Multi-coupler connection device

Abstract

The present invention relates to a multi-coupler connection device for connecting various types of supply hoses used to supply different chemicals to chemical storage units storing corresponding chemicals among a plurality of chemical storage units. The multi-coupler connection device, according to an embodiment of the present invention, comprises: a multi-joint robot moving the supply-side coupler to connect the supply-side coupler to the storage-side coupler; a transfer unit moving the multi-joint robot in a direction in which the plurality of storage units are disposed; and a vision unit capturing an image to detect a position or a type of the supply-side coupler and / or the storage-side coupler.

Description

Multi-coupler connection device

[0001] The present invention relates to a multi-coupler connecting device, and more particularly, to a multi-coupler connecting device that connects various types of supply hoses used to supply different chemicals to a chemical storage unit that stores the corresponding chemical among a plurality of chemical storage units.

[0002] Typically, chemical storage units including storage tanks are provided in chemical use sites that use various chemicals, such as semiconductor factories or chemical plants.

[0003] Recently, in the process of supplying chemicals from a tank lorry transporting chemicals to a chemical storage facility via a supply hose, a so-called Automatic Clean Quick Coupler (ACQC) system is being used, which automatically connects the coupler of the supply hose to the coupler of the chemical storage unit, in order to protect workers from the hazards or risks of chemicals and improve work efficiency.

[0004] Conventional automatic clean quick coupler systems are equipped with chemical-specific connectors, as described in Korean Patent Publication No. 10-2023-0050169. In this case, a coupler connection device, including a guide rail, a drive rail, and a drive unit for connecting the supply hose coupler to the corresponding connector, is provided for each chemical type. This has led to an excessive increase in automation investment costs.

[0005] The problem to be solved by the present invention is to provide a multi-coupler connecting device capable of automatically connecting couplers of various types of supply hoses.

[0006] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0007] In order to achieve the above task, a multi-coupler connecting device for connecting a supply-side coupler of a supply hose brought into the interior of one of a plurality of door units corresponding to each of a plurality of storage units, each of which stores a different chemical, with a storage-side coupler of one of the plurality of storage units according to an embodiment of the present invention includes a multi-joint robot for moving the supply-side coupler and connecting it with the storage-side coupler, a transport unit for moving the multi-joint robot in a direction in which the plurality of storage units are arranged, and a vision unit for capturing an image to detect a position or type of the supply-side coupler and / or the storage-side coupler.

[0008] In order to achieve the above task, a multi-coupler connection device for connecting a supply-side coupler of a supply hose brought into the interior of one of a plurality of door units corresponding to each of a plurality of storage units, each of which stores a different chemical, with a storage-side coupler of one of the plurality of storage units according to an embodiment of the present invention includes a multi-joint robot for moving the supply-side coupler and connecting it with the storage-side coupler, a transport unit for moving the multi-joint robot in a direction in which the plurality of storage units are arranged, and a vision unit for determining whether the supply-side coupler is a coupler that should be connected to the storage-side coupler.

[0009] Specific details of other embodiments are included in the detailed description and drawings.

[0010] According to the multi-coupler connecting device of the present invention, one or more of the following effects are achieved.

[0011] First, there is an advantage in that coupler connections can be automated at low cost by connecting couplers of various supply hoses with a single coupler connection device.

[0012] Second, there is also the advantage of being able to connect couplers of various types of supply hoses using a multi-joint robot.

[0013] Third, the multi-joint robot can be moved by an unmanned transport vehicle, so there is no need for separate, complex equipment or devices, and it has the advantage of being easy to control.

[0014] Fourth, there is also the advantage of using a vision unit to enable a multi-joint robot to accurately grip a coupler and then move and precisely combine it with a corresponding coupler.

[0015] Fifth, there is also an advantage in that the supply-side coupler connected to the storage-side coupler is recognized using the vision unit, thereby preventing missupply of chemicals.

[0016] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0017] FIG. 1 is a perspective view of a multi automatic clean quick coupler system according to one embodiment of the present invention.

[0018] FIG. 2 is a plan view of a multi-automatic clean quick coupler system according to one embodiment of the present invention.

[0019] FIG. 3 is a side view of a multi automatic clean quick coupler system according to one embodiment of the present invention.

[0020] FIG. 4 is a perspective view of a multi-coupler connection device according to one embodiment of the present invention.

