Liquid supply device and liquid supply method

Provided is a liquid supply device including: a plug having a plug side liquid channel; a socket having a socket side liquid channel; a hand configured to grip the socket and arrange the socket in a predetermined attitude at a three-dimensional position within the motion range; and an image capturing unit configured to recognize the orientation of the plug axis of the plug. The hand grips the socket so that the socket and the plug are in an attitude where the orientation of a socket axis matches the orientation of the plug axis recognized by the image capturing unit, and the socket gripped by the hand is inserted in the plug to couple the socket side liquid channel to the plug side liquid channel.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on Japanese Patent Application No. 2021-088515 filed on May 26, 2021, the contents of which are incorporated herein by reference in its entirety.

BACKGROUND

1. Technical Field

The present disclosure relates to a liquid supply device and a liquid supply method.

2. Description of Related Art

Conventionally, a liquid supply device that supplies a liquid contained in a liquid storage container to a plurality of supply target devices is known (for example, see Japanese Patent Application Laid-Open No. 2018-20793).

The liquid supply device disclosed in Japanese Patent Application Laid-Open No. 2018-20793 couples a liquid channel formed in a plug and a liquid channel formed in a socket to each other by fixing the plug to an opening of a liquid storage container and attaching the socket to the plug. When attaching the socket to the plug, a worker engages an external thread formed in an attaching nut of the socket with an internal thread part formed in the plug.

The liquid supply device disclosed in Japanese Patent Application Laid-Open No. 2018-20793 requires a worker to perform work to grip the socket and attach the socket to the plug when coupling the liquid channel formed in the plug and the liquid channel formed in the socket to each other. This may increase a work burden on the worker, and the worker may be exposed to a hazard when handling a hazardous liquid.

Accordingly, to prevent an increase in the work burden on the worker or exposure of the worker to a hazard, it is conceivable to use a robot hand configured to grip a socket and automate the work of attaching the socket to a plug. For example, it is conceivable to store in advance the position of the plug disclosed in Japanese Patent Application Laid-Open No. 2018-20793 and move the socket to the stored position by using the robot hand.

However, since the position or the orientation of the openings differs among liquid storage containers for each individual, the position or the orientation of the plugs installed in the openings can also differ among the liquid storage containers for each individual. Further, when there is a change in the internal pressure of a liquid storage container due to the state of a liquid contained in the liquid storage container, the environmental temperature, or the like, this will cause a change in the orientation of the opening to which the plug is fixed, accordingly.

In such a case, for some position or orientation of the plug, the socket may be unable to be attached even when the socket is accurately moved to a predefined position in a three-dimensional space. Further, if the socket and the plug are forcedly connected to each other with unmatched orientations thereof, a stress is applied to the socket and the plug, and accumulation of such a stress may lead to a failure.

BRIEF SUMMARY

The present disclosure has been made in view of such circumstances and intends to provide a liquid supply device and a liquid supply method that can reliably couple a socket side liquid channel to a plug side liquid channel regardless of the orientation of a plug fixed to an opening of a liquid storage container.

To solve the problem described above, the present disclosure employs the following solutions.

A liquid supply device according to one aspect of the present disclosure includes: a first plug fixed to a first opening in an upper face of a liquid storage container and having a plug side liquid channel extending along a first plug axis; a first socket detachably attached to the first plug and having a socket side liquid channel extending along a first socket axis; a gripping mechanism configured to grip the first socket and arrange the first socket in a predetermined attitude at a three-dimensional position within a motion range; and a recognition unit configured to recognize the orientation of the first plug axis of the first plug, wherein the gripping mechanism grips the first socket so that the first socket and the first plug are in an attitude where the orientation of the first socket axis matches the orientation of the first plug axis recognized by the recognition unit, and wherein when the first socket gripped by the gripping mechanism is inserted in the first plug, the socket side liquid channel is coupled to the plug side liquid channel.

According to the liquid supply device of one aspect of the present disclosure, the recognition unit recognizes the orientation of the first plug axis of the first plug, and the gripping mechanism grips the first socket so that the first socket and the first plug are in the attitude where the orientation of the first socket axis matches the orientation of the first plug axis. The first socket gripped by the gripping mechanism is inserted in the first plug, and thereby the socket side liquid channel is coupled to the plug side liquid channel. Since the first socket is gripped by the gripping mechanism in a suitable attitude with respect to the orientation of the first plug, it is possible to reliably couple the socket side liquid channel to the plug side liquid channel regardless of the orientation of the first plug fixed to the first opening of the liquid storage container.

