TWI862892B - Automatic connection equipment - Google Patents

Abstract

An automatic connection equipment includes a driving module, a first clamping assembly and a second clamping assembly. The first clamping assembly is disposed on the driving module, wherein the driving module is adapted to move the first clamping assembly to a working position to align with a cover located on an opening of a container. The first clamping assembly is adapted to clamp the cover and separate the cover from the opening. The second clamping assembly is disposed on the driving module, wherein the driving module is adapted to move the second clamping assembly to a working position to align with the opening, and the second clamping assembly is adapted to clamp a connector and connecting the connector to the opening.

Description

Automatic connection equipment

The present invention relates to an automatic device, and in particular to an automatic connection device.

Generally speaking, industrial liquids (such as wafer cleaning fluids) are stored in containers, and the opening of the container is sealed with a lid. When the liquid in the container needs to be used, the lid at the opening of the container is removed manually, and then a connector is connected so that the industrial machine can effectively use the liquid in the container.

However, the liquid in the container may be corrosive and volatile. If workers who are provided with manpower to remove the lid and connect the joints are in this working environment for a long time, it is easy to cause harm to their health. In addition, it is also very time-consuming to remove the lid of the container and connect the joints manually. Therefore, how to efficiently remove the lid of the container and connect the joints in a safe working environment for the convenience of machine use is a problem to be overcome in this field.

The present invention provides an automatic jointing device that can replace manpower and efficiently remove the lid of a barrel-shaped container and connect the joint to the container opening to facilitate machine use.

An automatic joint device includes a driving module, a first clamping assembly, a second clamping assembly and a connector. The first clamping assembly is arranged on the driving module, wherein the driving module is suitable for moving the first clamping assembly to a working position to face a cover body on an opening of a container. The first clamping assembly is suitable for clamping the cover body and separating the cover body from the opening. The second clamping assembly is arranged on the driving module, wherein the driving module is suitable for moving the second clamping assembly to a working position to face the opening. The second clamping assembly clamps a connector and is suitable for connecting the connector to the opening.

In one embodiment of the present invention, the above-mentioned driving module includes a main body, a first driving unit and a second driving unit. The first driving unit is arranged on the main body, and the second driving unit is arranged on the first driving unit and connected to the first clamping assembly and the second clamping assembly. The first driving unit is suitable for driving the second driving unit to move along a first axis, and the second driving unit is suitable for driving the first clamping assembly and the second clamping assembly to move along a second axis perpendicular to the first axis.

In one embodiment of the present invention, the above-mentioned drive module further includes a third drive unit, wherein the third drive unit is configured on the second drive unit and connected to the first clamping assembly and the second clamping assembly, and the third drive unit is suitable for driving the first clamping assembly and the second clamping assembly to rotate around a rotation axis perpendicular to the first axis and the second axis.

In one embodiment of the present invention, the above-mentioned drive module further includes a fourth drive unit, wherein the fourth drive unit is arranged on the second drive unit and connected to the first clamping assembly and the second clamping assembly, and the fourth drive unit is suitable for driving the first clamping assembly and the second clamping assembly to move along a third axis perpendicular to the first axis and the second axis.

In one embodiment of the present invention, the above-mentioned automatic joint device further includes a sensor, wherein the sensor is disposed on the first clamping assembly and is suitable for sensing the rotation angle of the cover.

In one embodiment of the present invention, the above-mentioned automatic docking device further includes a sensor, wherein the sensor is configured in the drive module and is suitable for sensing the position of the cover.

In one embodiment of the present invention, the first clamping assembly includes a first body, a plurality of first clamping claws and a plurality of elastic members. The first clamping claws are movably disposed on the first body and correspond to the elastic members respectively. Each elastic member is connected between the first body and the corresponding first clamping claw. Each first clamping claw is suitable for clamping the cover body by the elastic force of the corresponding elastic member.

In one embodiment of the present invention, the above-mentioned cover is suitable for being connected to the opening in a screwing manner, and the first clamping assembly includes a first body, a first driving element and a plurality of first clamping claws, the first clamping claws are arranged on the first body and are suitable for clamping the cover, and the first driving element is arranged on the first body and is suitable for driving the first clamping claws to rotate to unscrew the cover from the opening.

In one embodiment of the present invention, the second clamping assembly includes a second body, a second driving element and a clamping structure. The clamping structure is disposed on the second body and clamps the joint. The second driving element is disposed on the second body and is suitable for driving the clamping structure to rotate so as to tighten the joint to the opening.