[0021] FIG. 5 is an exploded perspective view of a multi-joint robot of a multi-coupler connection device according to one embodiment of the present invention.

[0022] FIG. 6 is an exploded perspective view of an unmanned transport vehicle of a multi-coupler connection device according to one embodiment of the present invention.

[0023] FIG. 7 is a bottom view of an unmanned transport vehicle of a multi-coupler connection device according to one embodiment of the present invention.

[0024] Figures 8 to 10 are operation examples of a multi-coupler connection device according to one embodiment of the present invention.

[0025] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals designate like elements throughout the specification.

[0026] Although terms like "first" and "second" are used to describe various components, these components are not limited by these terms. These terms are used merely to distinguish one component from another, and unless otherwise specified, a "first" component may also be a "second" component.

[0027] Throughout the specification, unless otherwise specifically stated, each element may be singular or plural.

[0028] Hereinafter, the phrase "any configuration is placed on (or below)" a component or "on (or below)" a component may mean that any configuration is placed in contact with the upper surface (or lower surface) of said component, and that other configurations may be interposed between said component and any configuration placed on (or below) said component.

[0029] Additionally, when it is described that a component is "connected," "coupled," or "connected" to another component, it should be understood that the components may be directly connected or connected to one another, but that other components may also be "interposed" between the components, or that each component may be "connected," "coupled," or "connected" through another component.

[0030] As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "consisting of" or "comprising" should not necessarily be construed to include all of the components or steps described in the specification, and should be construed to mean that some of the components or steps may not be included, or that additional components or steps may be included.

[0031] Throughout the specification, when we refer to "A and / or B", this means A, B, or A and B, unless otherwise stated, and when we refer to "C to D", this means C or more and D or less, unless otherwise stated.

[0032] Hereinafter, the present invention will be described with reference to drawings for explaining a multi-coupler connection device according to embodiments of the present invention.

[0033] FIG. 1 is a perspective view of a multi-automatic clean quick coupler system according to one embodiment of the present invention, FIG. 2 is a plan view of a multi-automatic clean quick coupler system according to one embodiment of the present invention, and FIG. 3 is a side view of a multi-automatic clean quick coupler system according to one embodiment of the present invention.

[0034] A multi automatic clean quick coupler system (1) according to one embodiment of the present invention comprises a plurality of storage units (10a, 10b) each storing a different chemical, a plurality of door units (20a, 20b) arranged corresponding to each of the plurality of storage units (10a, 10b) and into which a supply hose (29) of a tank lorry is introduced, a supply-side coupler (21) provided at an end of the supply hose (29), a coupler holder (24) for mounting the supply-side coupler (21), a storage-side coupler (11) provided in each of the plurality of storage units (10a, 10b) and connected to the supply-side coupler (21), and a supply-side coupler (21) brought into the interior of any one of the plurality of door units (20a, 20b) and mounted on the coupler holder (24) to connect the storage-side coupler (11) of any one of the plurality of storage units (10a, 10b). It includes a coupler connection device (100) and a shielding booth (90) forming a space in which the supply-side coupler (21) is connected to the storage-side coupler (11).

[0035] A plurality of storage units (10a, 10b) each store various types of chemicals. Each of the plurality of storage units (10a, 10b) includes a storage tank (not shown) for storing chemicals used in a semiconductor factory or a chemical factory. The plurality of storage units (10a, 10b) are arranged spaced apart from each other in one direction (x direction). In the present embodiment, two of the plurality of storage units (10a, 10b) are provided, and include a first storage unit (10a) for storing a first chemical and a second storage unit (10b) for storing a second chemical.

[0036] Each of the plurality of storage units (10a, 10b) is provided with a storage side coupler (11) connected to a supply side coupler (21) and a storage side nitrogen coupler (13) to which nitrogen is supplied.

[0037] Each of the plurality of storage-side couplers (11) is arranged in each of the plurality of storage units (10a, 10b) and connected to the supply-side coupler (21) of the supply hose (29) connected to the tank lorry so that the chemical stored in the tank lorry is stored in the storage tank. Each of the plurality of storage-side couplers (11) must be connected to the supply-side coupler (21) of the tank lorry in which the chemical is stored so that a specific chemical among various types of chemicals can be stored in the storage tank. Each of the plurality of storage-side couplers (11) is connected to the supply-side coupler (21) by a multi-coupler connection device (100).