The liquid supply device according to one aspect of the present disclosure is preferably configured such that a first groove extending annularly about the first plug axis and having a plug side fixing part is formed in a tip of the first plug, a first protrusion extending annularly about the first socket axis and having a socket side fixing part is formed in a tip of the first socket, the gripping mechanism inserts the first protrusion in the first groove so that the socket side fixing part is arranged at a position distant by a first predetermined distance from the plug side fixing part on the first plug axis recognized by the recognition unit, and the first socket has an adjustment unit configured to adjust the position on the first socket axis of the socket side fixing part with respect to a grip position gripped by the gripping mechanism to form a fixed state where the socket side fixing part is fixed to the plug side fixing part.

According to the liquid supply device of the above configuration, it is possible to form a state where the first protrusion of the first socket is inserted in the first groove of the first plug by the gripping mechanism and thus form a fixed state where the socket side fixing part is fixed to the plug side fixing part by the adjustment unit of the socket.

In the liquid supply device of the above configuration, a preferable aspect is that the adjustment unit adjusts the position on the first socket axis of the socket side fixing part with respect to the grip position and releases the fixed state.

According to the liquid supply device of the present aspect, it is possible to adjust the position of the socket side fixing part by using the adjustment unit used for fixing the socket side fixing part to the plug side fixing part and release the fixed state where the socket side fixing part is fixed to the plug side fixing part.

In the liquid supply device of the above aspect, a preferable form is that the gripping mechanism grips the first socket detached from the first plug and moves the first socket to a washing container in which a washing liquid used for washing the first socket is stored.

According to the liquid supply device of the above form, it is possible to move the first socket detached from the first plug to the washing container and wash the first socket with the washing liquid.

The liquid supply device according to one aspect of the present disclosure preferably includes a first cap part configured to seal the plug side liquid channel and having a first insertion part to be inserted in the first groove; and a rotary mechanism having a holding part for holding the first cap part and configured to rotate the holding part about a first cap axis, wherein a first thread is formed in the first insertion part of the first cap part, wherein a second thread adapted to engage with the first thread is formed in the first groove of the first plug, wherein the gripping mechanism grips the rotary mechanism so that the first cap and the first plug are in an attitude where the orientation of the first cap axis matches the orientation of the first plug axis recognized by the recognition unit, and wherein the rotary mechanism detaches the first cap part from the first plug by rotating the holding part in a predetermined direction with the first cap part being held by the holding part.

According to the liquid supply device of the above configuration, the recognition unit recognizes the orientation of the first plug axis of the first plug, and the gripping mechanism grips the rotary mechanism so that the first cap part and the first plug are in the attitude where the orientation of the first cap axis matches the orientation of the first plug axis. The holding part of the rotary mechanism gripped by the gripping mechanism is rotated in a predetermined direction, and thereby the first cap part held by the holding part is detached from the first plug. Since the rotary mechanism is gripped by the gripping mechanism in a suitable attitude with respect to the orientation of the first plug, it is possible to reliably detach the first cap part from the first plug regardless of the orientation of the plug fixed to the opening of the liquid storage container.

In the liquid supply device of the above configuration, a preferable aspect is that the rotary mechanism attaches the first cap part to the first plug by rotating the holding part in the opposite direction to the predetermined direction with the first cap part being held by the holding part.

According to the liquid supply device of the present aspect, it is possible to attach the first cap part to the first plug by rotating the holding part in the opposite direction to the predetermined direction by using the rotary mechanism used for detaching the first cap part from the first plug.

The liquid supply device according to one aspect of the present disclosure preferably includes a second plug fixed to a second opening in the upper face of the liquid storage container and having a plug side gas channel extending along a second plug axis; and a second socket detachably attached to the second plug and having a socket side gas channel extending along a second socket axis, wherein the recognition unit recognizes the orientation of the second plug axis of the second plug, wherein the gripping mechanism grips the second socket so that the second socket and the second plug are in an attitude where the orientation of the second socket axis matches the orientation of the second plug axis recognized by the recognition unit, and wherein when the second socket gripped by the gripping mechanism is inserted in the second plug, the socket side gas channel is coupled to the plug side gas channel.

According to the liquid supply device of the present configuration, the recognition unit recognizes the orientation of the second plug axis of the second plug, and the gripping mechanism grips the second socket so that the second socket and the second plug are in the attitude where orientation of the second socket axis matches the orientation of the second plug axis. The second socket gripped by the gripping mechanism is inserted in the second plug, and thereby the socket side gas channel is coupled to the plug side gas channel. Since the second socket is gripped by the gripping mechanism in a suitable attitude with respect to the orientation of the second plug, it is possible to reliably couple the socket side gas channel to the plug side gas channel regardless of the orientation of the second plug fixed to the second opening of the liquid storage container.

