KR-20260064668-A - Multi Coupler Connection Device

KR20260064668AKR 20260064668 AKR20260064668 AKR 20260064668AKR-20260064668-A

Abstract

The present invention relates to a multi-coupler connection device that connects various types of supply hoses used to supply different chemicals to a chemical storage unit among a plurality of chemical storage units that stores the corresponding chemical. A multi-coupler connection device according to an embodiment of the present invention includes a multi-joint robot that moves the supply-side coupler to connect it to the storage-side coupler, an autonomous transport vehicle that moves the multi-joint robot in the direction in which the plurality of storage units are arranged, and a vision unit that captures images to detect the position or type of the supply-side coupler and the storage-side coupler, wherein the autonomous transport vehicle moves toward the tank truck when the tank truck stops corresponding to any one of the plurality of storage units.

Inventors

김주인
이철홍
이민우

Assignees

한양이엔지 주식회사

Dates

Publication Date: 20260507
Application Date: 20260408
Priority Date: 20230628

Claims (9)

A multi-coupler connection device for connecting a supply-side coupler of a supply hose connected to a tank truck transporting chemicals to a storage-side coupler of any one of a plurality of storage units storing different chemicals, A multi-joint robot that moves the supply-side coupler to connect with the storage-side coupler; An autonomous transport vehicle that moves the above multi-joint robot in the direction in which the plurality of storage units are arranged; and It includes a vision unit that captures images to detect the location or type of the supply-side coupler and the storage-side coupler, and The above autonomous transport vehicle is a multi-coupler connection device that moves toward the tank truck when the tank truck stops corresponding to any one of the plurality of storage units.
In Article 1, The above-described multi-joint robot includes a gripper that grips the supply-side coupler, and The above vision unit is a multi-coupler connection device positioned adjacent to the gripper.
In Article 1, The above vision unit is a multi-coupler connection device that captures a storage code attached to the storage-side coupler in order to detect the position of the storage-side coupler.
In Article 1, The above vision unit is a multi-coupler connection device that images the hole into which the chemical of the storage-side coupler flows in order to detect the position of the storage-side coupler.
In Article 1, The above vision unit is a multi-coupler connection device that captures a supply-side code attached to the supply-side coupler in order to detect the position of the supply-side coupler.
In Article 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 in order to recognize the storage-side coupler to be connected to the supply-side coupler.
In Article 1, The above-mentioned autonomous transport vehicle is, Transport vehicle frame; A transport body coupled to the upper part of the above transport frame and supporting the multi-joint robot; and A multi-coupler connection device comprising a pair of transport drive wheels that are coupled to the above-mentioned transport frame and generate driving force.
In Article 7, The above multi-joint robot is a multi-coupler connection device coupled to the transport body on the midpoint of the line connecting the rotation centers of the pair of transport drive wheels.
A multi-coupler connection device for connecting a supply-side coupler of a supply hose connected to a tank truck transporting chemicals to a storage-side coupler of any one of a plurality of storage units storing different chemicals, A multi-joint robot that moves the supply-side coupler to connect with the storage-side coupler; An autonomous transport vehicle that moves the above multi-joint robot in the direction in which the plurality of storage units are arranged; and The above-mentioned supply-side coupler includes a vision unit for determining whether it is a coupler that must be connected to the above-mentioned storage-side coupler, and The above autonomous transport vehicle is a multi-coupler connection device that moves toward the tank truck when the tank truck stops corresponding to any one of the plurality of storage units.

Description

Multi Coupler Connection Device The present invention relates to a multi-coupler connection device, and more specifically, to a multi-coupler connection device that connects various types of supply hoses used to supply different chemicals to a chemical storage unit among a plurality of chemical storage units that stores the corresponding chemical. Generally, chemical usage sites that use various chemicals, such as semiconductor factories or chemical plants, are equipped with chemical storage units that include storage tanks. Recently, in the process of supplying chemicals from a tank lorry to a chemical storage facility through a supply hose, a so-called Automatic Clean Quick Coupler (ACQC) system is being used to automatically connect the coupler of the supply hose to the coupler of the chemical storage unit in order to protect workers from the harmfulness or danger of the chemicals and to improve work efficiency. Conventional automatic clean quick coupler systems are provided for each type of chemical, 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 coupler of the supply hose to a corresponding connector is provided for each type of chemical. Consequently, there was a problem in that the investment cost for automation increased excessively. 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. FIG. 3 is a side view of a multi-automatic clean quick coupler system according to one embodiment of the present invention. FIG. 4 is a perspective view of a multi-coupler connection 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 connection device according to one embodiment of the present invention. FIG. 6 is an exploded perspective view of an autonomous transport vehicle with a multi-coupler connection device according to one embodiment of the present invention. FIG. 7 is a bottom view of an autonomous transport vehicle with a multi-coupler connection device according to one embodiment of the present invention. FIGS. 8 to 10 are exemplary diagrams of operation for a multi-coupler connection device according to an embodiment of the present invention. The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely 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. Throughout the specification, the same reference numerals refer to the same components. Although terms such as "first," "second," etc., are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used merely to distinguish one component from another, and unless specifically stated otherwise, the first component may also be the second component. Throughout the specification, unless specifically stated otherwise, each component may be singular or plural. In the following, the statement that any configuration is placed on the "upper (or lower)" of a component or on the "upper (or lower)" of a component may mean not only that any configuration is placed in contact with the upper (or lower) surface of said component, but also that another configuration may be interposed between said component and any configuration placed on (or below) said component. In addition, where it is stated that one component is "connected," "combined," or "connected" to another component, it should be understood that while the components may be directly connected or connected to each other, another component may be "interposed" between each component, or each component may be "connected," "combined," or "connected" through another component. Singular expressions used in this specification include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "composed of" or "comprising" should not be interpreted as necessarily including all of the various components or steps described in the specification, and should be interpreted as meaning that some of the components or steps may be omitted or additional components or steps may be included. Throughout the specification, "A and/or B" means A, B, or A and B unless specifically stated otherwise, and "C to D" means C or more and D or less unl