Multi-coupler connection device

Abstract

The present invention relates to a multi-coupler connection device which connects various kinds of supply hoses used to supply different chemicals to chemical storage units that store corresponding chemicals, from 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 which moves a supply-side coupler and connects the supply-side coupler to a storage-side coupler; a main stage unit which transports the multi-joint robot in a direction in which a plurality of storage units are arranged; and a vision unit which captures images for measuring positions 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 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 main stage unit for transporting the multi-joint robot in a direction in which the plurality of storage units are arranged, and a vision unit for capturing images to measure the positions of the supply-side coupler and / or the storage-side coupler.

[0008] In order to achieve the above task, a multi-coupler connection device according to an embodiment of the present invention includes a multi-joint robot that moves the supply-side coupler and connects it with the storage-side coupler, a main stage unit that moves the multi-joint robot in a direction in which the plurality of storage units are arranged, and a vision unit that determines 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, there is also the advantage of being able to transport a multi-joint robot stably and accurately by using appropriate mechanical elements for transporting a multi-joint robot.

[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-coupler connection device according to one embodiment of the present invention.

[0022] FIG. 6 is a partial perspective view of a multi-coupler connection device according to one embodiment of the present invention.

[0023] FIG. 7 is a partially exploded perspective view of a first main stage direct drive module of a multi-coupler connection device according to one embodiment of the present invention.

[0024] FIG. 8 is a partially exploded perspective view of a main stage drive module of a multi-coupler connection device according to one embodiment of the present invention.

[0025] Figures 9 to 11 are operation examples of a multi-coupler connection device according to one embodiment of the present invention.

[0026] 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.

[0027] 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.

[0028] Throughout the specification, unless otherwise specifically stated, each element may be singular or plural.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] A multi automatic clean quick coupler system (1) according to one embodiment of the present invention comprises: a plurality of storage units (10a, 10b, 10c) each storing a different chemical; a plurality of door units (20a, 20b, 20c) each corresponding to the plurality of storage units (10a, 10b, 10c) 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, 10c) and connected to the supply-side coupler (21); and a supply-side coupler (21) introduced into the interior of any one of the plurality of door units (20a, 20b, 20c) and mounted on the coupler holder (24), which are connected to the plurality of storage units (10a, 10b, 10c). It includes a multi-coupler connection device (100) that connects to a storage-side coupler (11) of any one of the units (10a, 10b, 10c), and a shielding booth (90) that forms a space in which a supply-side coupler (21) is connected to the storage-side coupler (11).

[0036] A plurality of storage units (10a, 10b, 10c) store various types of chemicals, respectively. Each of the plurality of storage units (10a, 10b, 10c) 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, 10c) are arranged to be spaced apart from each other in one direction (x direction). In the present embodiment, three of the plurality of storage units (10a, 10b, 10c) are provided, and include a first storage unit (10a) for storing a first chemical, a second storage unit (10b) for storing a second chemical, and a third storage unit (10c) for storing a third chemical.

[0037] Each of the plurality of storage units (10a, 10b, 10c) 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.

[0038] Each of the plurality of storage-side couplers (11) is arranged in each of the plurality of storage units (10a, 10b, 10c) 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).

[0039] Each of the plurality of storage-side nitrogen couplers (13) is arranged in each of the plurality of storage units (10a, 10b, 10c) 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).

[0040] 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, 10c). Among the plurality of storage units (10a, 10b, 10c), the storage-side coupler (11) and the storage-side nitrogen coupler (13) of one of the storage units (10a, 10b, 10c) 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.

[0041] 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).

[0042] Each of the plurality of door units (20a, 20b, 20c) 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, 20c) are arranged spaced apart from each other in the direction (x direction) in which the plurality of storage units (10a, 10b, 10c) are arranged. Each of the plurality of door units (20a, 20b, 20c) is arranged spaced apart from each other in the direction (y direction) orthogonal to the x direction in correspondence with each of the plurality of storage units (10a, 10b, 10c). In this embodiment, three door units (20a, 20b, 20c) are provided, and include a first door unit (20a) arranged to correspond to the first storage unit (10a), a second door unit (20b) arranged to correspond to the second storage unit (10b), and a third door unit (20c) arranged to correspond to the third storage unit (10c).

[0043] It is preferable that multiple door units (20a, 20b, 20c) are not opened simultaneously, and only one door unit (20a, 20b, 20c) 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).

[0044] 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 any one of the plurality of door units (20a, 20b, 20c) 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).

[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 any one of the plurality of door units (20a, 20b, 20c) 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, 10c) and a plurality of door units (20a, 20b, 20c). 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, 20c).