A liquid supply method for supplying a liquid by a liquid supply device according to one aspect of the present disclosure is configured such that the liquid supply device comprises a first plug fixed to a first opening in an upper face of a liquid storage container and having a plug side liquid channel extending along a first plug axis, a first socket detachably attached to the first plug and having a socket side liquid channel extending along a first socket axis, and a gripping mechanism configured to grip the first socket and arrange the first socket in a predetermined attitude at a three-dimensional position within a motion range, the liquid supply method comprising: a recognition step of recognizing the orientation of the first plug axis of the first plug; a gripping step of gripping the first socket by the gripping mechanism so that the first socket and the first plug are in an attitude where the orientation of the first socket axis matches the orientation of the first plug axis recognized by the recognition step; and a coupling step of coupling the socket side liquid channel to the plug side liquid channel by inserting the first socket gripped by the gripping step in the first plug.

According to the liquid supply method of one aspect of the present disclosure, the orientation of the first plug axis of the first plug is recognized in the recognition step, and the first socket is gripped by the gripping mechanism in the gripping step so that the first socket and the first plug are in the attitude where the orientation of the first socket axis matches the orientation of the first plug axis. The first socket gripped in the gripping step is inserted in the first plug, and thereby the socket side liquid channel is coupled to the plug side liquid channel. Since the first socket is gripped by the gripping mechanism in a suitable attitude with respect to the orientation of the first plug, it is possible to reliably couple the socket side liquid channel to the plug side liquid channel regardless of the orientation of the first plug fixed to the first opening of the liquid storage container.

According to the present disclosure, it is possible to provide a liquid supply device and a liquid supply method that can reliably couple a socket side liquid channel to a plug side liquid channel regardless of the orientation of a plug fixed to an opening of a liquid storage container.

DETAILED DESCRIPTION

First Embodiment

A liquid supply device100of a first embodiment of the present disclosure will be described below with reference to the drawings.FIG.1andFIG.2are side views illustrating the liquid supply device100of the present embodiment.FIG.1illustrates a state where a robot30grips and carries a socket20.FIG.2illustrates a state where the robot30has arranged the socket20near a plug10.FIG.3is a plan view of the liquid supply device100illustrated inFIG.1when viewed from above and illustrates a state where the robot30grips and carries the socket20.

The liquid supply device100of the present embodiment illustrated inFIG.1is a device that supplies a liquid contained in a liquid storage container200to a plurality of supply target devices (not illustrated). Herein, the liquid in the present embodiment refers to pure water or various chemical solutions used in a semiconductor manufacturing process performed by a semiconductor manufacturing apparatus, for example.

As illustrated inFIG.1toFIG.3, the liquid supply device100has the plug (first plug)10, a sealing stopper15, the socket (first socket)20, the robot (gripping mechanism)30, an image capturing unit (recognition unit)40, a cap part (first cap part)50, a cap tool (rotary mechanism)60, and a control unit70. The liquid supply device100of the present embodiment is to suitably fix the socket20to the plug10regardless of the orientation of the plug10even when the internal space of the liquid storage container200is pressurized and thus deformed and the orientation of the plug10fixed to a first opening210is changed.

As illustrated inFIG.1, the liquid storage container200is a container formed in a cylindrical shape about an axis Z1extending in the perpendicular direction and is provided with the first opening210and a second opening220in the top face (top plate). An internal thread is formed in each inner circumferential surface of the first opening210and the second opening220.

Since the position or the orientation of the first opening210differs among liquid storage containers200for each individual, the position or the orientation of the plug10installed in the first opening210can also differ among the liquid storage containers200for each individual. Further, when there is a change in the internal pressure of the liquid storage container due to the state of a liquid contained in the liquid storage container200, the environmental temperature, or the like, this will cause a change in the orientation of the first opening210to which the plug10is fixed, accordingly. The liquid supply device100of the present embodiment is to reliably couple the socket20to the plug10even when the orientation of the first opening210varies due to a difference in the shape of the liquid storage container200for each individual or a difference in the environmental temperature or the like.

The plug10is fixed to the first opening210and has a plug side liquid channel11extending along a plug axis (first plug axis) Zp1. The plug side liquid channel11extends to a part near the bottom230of the liquid storage container200. An external thread is formed in the outer circumferential surface at the upper end of the plug10. The external thread of the plug10is engaged with the internal thread of the first opening210, and thereby the plug10is fixed to the first opening210.

