously stored the cap jig standby position (position indicated by reference numeral 60 in Figure 3) of the cap jig 60 installed on the mounting base TB1, and controls the robot 30 to move the hand unit 31 to the cap jig standby position and grasp the cap jig 60.

[0068] In step S202, the control unit 70 moves the cap jig 60 to the cap standby position (position indicated by reference numeral 50 in Figure 3) and controls the robot 30 to hold the cap portion 50 in the holding portion 61. With the female thread 51a of the cap portion 50 engaged with the male thread of the fixing portion, the control unit 70 rotates the motor 69 counterclockwise to release the engagement between the female thread of the cap portion 50 and the male thread of the fixing portion.

[0069] In step S203, the control unit 70 controls the robot 30 so that the cap jig 60 moves toward the vicinity of the plug 10 while the hand unit 31 is gripping the cap jig 60. The control unit 70 controls the robot 30 so that the holding unit 61 is positioned at a certain distance away from the coordinates P of the plug 10 recognized by the imaging unit 40, along the plug axis Zp1, resulting in the state shown in Figure 12. Figure 12 is a partial cross-sectional view showing the state in which the cap jig has been moved above the plug.

[0070] In step S204, the control unit 70 controls the robot 30 to grip the cap jig 60 so that the cap portion 50 can be attached to the plug 10. The robot 30 moves the cap jig 60 toward the plug 10 along the plug axis Zp1 to the state shown in Figure 11. With the cap portion 50 held by the holding portion 61, the control unit 70 rotates the holding portion 61 clockwise (opposite direction to the predetermined direction) using the rotating shaft 65. As a result, the male thread 12b of the plug 10 and the female thread 51a of the cap portion 50 engage, and the cap portion 50 is attached to the plug 10.

[0071] The cap jig 60 transmits the clockwise rotational power transmitted from the flexible shaft 66 to the holding part 61 via the rotating shaft 65 and the support part 63, causing the cap part 50 to rotate clockwise. When the cap part 50 is rotated clockwise, the male thread 12b of the plug 10 and the female thread 51a of the cap part 50 engage, resulting in the state shown in Figure 10, and the cap part 50 is attached to the plug 10.

[0072] In step S205, the control unit 70 controls the cap jig 60 so that the holding part 61 moves upward along the cap axis Zc1, resulting in the state shown in Figure 7 where the cap part 50 is removed from the holding part 61. Subsequently, with the hand part 31 gripping the cap jig 60, the control unit 70 controls the robot 30 to move the cap jig 60 to the cap jig standby position.

[0073] The operation and effects of the liquid supply device 100 of this embodiment, as described above, will now be explained. In the liquid supply device 100 of this embodiment, the cap jig 60, which has a gripping part 62 that is gripped by the robot 30, holds the cap part 50 attached to the plug 10 with a holding part 61. The rotating shaft 65 of the cap jig 60 removes the cap part 50 from the plug 10 by rotating the holding part 61 in a counterclockwise direction around the cap axis Zc1. When the cap part 50 is removed from the plug 10, the engagement between the female thread 51a of the cap part 50 and the male thread 12b of the plug 10 is gradually released, and the cap part 50 moves away from the plug 10.

[0074] The retaining portion 61 that holds the cap portion 50 is supported by a support portion 63 so as to be movable along the cap axis Zc1, and a spring 64 is applied to it in a direction that moves it toward the plug 10 along the cap axis Zc1. Therefore, when removing the cap portion 50 from the plug 10, as the cap portion 50 moves toward the plug 10, the spring 64 contracts while the position of the support portion 63 remains fixed, and the retaining portion 61 moves toward the plug 10 along the cap axis Zc1.

[0075] Since the position of the support portion 63 remains fixed while the position of the holding portion 61 on the cap axis Zc1 relative to the support portion 63 changes, there is no need to move the position of the hand portion 31 of the robot 30 that grips the gripping portion 62 in accordance with the movement of the cap portion 50. Therefore, the process of removing the cap portion 50 from the plug 10 can be automated by appropriately moving the holding portion 61 that holds the cap portion 50 in accordance with the amount of movement of the cap portion 50.

[0076] According to the liquid supply device 100 of this embodiment, since the flexible shaft 66 is elastically deformable, even if the cap jig 60 is positioned at any location in three-dimensional space by the hand portion 31 of the robot 30, the rotational power generated by the motor 69 can be reliably transmitted to the rotating shaft 65. Furthermore, since there is no need to provide a power mechanism to generate rotational power in the cap jig 60, the cap jig gripped by the hand portion 31 can be made smaller.

[0077] In the liquid supply device 100 of this embodiment, the control unit 70 controls the motor 69 to start transmitting rotational power to the flexible shaft 66 when the magnetic proximity sensor 63a detects the extended state of the spring 64. As a result, the operation to remove the cap portion 50 from the plug 10 can be started when the cap portion 50 is biased by the spring 64 to a position close to the plug 10.