[0038] Each of the plurality of storage-side nitrogen couplers (13) is arranged in each of the plurality of storage units (10a, 10b) and connected to a supply-side nitrogen coupler (23) connected to a tank lorry so that nitrogen stored in the nitrogen storage tank is stored in the tank lorry. Each of the plurality of storage-side nitrogen couplers (13) is connected to the supply-side nitrogen coupler (23) by a multi-coupler connection device (100).

[0039] A plurality of storage-side couplers (11) and a plurality of storage-side nitrogen couplers (13) are arranged in each of a plurality of paired storage units (10a, 10b). Among the plurality of storage units (10a, 10b), the storage-side coupler (11) and the storage-side nitrogen coupler (13) of one of the storage units (10a, 10b) are connected to the supply-side coupler (21) and the supply-side nitrogen coupler (23) by a multi-coupler connection device (100), and then nitrogen is supplied from the nitrogen storage tank to the tank lorry, and the chemical stored in the tank lorry is stored in the storage tank.

[0040] Hereinafter, the multi-coupler connection device (100) is described as connecting the supply-side coupler (21) to the storage-side coupler (11), and the same description applies to the multi-coupler connection device (100) connecting the supply-side nitrogen coupler (23) to the storage-side nitrogen coupler (13).

[0041] Each of the plurality of door units (20a, 20b) is opened and closed so that the supply-side coupler (21) and the supply-side nitrogen coupler (23) of the tank lorry can be brought into the shielding booth (90). The plurality of door units (20a, 20b) are arranged to be spaced apart from each other in the direction (x direction) in which the plurality of storage units (10a, 10b) are arranged. Each of the plurality of door units (20a, 20b) is arranged to be spaced apart from each other in the direction (y direction) perpendicular to the x direction in correspondence with each of the plurality of storage units (10a, 10b). In the present embodiment, the plurality of door units (20a, 20b) are provided in two units, and include a first door unit (20a) arranged to correspond to the first storage unit (10a), and a second door unit (20b) arranged to correspond to the second storage unit (10b).

[0042] It is preferable that multiple door units (20a, 20b) are not opened simultaneously, and only one door unit (20a, 20b) is opened so that only the supply side coupler (21) and the supply side nitrogen coupler (23) of the tank lorry are brought into the shielding booth (90).

[0043] The supply side coupler (21) is provided at the end of the supply hose (29) of the tank lorry. The supply side coupler (21) brought into the shielding booth (90) through one of the plurality of door units (20a, 20b) is placed on the coupler holder (24) and then moved by the multi-coupler connection device (100) to be connected to the storage side coupler (11).

[0044] The coupler holder (24) holds the supply-side coupler (21) brought into the door unit (20a, 20b). The supply-side coupler (21) is held on the coupler holder (24). The coupler holder (24) is supported by the door unit (20a, 20b), the shielding booth (90), or the floor of the shielding booth (90).

[0045] The supply-side nitrogen coupler (23) is provided at the end of the nitrogen hose (not shown) of the tank lorry. The supply-side nitrogen coupler (23) brought into the shielding booth (90) through one of the plurality of door units (20a, 20b) is placed on a nitrogen coupler holder (not shown) and then moved by a multi-coupler connection device (100) to be connected to the storage-side nitrogen coupler (13).

[0046] A multi-coupler connecting device (100) is arranged between a plurality of storage units (10a, 10b) and a plurality of door units (20a, 20b). The multi-coupler connecting device (100) is configured so that a supply-side coupler (21) can be connected to a corresponding storage-side coupler (11) through any one of the plurality of door units (20a, 20b).

[0047] The multi-coupler connection device (100) includes a multi-joint robot (110) that moves a supply-side coupler (21) to connect it to a storage-side coupler (11), a transport unit (120) that moves the multi-joint robot (110) in the direction (x direction) in which a plurality of storage units (10a, 10b) are arranged, and a vision unit (130) that captures images to detect the position or type of the supply-side coupler (21) and / or the storage-side coupler (11).

[0048] The multi-joint robot (110) moves by gripping the supply-side coupler (21) mounted on the coupler holder (24). The multi-joint robot (110) moves the supply-side coupler (21) to connect it with the storage-side coupler (11). It is preferable that the multi-joint robot (110) be a vertical multi-joint robot with 6 or 7 degrees of freedom. The multi-joint robot (110) is moved in the direction (x direction) in which the plurality of storage units (10a, 10b) (or the plurality of door units (20a, 20b)) are arranged by the transfer unit (120) so that the distance from the supply-side coupler (21) mounted on the coupler holder (24) to the storage-side coupler (11) can be included in the range of motion. The multi-joint robot (110) is controlled by a direct teaching method, and can utilize an image captured by the vision unit (130) to determine the exact location.