FIG.6is a partial sectional view illustrating a state where the cap tool60has been moved close to the plug10. As illustrated inFIG.6, a groove (first groove)12extending in an annular shape about the plug axis Zp1is formed in the tip (upper end) of the plug10. A groove12has a fixing groove (plug side fixing part)12aused for fixing lock balls22aof the socket20. A fixing groove12ais formed annularly about the plug axis Zp1. An external thread (second thread part)12bconfigured to engage with the internal thread51aof the cap part50is formed in the groove12of the plug10.

The sealing stopper15is a member fixed to the second opening220and configured to seal the second opening220. An external thread is formed in the outer circumferential surface of the sealing stopper15. The external thread of the sealing stopper15has been engaged with the internal thread of the second opening220, and thereby the sealing stopper15is fixed to the second opening220.

The socket20is detachably attached to the plug10and has a socket side liquid channel21extending along a socket axis (first socket axis) Zs1. The socket20is connected to a liquid pipe LL1used for supplying a liquid to supply target devices and a gas pipe GL1used for supplying a gas to the liquid storage container200. The socket20is gripped by a hand31of the robot30.

FIG.9is a partial sectional view illustrating a state where the socket20has been moved close to the plug10. As illustrated inFIG.9, a protrusion (first protrusion)22extending annularly about the socket axis Zs1is formed to the tip (lower end) of the socket20. The protrusion22has a plurality of lock balls (socket side fixing part)22afixed in the fixing groove12aof the plug10. The lock balls22aare arranged at multiple positions spaced apart from each other around the socket axis Zs1.

The robot30is a mechanism that grips the socket20and the cap tool60and arranges the socket20and the cap tool60in a predetermined attitude at a three-dimensional position defined by an axis X, an axis Y, and an axis Z within a motion range. The robot30is a six-axis articulated robot, for example. The robot30has the hand31, a wrist32, a first arm33, a second arm34, a base part35, and a turning body36.

The turning body36is rotatably supported about an axis Zr1perpendicular to the base part35. The first arm33is rotatably supported with respect to the turning body36about a horizontal axis Zr2. The second arm34is rotatably supported with respect to the first arm33about a horizontal axis Zr3. The wrist32is attached to the second arm34at one end and attached to the hand31at the other end.

It is possible to arrange the wrist32at any three-dimensional position within the motion range of the wrist32by combining the rotational operation of the turning body36with respect to the base part35, the rotational operation of the first arm33with respect to the turning body36, and the rotational operation of the second arm34with respect to the first arm33. Further, the wrist32is rotatable about three axes and can take any attitude by displacing the hand31about the three axes.

The image capturing unit40is a device that captures an image of the top face of the plug10and recognizes the position in the three-dimensional space of the plug10and the orientation of the plug axis Zp1of the plug10. The image capturing unit40transfers a recognition result of the position in the three-dimensional space of the plug10and the orientation of the plug axis Zp1of the plug10to the control unit70.

As illustrated inFIG.6, the cap part (first cap part)50is a member that seals the plug side liquid channel11. The cap part50has an insertion part51to be inserted in the groove12of the plug10. The insertion part51is formed so as to extend cylindrically about a cap axis Zc1. An internal thread (first thread part)51ais formed in the inner circumferential surface of the insertion part51.

As illustrated inFIG.6, the cap tool60is a rotary mechanism having a holding part61for holding the cap part50and configured to rotate the holding part61about the cap axis (first cap axis) Zc1. The cap tool60has a transmission part64that transmits, to the holding part61, rotational power with which a rotary shaft63rotates about the cap axis Zc1. The cap tool60transmits the rotational power of the rotary shaft63to the holding part61and rotates the cap part50about the cap axis Zc1. The holding part61is connected to a cap tool body65via a shaft part66. Pushing force directed in a direction away from the cap tool body65is applied to the shaft part66by a spring62built in the cap tool body65.

The control unit70controls the robot30so that the socket20gripped by the hand31or the cap tool60is arranged in a desired attitude at a desired position based on a recognition result of the position in the three-dimensional space of the plug10and the orientation of the plug axis Zp1of the plug10transmitted from the image capturing unit40.

Next, a control method of the liquid supply device100of the present embodiment will be described with reference toFIG.4.FIG.4is a flowchart illustrating the control method of the liquid supply device100of the present embodiment and illustrates a process of attaching the socket20to the plug10. Each process illustrated inFIG.4is performed when the control unit70performs the control program.