[0047] A 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, a main stage unit (120) that moves the multi-joint robot (110) in a direction (x direction) in which a plurality of storage units (10a, 10b, 10c) are arranged, and a vision unit (130) that is provided on the multi-joint robot (110) and captures images to measure the positions 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) and connects it to 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, 10c) (or the plurality of door units (20a, 20b, 20c)) are arranged by the main stage 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 main stage unit (120) supports the multi-joint robot (110) and transports it in the direction (x direction) in which a plurality of storage units (10a, 10b, 10c) (or a plurality of door units (20a, 20b, 20c)) are arranged. The main stage unit (120) transports the multi-joint robot (110) to a door unit (20a, 20b, 20c) among the plurality of door units (20a, 20b, 20c) that is opened and into which a supply-side coupler (21) is introduced. The main stage unit (120) is arranged between the plurality of storage units (10a, 10b, 10c) and the plurality of door units (20a, 20b, 20c).

[0050] The vision unit (130) captures images so as to measure the positions of the supply-side coupler (21), the storage-side coupler (11), and / or the multi-joint robot (110). The vision unit (130) is preferably provided in the multi-joint robot (110). The vision unit (130) includes an imaging element such as a CCD (Charge-Coupled Device) or a CMOS (Complementary metal-oxide-semiconductor) to convert images into electrical signals.

[0051] 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) to measure the position 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) to recognize (confirm) the storage-side coupler (11) to be connected to the supply-side coupler (21).

[0052] 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 storage-side coupler (11) is inserted in order to measure the exact position of the storage-side coupler (11) to which the supply-side coupler (21) should be connected.

[0053] 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-coupler connecting device according to one embodiment of the present invention, FIG. 6 is a partial perspective view of a multi-coupler connecting device according to one embodiment of the present invention, FIG. 7 is a partial exploded perspective view of a first main stage direct drive module of a multi-coupler connecting device according to one embodiment of the present invention, and FIG. 8 is a partial exploded perspective view of a main stage drive module of a multi-coupler connecting device according to one embodiment of the present invention.

[0054] 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.

[0055] Referring to FIG. 4, the main stage unit (120) includes a main stage base (129), a robot base (128) provided on the upper side of the main stage base (129) to support a multi-joint robot (110), a plurality of main stage linear modules (121, 122) that connect the robot base (128) and the main stage base (129) so as to slide in a straight line (x direction), and a main stage drive module (123) that is disposed between the plurality of main stage linear modules (121, 122) to move the robot base (128) in a straight line (x direction).

[0056] The main stage base (129) is fixedly placed on the floor of the shielding booth (90) of the multi automatic clean quick coupler system (1). The main stage base (129) is a long plate-shaped structure, and is placed between the plurality of storage units (10a, 10b, 10c) and the plurality of door units (20a, 20b, 20c) with the direction (x direction) in which the plurality of storage units (10a, 10b, 10c) (or the plurality of door units (20a, 20b, 20c)) are placed in the longitudinal direction.

[0057] A plurality of main stage direct drive modules (121, 122), a main stage drive module (123), and a robot base (128) are arranged on the main stage base (129).

[0058] The robot base (128) supports the multi-joint robot (110) and moves in a straight line (x direction) on the main stage base (129) to transport the multi-joint robot (110) in the x direction. The robot base (128) is slidably coupled to the main stage base (129) by a plurality of main stage linear modules (121, 122) and is moved in a straight line (x direction) by the main stage drive module (123).

[0059] A plurality of main stage linear modules (121, 122) guide the robot base (128) in the x direction so that a heavy multi-joint robot (110) can be transported. A plurality of main stage linear modules (121, 122) connect the robot base (128) and the main stage base (129) so that the frictional force of the robot base (128) is minimized.

[0060] A plurality of main stage direct drive modules (121, 122) stably support the robot base (128) so that the multi-joint robot (110) does not fall over during movement or transport.

[0061] In this embodiment, the plurality of main stage linear modules (121, 122) include a first main stage linear module (121) arranged at one end of the robot base (128) (one end in the direction (y direction) orthogonal to the transport direction of the articulated robot (110)) and a second main stage linear module (122) arranged at the other end of the robot base (128) (the other end in the direction (y direction) orthogonal to the transport direction of the articulated robot (110)). Since the articulated robot (110) has a large change in its center of gravity when connecting the supply-side coupler (21) to the storage-side coupler (11), it is preferable that the first main stage linear module (121) and the second main stage linear module (122) be arranged as far apart as possible in the direction (y direction) in which the supply-side coupler (21) is connected to the storage-side coupler (11).

[0062] Referring to FIGS. 5 and 6, each of the plurality of main stage linear modules (121, 122) includes a main stage rail (1211, 1221) coupled to a main stage base (129) and arranged with the longitudinal direction in the transport direction (x direction) of the multi-joint robot (110), and a main stage block (1213, 1223) slidably connected to the main stage rail (1211, 1221) and coupled to the robot base (128).