[0049] The transport unit (120) supports the multi-joint robot (110) and moves in the direction (x direction) in which the plurality of storage units (10a, 10b) (or the plurality of door units (20a, 20b)) are arranged. The transport unit (120) moves the multi-joint robot (110) to a door unit (20a, 20b) among the plurality of door units (20a, 20b) that is opened and into which the supply-side coupler (21) is introduced. The transport unit (120) is arranged between the plurality of storage units (10a, 10b) and the plurality of door units (20a, 20b).

[0050] The transport unit (120) may be various equipment such as an automated guided vehicle (AGV), an autonomous mobile robot (AMR), a stage device, etc. capable of moving a multi-joint robot (110), and in this embodiment, the transport unit (120) is an automated guided vehicle.

[0051] The unmanned guided vehicle (120) can be controlled by any one or a combination of two or more of the known methods, including the following methods.

[0052] First, as an electromagnetic induction method, a magnet or electromagnetic induction wire is buried or attached along a preset driving path on the floor of a shielding booth (90), and an unmanned transport vehicle (120) determines the current position and driving path by detecting a magnetic field or electromagnetic field emitted or induced from the magnet or electromagnetic induction wire. To this end, the unmanned transport vehicle (120) is equipped with at least one sensor for detecting a magnetic field or electromagnetic field at the bottom.

[0053] Second, as a vision recognition method, predetermined markers are marked on the floor of the shielding booth (90) along a preset driving path, and the unmanned transport vehicle (120) determines its current location and driving path by recognizing the markers. The markers may be, for example, QR codes, tape of a predetermined color attached continuously or discontinuously, or paint of a predetermined color. The unmanned transport vehicle (120) is equipped with at least one code reader or camera sensor for detecting the markers.

[0054] Third, there is a scanning method using electromagnetic waves (light) including infrared rays or lasers, in which an unmanned guided vehicle (120) determines its current position and driving path by emitting electromagnetic waves, typically lasers, and detecting electromagnetic waves reflected by objects placed in the vicinity. In particular, an unmanned guided vehicle (120) using a laser scan method is called a Laser Guided Vehicle (LGV). For this purpose, the unmanned guided vehicle (120) is equipped with at least one scanner including a light-emitting diode that emits electromagnetic waves and a photodetector that detects electromagnetic waves reflected by objects in the vicinity. In addition, in order to increase the accuracy of recognizing objects in the vicinity, a reflector that reflects electromagnetic waves well can be provided on the surface of an object that serves as a reference in the vicinity of the driving path.

[0055] The vision unit (130) captures a barcode or a QR code (Quick Response code) attached to the supply-side coupler (21) and / or the storage-side coupler (11) in order to detect the location or type of the supply-side coupler (21) and / or the storage-side coupler (11). The vision unit (130) captures a barcode or a QR code attached to the supply-side coupler (21) and the storage-side coupler (11) in order to recognize (confirm) the storage-side coupler (11) to be connected to the supply-side coupler (21).

[0056] It is preferable that the vision unit (130) captures the hole into which the chemical of the storage-side coupler (11) is introduced or the hole into which the supply-side coupler (21) is inserted in order to detect the exact position of the storage-side coupler (11) to which the supply-side coupler (21) should be connected.

[0057] The vision unit (130) can be placed on a multi-joint robot (110) or a transport unit (120), and in this embodiment, it is placed on a multi-joint robot (110).

[0058] FIG. 4 is a perspective view of a multi-coupler connecting device according to one embodiment of the present invention, FIG. 5 is an exploded perspective view of a multi-joint robot of a multi-coupler connecting device according to one embodiment of the present invention, FIG. 6 is an exploded perspective view of an unmanned transport vehicle of a multi-coupler connecting device according to one embodiment of the present invention, and FIG. 7 is a bottom view of an unmanned transport vehicle of a multi-coupler connecting device according to one embodiment of the present invention.