In step S101, the control unit70carries the liquid storage container200containing a liquid therein from a storage place (not illustrated) into a predefined position within the motion range of the robot30. For example, the control unit70moves an unmanned carriage vehicle (not illustrated) carrying thereon the liquid storage container200and thereby carries the liquid storage container200into a predefined position. Note that a worker may use a carriage vehicle (not illustrated) to carry the liquid storage container200into the predefined position.

The cap part50has been attached to the first opening210of the liquid storage container200carried into in step S101. Further, the sealing stopper15has been attached to the second opening220.

In step S102(recognition step), the control unit70controls the image capturing unit40to recognize the position of the plug10and the orientation of the plug axis Zp1. Herein, an example of the process in which the image capturing unit40recognizes the position of the plug10and the orientation of the plug axis Zp1will be described.

FIG.5is a diagram illustrating an image of the top face of the plug10captured by the image capturing unit40. As illustrated inFIG.5, circular or substantially circular patterns C1, C2, C3, C4, C5, and C6are formed on the top surface of the plug10. Patterns Cr1, Cr2, Cr3, Cr4, Cr5, and Cr6illustrated by dotted lines inFIG.5represent an image obtained when the image capturing unit40captures the top surface of the plug10when the plug axis Zp1matches the axis Z1extending in the perpendicular direction.

The center positions on the XY plane of the patterns Cr1, Cr2, Cr3, Cr4, Cr5, and Cr6are Pr1, Pr2, Pr3, Pr4, Pry, and Pr6, respectively. From the image of the patterns Cr1, Cr2, Cr3, Cr4, Cr5, and Cr6, the image capturing unit40determines and stores the coordinates of Pr1, Pr2, Pr3, Pr4, Pr5, and Pr6in a storage unit (not illustrated) in advance in association with coordinates Pr (PrX, PrY, PrZ) in the three-dimensional space of a predetermined portion of the plug10.

The image capturing unit40determines P1, P2, P3, P4, P5, and P6that are the center position coordinates on the XY plane of the patterns C1, C2, C3, C4, C5, and C6from the image captured in step S102. The image capturing unit40then compares Pr1with P1, Pr2with P2, Pr3with P3, Pr4with P4, Pr5with P5, and Pr6with P6to recognize coordinates P (PX, PY, PZ) corrected from the coordinates Pr in the three-dimensional space stored in the storage unit. The coordinates P represent the position in the three-dimensional space of a predetermined portion of the plug10captured by the image capturing unit40. The image capturing unit40compares Pr1with P1, Pr2with P2, Pr3with P3, Pr4with P4, Pr5with P5, and Pr6with P6to recognize the orientation of the plug axis Zp1.

In step S103, the control unit70controls the robot30to grip the cap tool60installed on an installation table TB1. The control unit70stores in advance the position of the cap tool60installed on the installation table TB1and moves the hand31to a position near the cap tool60to grip the cap tool60.

In step S104, the control unit70controls the robot30so that the cap tool60moves close to the plug10with the hand31gripping the cap tool60. The control unit70controls the robot30so that the holding part61is arranged at a position distant by a certain distance along the plug axis Zp1from the coordinates P of the plug10recognized in step S102.

The robot30grips the cap tool60so that the cap part50and the plug10are in an attitude where the orientation of the cap axis Zc1matches the orientation of the plug axis Zp1recognized by the image capturing unit40when arranging the cap tool60near the plug10. The reason why the orientation of the cap axis Zc1is matched to the orientation of the plug axis Zp1is that the orientation of the plug axis Zp1is not the same as the orientation of the axis Z1extending in the perpendicular direction.

As illustrated inFIG.6, the orientation of the plug axis Zp1is inclined by an angle θ1relative to the orientation of the axis Z1extending in the perpendicular direction on the XZ plane. It is possible to move the holding part61of the cap tool60to the cap part50along the plug axis Zp1by matching the orientation of the cap axis Zc1to the orientation of the plug axis Zp1.

Note that the attitude where the orientation of the plug axis Zp1and the orientation of cap axis Zc1match is not necessarily required to be an attitude where the orientation of the plug axis Zp1and the orientation of cap axis Zc1are the same. For example, even when the orientation of the plug axis Zp1and the orientation of the cap axis Zc1by a sufficiently small angle differ from each other relative to the angle θ1illustrated inFIG.6, such a case can be considered as the attitude where the orientation of the plug axis Zp1and the orientation of cap axis Zc1match. The same applies to the following description.