Based on the above, the automatic joint device of the present invention uses a driving module to alternately position the first clamping assembly and the second clamping assembly against a container located at a fixed working position, and respectively uses the first clamping assembly and the second clamping assembly to remove the cover of the container opening and to connect the joint to the container opening. In this way, the automatic joint device can replace manpower to perform the above work, avoiding workers from being exposed to dangerous working environments for a long time and affecting their health, and at the same time completing the above work with higher efficiency than manpower.

100: Automatic connection equipment

110:Drive module

111: Subject

112: First drive unit

113: Second drive unit

114: Third drive unit

115: Fourth drive unit

120: First clamping assembly

121: The first body

122: First driving element

123: First clamping claw

124: Elastic parts

130: Second clamping assembly

131: Second body

132: Second driving element

133: Second clamping claw

140:Connector

141: pipe

150: First sensor

160: Second sensor

200:Container

210: Cover

211: Groove

A1: Rotation axis

A2: Rotation axis

D1: First axis

D2: Second axis

D3: The third axis

S1: First state

S2: Second state

Figure 1 is a three-dimensional diagram of an automatic joint device according to an embodiment of the present invention.

Figure 2 is an exploded view of the automatic joint device in Figure 1.

FIG. 3A is a three-dimensional diagram of some components of the automatic joint device of FIG. 1 in the first state.

FIG. 3B is a three-dimensional diagram of the automatic docking device of FIG. 3A in the second state.

FIG. 4 is a three-dimensional diagram of the automatic docking device of FIG. 3B from another perspective.

FIG5A is a three-dimensional view of the first clamping assembly of FIG1.

Figure 5B is a partial enlarged view of the first clamping assembly of Figure 5A.

Figure 6 is a three-dimensional diagram of the second clamping assembly of Figure 1.

FIG. 1 is a perspective view of an automatic joint device of an embodiment of the present invention, FIG. 2 is an exploded view of the automatic joint device of FIG. 1 , FIG. 3A is a perspective view of a part of the automatic joint device of FIG. 1 in a first state, and FIG. 3B is a perspective view of the automatic joint device of FIG. 3A in a second state. Referring to FIG. 1 to FIG. 3B , the automatic joint device 100 of the present embodiment includes a driving module 110, a first clamping assembly 120, a second clamping assembly 130, and a connector 140. The first clamping assembly 120 and the second clamping assembly 130 are both disposed on the driving module 110. The driving module 110 is suitable for moving the first clamping assembly 120 to a working position corresponding to the container 200 as shown in FIG. 3A, and is suitable for moving the second clamping assembly 130 to the working position as shown in FIG. 3A.

Specifically, when the automatic docking device 100 is in the first state S1 shown in FIG. 3A , the first clamping assembly 120 moves to the working position and for a cover 210 located on an opening of the container 200, the first clamping assembly 120 is suitable for clamping the cover 210 and separating the cover 210 from the opening of the container 200. After the cover 210 is separated from the container 200, the automatic docking device 100 then switches to the second state S2 shown in FIG. 3B , so that the second clamping assembly 130 moves to the working position and is located at the opening of the container 200. The second clamping assembly 130 clamps the connector 140 and is suitable for connecting the connector 140 to the opening of the container 200, and the connector 140 also has a tube 141 for sucking out the liquid in the container 200 and using it.

Through the operation of the automatic docking device 100, the container 200 at the working position can be separated from the cover 210 of the container opening by the first clamping assembly 120 without moving, and connected to the connector 140 at the container opening by the second clamping assembly 130. In this way, the automatic docking device can replace manpower to avoid workers being exposed to dangerous working environments for a long time and affecting their health, and efficiently replace the cover 210 of the container opening with the connector 140.

The driving module 110 of this embodiment includes a main body 111, a first driving unit 112 and a second driving unit 113. The first driving unit 112 is disposed on the main body 111, the second driving unit 113 is disposed on the first driving unit 112, and the first clamping assembly 120 and the second clamping assembly 130 are connected to the second driving unit 113. When the first driving unit 112 moves along the first axis D1, it is suitable for driving the second driving unit 113 and the first clamping assembly 120 and the second clamping assembly 130 connected thereto to move along the first axis D1. When the second driving unit 113 moves along the second axis D2, it is suitable for driving the first clamping assembly 120 and the second clamping assembly 130 to move along the second axis D2. The first axis D1 and the second axis D2 are perpendicular to each other. In this embodiment, the first driving unit 112 and the second driving unit 113 are servo motors, but the present invention is not limited to this.