[0059] Referring to FIGS. 4 and 5, the multi-joint robot (110) includes a gripper (119) that grips a supply-side coupler (21), and a vision unit (130) is disposed adjacent to the gripper (119). The vision unit (130) is disposed adjacent to the gripper (119) so that it can relatively accurately measure the position of a target object to be gripped by the gripper (119) from a captured image, and has a high degree of freedom so that it can capture images in various postures and positions.

[0060] Referring to FIGS. 6 and 7, an unmanned transport vehicle (120) includes a transport vehicle frame (121), a transport vehicle body (129) that is coupled to the upper portion of the transport vehicle frame (121) and supports a multi-joint robot (110), a pair of transport vehicle drive wheels (123) that are coupled to the transport vehicle frame (121) and generate driving force, and a plurality of transport vehicle driven wheels (124).

[0061] The transport vehicle frame (121) forms the frame of the unmanned transport vehicle (120) and is formed in a substantially rectangular rim shape. A transport vehicle body (129) is coupled to the upper portion of the transport vehicle frame (121), and a pair of transport vehicle drive wheels (123) and a plurality of transport vehicle driven wheels (124) are coupled to the lower portion.

[0062] The transport vehicle body (129) is formed in a substantially rectangular box shape to form the exterior of the unmanned transport vehicle (120). The transport vehicle body (129) supports the multi-joint robot (110). The transport vehicle body (129) is coupled to the transport vehicle frame (121), and is provided with a motor (not shown) that generates power to rotate a pair of transport vehicle drive wheels (123) inside, a battery (not shown) that supplies power to the motor, and a controller (not shown) that controls the unmanned transport vehicle (120). A communication module (not shown) for communication with the outside may be provided on the upper part of the transport vehicle body (129).

[0063] A pair of transport vehicle drive wheels (123) are wheels that rotate by a motor, and generate driving force to move the unmanned transport vehicle (120). Depending on the rotation direction of the pair of transport vehicle drive wheels (123), the unmanned transport vehicle (120) moves forward, backward, or rotates. A pair of transport vehicle drive wheels (123) are respectively arranged at the center of the two long sides of the transport vehicle frame (121).

[0064] The plurality of transport vehicle drive wheels (124) are wheels that rotate according to the movement of the unmanned transport vehicle (120) and support the unmanned transport vehicle (120) so that it can move. The plurality of transport vehicle drive wheels (124) are provided in number of four and are respectively placed at the four corners of the transport vehicle frame (121).

[0065] The multi-joint robot (110) is relatively heavy and its center of gravity changes depending on its movement, so it requires stable support. In addition, it is preferable that the multi-joint robot (110) be placed on the transport vehicle body (129) so that the weight is not concentrated on either of the pair of transport vehicle drive wheels (123). Referring to Fig. 7, the multi-joint robot (110) is coupled to the transport vehicle body (129) at the midpoint (A) of the line connecting the centers of rotation of the pair of transport vehicle drive wheels (123).

[0066] Figures 8 to 10 are operation examples of a multi-coupler connection device according to one embodiment of the present invention.

[0067] A tank lorry transporting a specific chemical stops in front of a door unit (20a, 20b) corresponding to a storage unit (10a, 10b) in which the chemical is stored among a plurality of door units (20a, 20b). The door unit (20a, 20b) is opened, and the supply hose (29) and the supply-side coupler (21) of the tank lorry are brought into the shielded booth (90) and then placed on the coupler holder (24). When a pair of transport vehicle drive wheels (123) of an unmanned transport vehicle (120) generate driving force, the unmanned transport vehicle (120) moves in a straight line in the x direction and moves the multi-joint robot (110) to the door unit (20a, 20b) side where the supply-side coupler (21) is brought in (the storage unit (10a, 10b) side where the specific chemical is to be stored).

[0068] When the movement of the multi-joint robot (110) by the unmanned transport vehicle (120) is completed, the multi-joint robot (110) operates so that the vision unit (130) can capture the supply-side code (22) attached to the supply-side coupler (21), as shown in FIG. 8. The supply-side code (22) is a barcode, QR code, or other marker. The vision unit (130) captures the supply-side code (22) to measure the position of the supply-side coupler (21) and recognizes the type of the supply-side coupler (21).

[0069] After capturing the supply side code (22), the multi-joint robot (110) operates so that the vision unit (130) can capture the storage side code (12) attached to the storage side coupler (11), as shown in FIG. 9. The storage side code (12) is a barcode, QR code, or other marker. The vision unit (130) captures the storage side code (12) to measure the position of the storage side coupler (11) and recognizes the type of the storage side coupler (11).