In step S105, the control unit70controls the robot30gripping the cap tool60to hold the cap part50by the cap tool60. The robot30moves the cap tool60to the cap part50along the plug axis Zp1. As illustrated inFIG.6, the cap tool60has the holding part61configured to hold the cap part50.

As illustrated inFIG.6, the holding part61is provided with the lock balls61athat generate pushing force toward the cap axis Zc1. Further, a housing groove52that can house the holding part61is formed in the top surface of the cap part50. As illustrated inFIG.5andFIG.6, a plurality of fixing grooves52ato which the plurality of lock balls61aare fixed are formed in the housing groove52.

The cap tool60moves toward the cap part50so that the holding part61is housed in the housing groove52and the lock balls61aare fixed to the fixing grooves52a. When the cap tool60is further moved downward with the lock balls61abeing in contact with the center part53of the cap part50, the spring62is contracted, and the pushing force of the spring62gradually increases.

When the pushing force of the spring62increases and the lock balls61amove in a direction away from the plug axis Zp1, the lock balls61amove to the positions of the fixing grooves52aand are fixed to the fixing grooves52a. This results in a state where the cap part50is held by the holding part61of the cap tool60.

The robot30then moves the cap tool60upward along the plug axis Zp1so that the contracted spring62becomes the equilibrium length, and the state illustrated inFIG.7is thus obtained. As illustrated inFIG.5, the center part53of the cap part50held by the holding part61has substantially a rectangular shape when viewed along the plug axis Zp1. Further, the holding part61has a recess whose shape viewed along the plug axis Zp1is substantially rectangular so as to house the substantially rectangular portion of the cap part50. The holding part61houses the center part53in the recess and thereby holds the cap part50without spinning the cap part50.

In step S106, the control unit70rotates the holding part61in the anticlockwise direction (predetermined direction) with the cap part50being held by the holding part61to detach the cap part50from the plug10. When the cap part50is rotated anticlockwise, the engagement between the external thread12bof the plug10and the internal thread51aof the cap part50is released, the state illustrated inFIG.8is thus obtained, and the cap part50is detached from the plug10. When the engagement between the external thread12bof the plug10and the internal thread51aof the cap part50is released, the holding part61comes close to the cap tool body65, the spring62is contracted, and the shaft part66is retracted in the cap tool body65.

In step S106, the control unit70controls the robot30to move the cap tool60to a cap standby position (the position of reference50inFIG.3) with the cap part50being held by the holding part61. A fixing part (not illustrated) having an external thread that engages with the internal thread51aof the cap part50is installed at the cap standby position.

The cap tool60transmits, to the holding part61, rotational power with which the rotary shaft63rotates clockwise about the cap axis Zc1, engages the cap part50with the internal thread of the fixing part, and fixes the cap part50to the fixing part. The control unit70then controls the robot30to move the cap tool60not holding the cap part50to a cap tool standby position (the position of reference60inFIG.3). In accordance with step S102to step S107described above, the cap part50is detached from the plug10.

In step S108, the control unit70controls the image capturing unit40to recognize the position of the plug10and the orientation of the plug axis Zp1. The process in step S108is the same as the process in step S102. The reason why the position of the plug10and the orientation of the plug axis Zp1are recognized again in step S108is that the position of the plug10and the orientation of the plug axis Zp1may change when the cap part50is detached.

In step S109, the control unit70controls the robot30to grip the socket20installed on the installation table TB2. The control unit70stores in advance the position of the socket20installed on the installation table TB2and moves the hand31to a position near the socket20to grip the socket20.

In step S110(gripping step), the control unit70controls the robot30so that the socket20moves close to the plug10with the hand31gripping the socket20. The control unit70controls the robot30so that the protrusion22is arranged at a position distant by a certain distance along the plug axis Zp1from the coordinates P of the plug10recognized in step S108.

The robot30grips the socket20so that the socket20and the plug10are in an attitude where the orientation of the socket axis Zs1matches the orientation of the plug axis Zp1recognized by the image capturing unit40when arranging the socket20near the plug10. The reason why the orientation of the socket axis Zs1is matched to the orientation of the plug axis Zp1is that the orientation of the plug axis Zp1is not the same as the orientation of the axis Z1extending in the perpendicular direction.

As illustrated inFIG.9, the orientation of the plug axis Zp1is inclined by an angle θ2relative to the orientation of the axis Z1extending in the perpendicular direction on the XZ plane. It is possible to move the protrusion22of the socket20to the plug10along the plug axis Zp1by matching the orientation of the socket axis Zs1to the orientation of the plug axis Zp1.