FIG4 is a three-dimensional diagram of the automatic joint device of FIG3B from another perspective. Please refer to FIG3A to FIG4, in detail, the driving module 110 of this embodiment further includes a third driving unit 114 and a fourth driving unit 115, both of which are arranged on the second driving unit 113 and connected to the first clamping assembly 120 and the second clamping assembly 130. The third driving unit 114 drives the first clamping assembly 120 and the second clamping assembly 130 to rotate around a rotation axis A1. Thereby, the first clamping assembly 120 and the second clamping assembly 130 can be moved to the working position in sequence without moving the position of the container 200, so as to improve the working efficiency of the automatic joint device 100. The third driving unit 114 of this embodiment is a servo motor, but the present invention is not limited thereto. The fourth driving unit 115 is suitable for driving the first clamping assembly 120 and the second clamping assembly 130 to move along a third axis D3, and the third axis D3 is perpendicular to the first axis D1 and the second axis D2. By moving the fourth driving unit 115 along the third axis D3, the fourth driving unit 115 can control the distance between the first clamping assembly 120 and the second clamping assembly 130 relative to the container opening, so as to accurately allow the first clamping assembly 120 to remove the cover 210 of the container opening and allow the second clamping assembly 130 to join the joint 140 at the opening of the container 200. The fourth drive unit 115 of this embodiment is a cylinder, but the present invention is not limited to this.

In this embodiment, the automatic docking device 100 further includes a sensor 150, wherein the sensor 150 is disposed on the driving module 110 and is suitable for sensing the position of the cover 210, and the sensed position is defined as the working position, and then the first clamping assembly 120 is moved to the working position by the driving module 110 to align the cover 210 on the container opening. The sensor 150 of this embodiment is a charge coupled device (CCD) sensor, which determines the position of the cover 210 through the image sensed by it, but the present invention is not limited to this.

FIG5A is a three-dimensional diagram of the first clamping assembly of FIG1 , and FIG5B is a partial enlarged diagram of the first clamping assembly of FIG5A . Please refer to FIG5A and FIG5B simultaneously. The first clamping assembly 120 of this embodiment includes a first body 121, a first driving element 122, a plurality of first clamping claws 123 and a plurality of elastic members 124. The first clamping claws 123 are movably disposed on the first body 121 and correspond to the elastic members 124 respectively. The elastic members 124 are connected between the first body 121 and the corresponding first clamping claws 123.

In this embodiment, the first clamping claw 123 rotates with the rotation axis A2 as the rotation axis, and the two ends of the first clamping claw 123 relative to the rotation axis A2 are divided into a clamping end and a non-clamping end. The clamping end of the first clamping claw 123 is used to clamp the cover 210, and the non-clamping end contacts the elastic member 124. When the clamping end of the first clamping claw 123 does not clamp the cover 210, the non-clamping end of the first clamping claw 123 is affected by the elastic member 124, so that the clamping end of the first clamping claw 123 is in a state of being retracted in the direction of the first body 121. When the first clamping assembly 120 is driven by the third driving unit 114 to move toward the position of the cover body 210 along the third axis D3, the clamping end of the first clamping claw 123 contacts the periphery of the cover body 210, and the clamping end of the first clamping claw 123 is pushed open and expanded by the periphery of the cover body 210, so that the first clamping claw 123 rotates with the rotation axis A2 as the rotation axis, driving the non-clamping end of the first clamping claw 123 to retract and generate an elastic force of the elastic member 124 after being compressed, which is used to prevent the non-clamping end of the first clamping claw 123 from continuing to retract. The first clamping claw 123 is suitable for clamping the cover 210 by the elastic force of the corresponding elastic member 124, so as to facilitate the subsequent separation of the cover 210 from the opening of the container 200. The cover 210 of this embodiment has a tooth-shaped periphery, which is conducive to the first clamping claw 123 to align with the groove 211 of the tooth-shaped periphery when clamping, but the present invention is not limited to this.

In this embodiment, the cover 210 is suitable for being connected to the opening in a screwing manner. After the first clamping claw 123 clamps the cover 210 by the elastic force of the corresponding elastic member 124, the first driving element 122 disposed on the first body 121 is suitable for driving the first clamping claw 123 to rotate to unscrew the cover 210 from the opening. Since the cover 210 has a toothed periphery, the first clamping claw 123 will abut against the side of the toothed periphery when unscrewing the cover, thereby reducing the slippage of the first clamping claw 123 when rotating. The first driving element 122 of this embodiment is a servo motor, but the present invention is not limited to this.

In this embodiment, the automatic joint device 100 further includes a sensor 160, wherein the sensor 160 is disposed on the first clamping assembly 120 and is suitable for sensing the rotational orientation of the cover 210 to estimate the number of rotations required for the first clamping assembly 120 to unscrew the cover 210, thereby ensuring that the first clamping assembly 120 can accurately unscrew the cover 210 and smoothly continue the process of the second clamping assembly 130 to connect the connector 140 to the container opening.