[0063] In this embodiment, the first main stage linear module (121) includes a first main stage rail (1211) and a first main stage block (1213), and the second main stage linear module (122) includes a second main stage rail (1221) and a second main stage block (1223). The first main stage linear module (122) has the same shape and function as the second main stage linear module (122) and is different only in arrangement, so the following description will be based on the first main stage linear module (121).

[0064] The main stage rails (1211, 1221) are long rail-shaped and are coupled to the upper side of the main stage base (129) with the longitudinal direction being the transport direction (x direction) of the multi-joint robot (110). A plurality of main stage rails (1211, 1221) are provided, and the plurality of main stage rails (1211, 1221) are arranged to be spaced apart in the y direction. A main stage rack (1231), which will be described later, is arranged between the plurality of main stage rails (1211, 1221). In the present embodiment, the first main stage rail (1211) and the second main stage rail (1221) are arranged to be spaced apart in the y direction with the main stage rack (1231) therebetween.

[0065] The main stage blocks (1213, 1223) are coupled to the lower side of the robot base (128). The main stage blocks (1213, 1223) serve as sliding bearings that are slidably connected to the main stage rails (1211, 1221). The main stage blocks (1213, 1223) are provided in plurality, and the plurality of main stage blocks (1213, 1223) are spaced apart from one end or the other end of the robot base (128) (one end or the other end in the direction (y direction) orthogonal to the transport direction of the multi-joint robot (110)). In the present embodiment, the plurality of first main stage blocks (1213) are spaced apart from one end of the robot base (128), and the plurality of second main stage blocks (1223) are spaced apart from the other end of the robot base (128).

[0066] Referring to FIG. 7, the main stage rail (1211, 1221) is formed with a main stage rail groove (1211a) that is inserted in a direction orthogonal to the transport direction of the multi-joint robot (110) on the side (the direction in which the supply-side coupler (21) is connected to the storage-side coupler (11), y-direction), and the main stage block (1213, 1223) is formed with a main stage block protrusion (1213a) that is inserted into the main stage rail groove (1211a) by protruding in a direction orthogonal to the transport direction of the multi-joint robot (110) on the side (the direction in which the supply-side coupler (21) is connected to the storage-side coupler (11), y-direction).

[0067] Since the center of gravity of the multi-joint robot (110) changes significantly when connecting the supply-side coupler (21) to the storage-side coupler (11), the main stage rail groove (1211a) and the main stage block protrusion (1213a) are formed in the direction (y direction) in which the supply-side coupler (21) is connected to the storage-side coupler (11) to minimize the occurrence of play.

[0068] Referring to FIG. 8, the main stage drive module (123) includes a main stage motor (1235) provided on the upper side of the robot base (128) to provide rotational force, a main stage pinion (1233) coupled to the lower side of the robot base (128) and rotated by the main stage motor (1235), and a main stage rack (1231) coupled to the upper side of the main stage base (129) and meshed with the main stage pinion (1233).

[0069] The main stage motor (1235) generates rotational force to rotate the main stage pinion (1233). It is preferable that the main stage motor (1235) be a servo motor whose rotational speed can be controlled. The main stage motor (1235) is provided on the upper side of the robot base (128), and the rotational shaft passes through the robot base (128) and is connected to the main stage pinion (1233). The rotational shaft of the main stage motor (1235) passes through the rotational shaft insertion hole (128a) of the robot base (128). The robot base (128) has a robot connection hole (128b) formed in the center to which the multi-joint robot (110) is connected, and a rotational shaft insertion hole (128a) formed at the periphery.

[0070] The main stage pinion (1233) is rotated by the main stage motor (1235) and meshes with the main stage pinion (1233) to move in the x direction. The main stage pinion (1233) converts the rotational force by the main stage motor (1235) into direct force.

[0071] The main stage pinion (1233) includes a plurality of pinion roller pins (1233a) to enable transport of a heavy multi-joint robot (110) with low backlash. Each of the plurality of pinion roller pins (1233a) is freely rotatable. The plurality of pinion roller pins (1233a) are arranged in an annular shape spaced apart from each other around the rotational axis of the main stage pinion (1233). At least two of the plurality of pinion roller pins (1233a) are in contact with the teeth of the main stage rack (1231).

[0072] The main stage rack (1231) is a long bar-shaped structure with teeth formed on one side thereof for engaging the main stage pinion (1233). The main stage rack (1231) meshes with the main stage pinion (1233) to convert the rotational motion of the main stage pinion (1233) into linear motion. The main stage rack (1231) is formed with trochoidal teeth and comes into contact with at least two of a plurality of pinion roller pins (1233a).