In step S111, the control unit70controls the robot30to insert the socket20in the plug10. The robot30moves the hand31along the plug axis Zp1so as to insert the protrusion22into the groove12of the plug10. As illustrated inFIG.10, the robot30inserts the protrusion22in the groove12so that the lock balls22aare arranged at positions distant by a predetermined distance (first predetermined distance) L1from the fixing groove12aon the plug axis Zp1. When the protrusion22of the socket20has been inserted in the groove12of the plug10, the state illustrated inFIG.10is obtained.

In step S112(coupling step), the control unit70controls the socket20to fix the socket20to the plug10. The socket20has an adjustment unit23that moves the protrusion22toward the bottom of the groove12of the plug10. The adjustment unit23adjusts the position on the socket axis Zs1of the lock balls22awith respect to the grip position gripped by the hand31of the robot30to obtain a state where the lock balls22aare arranged in the fixing groove12a.

When the lock balls22ahave been arranged in the fixing groove12a, a state where the lock balls22ahave been fixed to the fixing groove12ais obtained due to the pushing force of the spring24. Thus, unless upward force overcoming the pushing force of the spring24is applied, the state where the socket20is fixed to the plug10is maintained.

As illustrated inFIG.10, in a state where the lock balls22aare not arranged in the fixing groove12a, a valve25is in contact with a body26, and a state where the lower end of the socket side liquid channel21is sealed is obtained. In contrast, in a state where the lock balls22aare arranged in the fixing groove12a, the body26comes into contact with the tip of the plug10, and in response, the valve25is spaced apart from the body26. Accordingly, the sealing of the socket side liquid channel21is released, and the socket side liquid channel21is coupled to the plug side liquid channel11.

In step S113, the control unit70controls the robot30to release the state where the hand31grips the socket20and move the hand31to a predetermined standby position.

In step S114, the control unit70activates a pump (not illustrated) connected to the liquid pipe LL1to start supplying the liquid contained in the liquid storage container200to the supply target device. The control unit70controls a gas source (not illustrated) connected to the gas pipe GL1to supply the liquid storage container200with a gas (for example, air or nitrogen) corresponding to the volume of the liquid extracted from the liquid storage container200.

The gas supplied from the gas pipe GL1to the socket20flows through inside of the socket20and is supplied to a space above the liquid storage container200via the plug side gas channel13. The liquid that has reached the upper end of the plug side liquid channel11is guided to the liquid pipe LL1via the socket side liquid channel21. The liquid guided to the liquid pipe LL1is supplied to the supply target device. As set forth, liquid supply to the supply target device by the liquid supply device100is started.

While the supply of the liquid to the supply target device by the liquid supply device100is continued as long as the liquid in the liquid storage container200remains, the liquid storage container200is required to be replaced with a new liquid storage container200when the liquid in the liquid storage container200is depleted or reduced below a predetermined amount. Next, to replace the liquid storage container200, a process of detaching the socket20from the plug10will be described with reference toFIG.12.

In step S201, the control unit70performs control to stop the operation of the pump connected to the liquid pipe LL1and stop supplying the gas to the socket20from the gas source connected to the gas pipe GL1. When the operation of the pump is stopped, the liquid supply from the liquid storage container200to the liquid pipe LL1is stopped.

In step S202, the control unit70controls the robot30to move the hand31from a predetermined standby position to a position where the hand31can grip the socket20and to cause the hand31to grip the socket20. When the hand31grips the socket20, the state illustrated inFIG.11is obtained.

In step S203, the control unit70controls the socket20to release the fixed state where the socket20is fixed to the plug10. The adjustment unit23adjusts the position on the socket axis Zs1of the lock balls22awith respect to the grip position gripped by the hand31of the robot30to obtain a state where the lock balls22aare not arranged in the fixing groove12a.

The adjustment unit23applies upward force overcoming the pushing force of the spring24to contract the spring24. When the spring24is contracted, the state where the lock balls22aare fixed to the fixing groove12ais released, the lock balls22amove to positions away from the fixing groove12a, and the state illustrated inFIG.10is obtained. The control unit70then controls the robot30to pull the socket20from the plug10. The robot30moves the hand31along the plug axis Zp1to pull the protrusion22from the groove12of the plug10.

In step S204, the control unit70controls the robot30to move the hand31to a washing container WC installed on an installation table TB2with the hand31gripping the socket20. The washing container WC stores a washing liquid (for example, pure water) that washes the liquid attached to the socket20.