[0070] The vision unit (130) checks whether the supply-side coupler (21) is the coupler that should be connected to the storage-side coupler (11) through the supply-side code (22) and storage-side code (12) captured by the vision unit (130). This prevents a specific chemical in the tank lorry from being supplied to the storage unit (10a, 10b) where other chemicals are stored.

[0071] According to an embodiment, the vision unit (130) can capture an image of a hole into which chemicals of the storage-side coupler (11) are introduced and / or a hole into which the supply-side coupler (21) is inserted. Accordingly, the multi-joint robot (110) can be accurately controlled so that the supply-side coupler (21) can be aligned with the storage-side coupler (11).

[0072] When the recognition of the supply-side code (22) and the storage-side code (12) is completed, the multi-joint robot (110) grips the supply-side coupler (21) mounted on the coupler holder (24) with the gripper (119). After detaching the supply-side coupler (21) from the coupler holder (24), the multi-joint robot (110) moves the supply-side coupler (21) in the y direction as shown in FIG. 10 and couples it to the storage-side coupler (11).

[0073] Through the above-described process, the multi-joint robot (110) couples the supply-side nitrogen coupler (23) to the storage-side nitrogen coupler (13). When the couplers are connected, nitrogen is supplied to the tank lorry, and the chemical stored in the tank lorry is supplied to the storage tank of the storage unit (10a, 10b).

[0074] After the chemical supply is completed, the multi-joint robot (110) separates the supply-side coupler (21) from the storage-side coupler (11) and then moves it to place it on the coupler holder (24). In addition, the robot separates the supply-side nitrogen coupler (23) from the storage-side nitrogen coupler (13) and then moves it to place it on the nitrogen coupler holder.

[0075] Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art without departing from the gist of the present invention as claimed in the claims. Furthermore, such modifications should not be understood individually from the technical idea or prospect of the present invention.

Claims

1. In a multi-coupler connection device for connecting a supply-side coupler of a supply hose brought into the interior of any one of a plurality of door units corresponding to each of a plurality of storage units, each of which stores a different chemical, to a storage-side coupler of any one of the plurality of storage units, A multi-joint robot that moves the supply side coupler and connects it to the storage side coupler; A transport unit that moves the multi-joint robot in the direction in which the plurality of storage units are arranged; and A multi-coupler connecting device comprising a vision unit for detecting the position or type of the supply-side coupler and / or the storage-side coupler.

2. In paragraph 1, The above multi-joint robot includes a gripper that grips the supply side coupler, The above vision unit is a multi-coupler connecting device arranged adjacent to the gripper.

3. In paragraph 1, The above vision unit is a multi-coupler connecting device that captures a storage-side code attached to the storage-side coupler to detect the position of the storage-side coupler.

4. In paragraph 1, The above vision unit is a multi-coupler connecting device that captures a hole through which chemicals of the storage-side coupler are introduced to detect the position of the storage-side coupler.

5. In paragraph 1, The above vision unit is a multi-coupler connecting device that captures a supply-side code attached to the supply-side coupler to detect the position of the supply-side coupler.

6. In paragraph 1, The above vision unit is a multi-coupler connection device that captures a storage-side code attached to the storage-side coupler and a supply-side code attached to the supply-side coupler to recognize the storage-side coupler to be connected to the supply-side coupler.

7. In paragraph 1, The above transport unit, transport vehicle frame; A transport vehicle body that is connected to the upper part of the transport vehicle frame and supports the multi-joint robot; and A multi-coupler connecting device comprising a pair of transport vehicle drive wheels that are coupled to the above transport vehicle frame and generate driving force.

8. In paragraph 7, The above multi-joint robot is a multi-coupler connecting device that is connected to the transport vehicle body at the midpoint of a line connecting the centers of rotation of the pair of transport vehicle driving wheels.

9. In a multi-coupler connection device for connecting a supply-side coupler of a supply hose brought into the interior of any one of a plurality of door units corresponding to each of a plurality of storage units, each of which stores a different chemical, to a storage-side coupler of any one of the plurality of storage units, A multi-joint robot that moves the supply side coupler and connects it to the storage side coupler; A transport unit that moves the multi-joint robot in the direction in which the plurality of storage units are arranged; and A multi-coupler connection device including a vision unit for determining whether the supply-side coupler is a coupler that should be connected to the storage-side coupler.

Images