FIG6 is a schematic diagram of the second clamping assembly of FIG1. Referring to FIG6, the second clamping assembly 130 of the present embodiment includes a second body 131, a second driving element 132 and a clamping structure 133. The clamping structure 133 is disposed on the second body 131 and is suitable for clamping the connector 140. The second driving element 132 is disposed on the second body 131 and is suitable for driving the clamping structure 133 to rotate so as to tighten the connector 140 to the container opening. The second driving element 132 drives the clamping structure 133 to rotate via a reduction pulley, and the second driving element 132 can determine whether the connector 140 is tightened to the opening of the container 200 through its torque. The second driving element 132 of this embodiment is a servo motor, but the present invention is not limited to this.

In summary, the automatic jointing device of the present invention uses a driving module to alternately position the first clamping assembly and the second clamping assembly against a container located at a fixed working position, and uses the first clamping assembly and the second clamping assembly to remove the cover of the container opening and to connect the joint to the container opening. In this way, the automatic jointing device can replace manpower to perform the above work, avoiding workers from being exposed to dangerous working environments for a long time and affecting their health, and completing the above work with higher efficiency than manpower.

100: Automatic connection equipment

110:Drive module

111: Subject

112: First drive unit

113: Second drive unit

120: First clamping assembly

130: Second clamping assembly

150: First sensor

160: Second sensor

210: Cover

D1: First axis

D2: Second axis

D3: The third axis

A: Rotation axis

Claims (7)

An automatic joint device comprises: a driving module; a first clamping assembly, arranged on the driving module, wherein the driving module is suitable for moving the first clamping assembly to a working position to face a cover body on an opening of a container, the first clamping assembly is suitable for clamping the cover body and separating the cover body from the opening; and a second clamping assembly, arranged on the driving module, wherein the The driving module is suitable for moving the second clamping assembly to the working position to correspond to the opening; and a joint, the second clamping assembly clamps the joint and is suitable for connecting the joint to the opening, the driving module is suitable for driving the first clamping assembly and the second clamping assembly to rotate around a rotation axis to move away from or to the working position, wherein the rotation axis is parallel to the center line of the opening, and the The drive module includes a main body, a first drive unit, a second drive unit and a third drive unit. The first drive unit is arranged on the main body, the second drive unit is arranged on the first drive unit and connected to the first clamping assembly and the second clamping assembly. The first drive unit is suitable for driving the second drive unit to move along a first axis, and the second drive unit is suitable for driving The first clamping assembly and the second clamping assembly are driven to move along a second axis perpendicular to the first axis, wherein the third driving unit is arranged on the second driving unit and connected to the first clamping assembly and the second clamping assembly, and the third driving unit is suitable for driving the first clamping assembly and the second clamping assembly to rotate around the rotation axis perpendicular to the first axis and the second axis. The automatic joint device as described in claim 1, wherein the drive module further includes a fourth drive unit, wherein the fourth drive unit is configured on the second drive unit and connected to the first clamping assembly and the second clamping assembly, and the fourth drive unit is suitable for driving the first clamping assembly and the second clamping assembly to move along a third axis perpendicular to the first axis and the second axis. The automatic docking device as described in claim 1 further includes a sensor, wherein the sensor is disposed on the first clamping assembly and is suitable for sensing the rotation angle of the cover. The automatic docking device as described in claim 1 further includes a sensor, wherein the sensor is disposed on the drive module and is suitable for sensing the position of the cover. The automatic joint device as described in claim 1, wherein the first clamping assembly includes a first body, a plurality of first clamping claws and a plurality of elastic members, the first clamping claws are movably arranged on the first body and correspond to the elastic members respectively, each of the elastic members is connected between the first body and the corresponding first clamping claw, and each of the first clamping claws is suitable for clamping the cover body by the elastic force of the corresponding elastic member. The automatic joint device as described in claim 1, wherein the cover is suitable for being connected to the opening in a screwed manner, the first clamping assembly includes a first body, a first driving element and a plurality of first clamping claws, the first clamping claws are arranged on the first body and suitable for clamping the cover, and the first driving element is arranged on the first body and suitable for driving the first clamping claws to rotate so as to unscrew the cover from the opening. The automatic joint device as described in claim 6, wherein the second clamping assembly includes a second body, a second driving element and a clamping structure, the clamping structure is disposed on the second body and clamps the joint, and the second driving element is disposed on the second body and is suitable for driving the clamping structure to rotate so as to tighten the joint to the opening.