Vision-Guided Chemical Coupler Fastening for Hazardous ACQC Handling
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Solution Overview
Problem
The manual fastening of chemical couplers in automatic clean quick coupler (ACQC) systems poses risks of chemical contamination and accidents due to the hazardous nature of the chemicals involved.
Innovation Solution
An apparatus comprising a multi-degree of freedom (DOF) robot arm, a gripper, a vision sensor, and a controller, which autonomously fastens and detaches chemical couplers using environmental information from the vision sensor to control the robot arm and gripper operations, mitigating force and torque with a conforming mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual operation is used to fasten chemical coupler, then operator can directly control the fastening procedure, but operator is exposed to risk of chemical contamination and accidents
Solution Approach 1:
The patent replaces the manual mechanical operation with an automated robotic system. A robot arm equipped with a gripper performs the fastening operation, substituting human mechanical action with automated mechanical action. This eliminates operator exposure to hazardous chemicals while maintaining the fastening function.
Solution Approach 2:
The patent introduces a vision sensor as an intermediary between the robot arm and the chemical coupler. The vision sensor captures images of the coupling target, and the controller processes this visual information to guide the robot arm's movements. This intermediary system enables precise automated control without direct human intervention in the hazardous zone.
2Reliability
If automated system is used to fasten chemical coupler, then operator safety is improved, but system complexity increases
Solution Approach 1:
The robot arm serves multiple functions: positioning, gripping, and fastening the chemical coupler. The vision sensor performs both detection and guidance functions. This multi-functionality reduces the need for separate specialized components, thereby managing system complexity while achieving automation.
Solution Approach 2:
The system uses the vision sensor to automatically detect and locate the coupling target, and the controller automatically plans and executes the robot arm's movement path. The system serves itself by using its own sensors and controllers to guide its actions without continuous human intervention, reducing operational complexity.
3Measurement precision
If vision sensor is used to detect coupling target, then positioning accuracy is improved, but system complexity increases
Solution Approach 1:
The patent replaces complex mechanical positioning systems with a vision-based sensing system. Instead of using multiple mechanical encoders and precision guides, the system uses a vision sensor to optically detect the coupling target's position and the controller to compute the required movements. This substitution achieves high positioning accuracy while managing overall system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables safe and automated fastening and detachment of chemical couplers, reducing the risk of operator exposure to hazardous chemicals and potential accidents.
Implementation Method 1
The conforming mechanism includes at least one damper and at least one elastic member that are configured to mitigate force and torque applied to the conforming mechanism
Implementation Method 2
The conforming mechanism includes at least one damper and at least one elastic member that are configured to mitigate force and torque applied to the conforming mechanism
Data Source
AI summary
An apparatus for automatically fastening a chemical coupler to a connector of an automatic clean quick coupler (ACQC) system, includes a main body, a multi-degree of freedom (DOF) robot arm on the main body, a gripper on the multi-DOF robot arm that is configured to grip the chemical coupler, a vision sensor on the multi-DOF robot arm, and a controller connected to the gripper, the multi-DOF robot arm, and the vision sensor. The controller uses information about an environment surrounding the multi-DOF robot arm acquired by the vision sensor, to control an operation of the multi-DOF robot arm and an operation of the gripper.