[0078] Furthermore, the control unit 70 controls the motor 69 to stop transmitting rotational power to the flexible shaft 66 when the magnetic proximity sensor 63b detects the contracted state of the spring 64. As a result, the transmission of rotational power from the motor 69 to the rotating shaft 65 can be stopped when the spring 64 has contracted and the cap portion 50 has been removed from the plug 10.

[0079] In the liquid supply device 100 of this embodiment, the retaining part 61 housed in the receiving groove 52 formed on the upper surface of the cap part 50 holds the central part 53 of the cap part 50 with a locking ball 61a so as not to rotate around the cap axis Zc1. Therefore, the rotating shaft 65 rotates the retaining part 61 around the cap axis Zc1, thereby allowing the cap part 50 to rotate around the cap axis Zc1.

[0080] Furthermore, since the central portion 53 of the cap portion 50 is housed in the recess 61C formed on the lower surface of the holding portion 61 and secured by the lock ball 61a, there is no risk that the cap portion 50, which is made of resin material, will elastically deform and the lock ball 61a will release from securing the cap portion 50. This is because the lock ball 61a applies a force that fixes the central portion 53 inward toward the cap axis Zc1, so there is almost no elastic deformation of the cap portion 50.

[0081] According to the liquid supply device 100 of this embodiment, the cap portion 50 can be attached to the plug 10 by rotating the holding portion 61 in a counterclockwise direction using the rotating shaft 65 of the cap jig 60 used to remove the cap portion 50 from the plug 10. [Explanation of Symbols]

[0082] 10 plugs 11. Liquid flow path on the plug side 12 grooves 12a Fixed groove 12b Male thread (second thread section) 30. Robots (grasping mechanisms) 31 Hand section 40 Imaging Unit 50 Cap section 51 Insertion part 51a Female thread (first thread section) 52 Storage groove 52a Fixed groove 53 Central part 60 Cap jig (removal mechanism) 61 Holding part 61A Main Unit 61B Shaft 61Ba magnet 61C recess 61a Lock ball (locking mechanism) 62 Gripping part 62a Recess 63 Support part 63a Magnetic proximity sensor (first detection unit) 63b Magnetic proximity sensor (second detection unit) 64. Spring (biasing part) 65. Rotating shaft (rotating part) 66 Flexible shaft (transmission section) 67, 68 Bearings 69. Motor (Power Mechanism) 70 Control Unit 100 Liquid supply device (cap removal device) 200 liquid storage containers 210 First opening 220 Second opening Zc1 Cap axis (second axis) Zp1 Plug Axis (First Axis)

Claims

1. A plug fixed to an opening provided on the upper surface of a liquid storage container, having a liquid channel extending along a first axis and a groove extending in an annular shape around the first axis, The cap portion has an insertion portion that is inserted into the groove and extends cylindrically around the first axis, and seals the liquid flow path, The system includes a removal mechanism for removing the cap portion from the plug, The insertion portion has a first threaded portion formed therein. The groove is formed with a second threaded portion that engages with the first threaded portion. The aforementioned removal mechanism is A retaining part that holds the cap portion, A gripping portion formed in a cylindrical shape along the second axis and gripped by a gripping mechanism that grips the removal mechanism, A support portion is attached to the gripping portion and supports the holding portion so that it can move along the second axis, A biasing portion is formed by an elastic member that expands and contracts along the second axis and applies a biasing force to the holding portion in a direction approaching the plug along the second axis, It has a rotating part that rotates the holding part around the second axis, The rotating part is a cap removal device that removes the cap from the plug by rotating the holding part that holds the cap in a predetermined direction around the second axis.

2. The cap removal device according to claim 1, which is formed in an elongated shape from an elastically deformable material and connected to a power mechanism, and has a transmission part that transmits rotational power generated by the power mechanism to the rotating part.

3. A first detection unit for detecting the stretched state of the elastic member, A second detection unit detects the contracted state of the elastic member, The cap removal device according to claim 2, further comprising: a control unit that controls the transmission of rotational power from the power mechanism to the transmission unit when the first detection unit detects the extended state, and the transmission of rotational power from the power mechanism to the transmission unit when the second detection unit detects the retracted state.

4. The aforementioned cap portion is formed from a resin material. The upper surface of the cap portion is formed with a housing groove that is annularly formed around the first axis and accommodates the retaining portion, and a central portion that is positioned on the inner circumference side of the housing groove and is held by the retaining portion. A recess is formed on the lower surface of the holding portion, where a locking mechanism is arranged to hold the central portion by elastic force. The cap removal device according to any one of claims 1 to 3, wherein the holding portion holds the central portion housed in the recess so as not to rotate around the second axis by the locking mechanism.

5. The cap removal device according to claim 1, wherein the rotating part attaches the cap to the plug by rotating the holding part in the opposite direction to the predetermined direction while holding the cap.

Images