[0073] The main stage rack (1231) is positioned below the robot connection hole (128b), which is the center of the robot base (128). The main stage rack (1231) is positioned between a plurality of main stage rails (1211, 1221). The main stage rack (1231) is positioned parallel to the plurality of main stage rails (1211, 1221).

[0074] Figures 9 to 11 are operation examples of a multi-coupler connection device according to one embodiment of the present invention.

[0075] The operation of a multi-coupler connection device according to one embodiment of the present invention is described below.

[0076] A tank lorry transporting a specific chemical stops in front of a door unit (20a, 20b, 20c) corresponding to a storage unit (10a, 10b, 10c) in which the chemical is stored among a plurality of door units (20a, 20b, 20c). The door units (20a, 20b, 20c) are opened, and the supply hose (29) and the supply-side coupler (21) of the tank lorry are brought into the shielding booth (90) and then placed on the coupler holder (24). When the main stage motor (1235) of the main stage unit (120) generates rotational force, the robot base (128) moves in a straight line in the x direction and the multi-joint robot (110) is transferred to the door unit (20a, 20b, 20c) side where the supply side coupler (21) is brought in (the storage unit (10a, 10b, 10c) side where a specific chemical is to be stored).

[0077] When the transfer of the multi-joint robot (110) 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. 9. 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).

[0078] 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. 10. 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).

[0079] 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 of the tank lorry from being supplied to the storage unit (10a, 10b, 10c) where other chemicals are stored.

[0080] 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 precisely controlled so that the supply-side coupler (21) can be aligned with the storage-side coupler (11).

[0081] 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. 11 and couples it to the storage-side coupler (11).

[0082] Through the above-described process, the multi-joint robot (110) connects 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, 10c).

[0083] 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).

[0084] 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 main stage unit that transports the multi-joint robot in the direction in which the plurality of storage units are arranged; and A multi-coupler connection device comprising a vision unit for capturing images to measure the positions 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 measure 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 measure 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 measure the position of the storage-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 main stage unit is, Main Stage Base; A robot base provided on the upper side of the main stage base to support the multi-joint robot; A plurality of main stage linear modules that connect the robot base and the main stage base in a linear manner; A multi-coupler connecting device including a main stage drive module arranged between the plurality of main stage linear modules and moving the robot base in a straight line.

8. In paragraph 7, Each of the above plurality of main stage direct drive modules, A main stage rail coupled to the main stage base and arranged in the longitudinal direction of the transport direction of the multi-joint robot; and A multi-coupler connecting device including a main stage block that is slidably connected to the main stage rail and coupled to the robot base.

9. In paragraph 8, The above main stage rail has a main stage rail groove formed on the side thereof that is introduced in a direction perpendicular to the transport direction of the multi-joint robot, The above main stage block is a multi-coupler connecting device in which a main stage block protrusion is formed on the side in a direction perpendicular to the moving direction of the multi-joint robot and is inserted into the main stage rail groove.

10. In paragraph 8, The above main stage block is a multi-coupler connecting device arranged on one side of the robot base in a direction orthogonal to the moving direction of the multi-joint robot.

11. In paragraph 10, The above main stage blocks are provided in multiples, The above plurality of main stage blocks are multi-coupler connecting devices spaced apart from each other on one side of the robot base.

12. In paragraph 7, The above multiple main stage direct drive modules are: A first main stage linear module arranged on one side of the robot base in a direction orthogonal to the moving direction of the multi-joint robot; and A multi-coupler connecting device including a second main stage linear module arranged on the other side of the robot base in a direction orthogonal to the moving direction of the multi-joint robot.

13. In paragraph 7, The above main stage drive module, A main stage motor provided on the upper side of the robot base to provide rotational force; A main stage pinion coupled to the lower side of the robot base and rotated by the main stage motor; and A multi-coupler connecting device including a main stage rack coupled to the upper side of the main stage base and meshed with the main stage pinion.

14. In paragraph 13, The above main stage pinion is arranged annularly spaced apart and includes a plurality of pinion roller pins, each of which is rotatable. The above main stage rack is a multi-coupler connecting device having a trochoidal tooth shape formed therein and in contact with at least two or more of the plurality of pinion roller pins.

15. In paragraph 13, The above main stage motor is a multi-coupler connecting device in which the rotation axis penetrates the robot base and is connected to the main stage pinion.

16. In paragraph 13, The above multiple main stage direct drive modules are: It includes a plurality of main stage rails that are connected to the main stage base and each main stage rail is arranged in parallel with the longitudinal direction of the transport direction of the multi-joint robot, The above main stage rack is a multi-coupler connecting device arranged parallel to the plurality of main stage rails between the plurality of main stage rails with the transport direction of the multi-joint robot in the longitudinal direction.

17. 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 main stage unit that transports 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.

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