When the liquid attached to the socket20is a chemical solution such as slurry that is solidified upon contact with atmospheric air, by immersing the socket20in a washing liquid, it is possible to prevent the chemical solution from being left attached to the socket20and then dried and solidified. Note that it is desirable to continuously supply the washing container WC with a new washing liquid and maintain the socket20uncontaminated.

In step S205, the control unit70controls the robot30to release the state where the hand31grips the socket20and thereby cause the hand31to release the socket20. The control unit70then controls the robot30so that the hand31moves to a predetermined standby position. As set forth, the operation to detach the socket20from the plug10is completed.

In step S206, the control unit70controls the image capturing unit40to recognize the position of the plug10and the orientation of the plug axis Zp1. The process of step S206is the same as the step of step S102.

In step S207, the control unit70controls the robot30to grip the cap tool60installed on the installation table TB1. The control unit70stores in advance the cap tool standby position of the cap tool60installed on the installation table TB1(the position of reference60inFIG.4) and controls the robot30to move the hand31to the cap tool standby position to grip the cap tool60. The control unit70then controls the robot30to move the cap tool60to the cap standby position (the position of reference50inFIG.3) to hold the cap part50by the holding part61.

In step S208, the control unit70controls the robot30to move the cap tool60near the plug10with the hand31gripping the cap tool60. The control unit70controls the robot30so that the holding part61is arranged at a position distant by a certain distance along the plug axis Zp1with respect to the coordinates P of the plug10recognized in step S206, and the state illustrated inFIG.13is obtained.

The robot30grips the cap tool60so that the cap part50and the plug10are in an attitude where the orientation of the cap axis Zc1matches the orientation of the plug axis Zp1recognized by the image capturing unit40when arranging the cap tool60near the plug10. The reason why the orientation of the cap axis Zc1is matched to the orientation of the plug axis Zp1is that the orientation of the plug axis Zp1is not the same as the orientation of the axis Z1extending in the perpendicular direction.

As illustrated inFIG.13, the orientation of the plug axis Zp1is inclined by an angle θ3relative to the orientation of the axis Z1extending in the perpendicular direction on the XZ plane. It is possible to move the cap part50held by the holding part61of the cap tool60toward the plug10along the plug axis Zp1by matching the orientation of the cap axis Zc1to the orientation of the plug axis Zp1. After the state illustrated inFIG.13is obtained, the control unit70controls the robot30to move the cap part50toward the plug10along the plug axis Zp1, and the state illustrated inFIG.8is obtained.

In step S209, the control unit70controls the robot30gripping the cap tool60to attach the cap part50to the plug10. The robot30moves the cap tool60toward the cap part50along the plug axis Zp1, and the state illustrated inFIG.8is obtained. The control unit70rotates the holding part61by the transmission part64in the clockwise direction (the opposite direction to the predetermined direction) with the cap part50being held by the holding part61. Accordingly, the external thread12bof the plug10and the internal thread51aof the cap part50are engaged with each other, and the cap part50is attached to the plug10.

The cap tool60transmits rotational power in the clockwise direction of the rotary shaft63to the holding part61by the transmission part64to rotate the cap part50clockwise. In response to clockwise rotation of the cap part50, the external thread12bof the plug10and the internal thread51aof the cap part50are engaged with each other to form the state illustrated inFIG.7, and the cap part50is attached to the plug10.

In step S210, the control unit70controls the cap tool60so that the holding part61moves upward along the cap axis Zc1, and the state illustrated inFIG.6where the cap part50is detached from the holding part61is obtained. The control unit70then controls the robot30to move the cap tool60to the cap tool standby position with the hand31gripping the cap tool60.

In step S211, the control unit70removes the used liquid storage container200to a disposal place (not illustrated). For example, the control unit70moves an unmanned carriage vehicle (not illustrated) carrying the used liquid storage container200thereon and thereby removes the liquid storage container200to the disposal place. Note that the worker may use a carriage vehicle (not illustrated) to remove the liquid storage container200.

The effects and advantages achieved by the liquid supply device100of the present embodiment described above will be described.

According to the liquid supply device100of the present embodiment, the image capturing unit40recognizes the orientation of the plug axis Zp1of the plug10, and the robot30grips the socket20so that the socket20and the plug10are in an attitude where the orientation of the socket axis Zs1matches the orientation of the plug axis Zp1. The socket20gripped by the robot30is inserted in the plug10, and thereby the socket side liquid channel21is coupled to the plug side liquid channel11. Since the socket20is gripped by the hand31of the robot30in a suitable attitude with respect to the orientation of the plug10, it is possible to reliably couple the socket side liquid channel21to the plug side liquid channel11regardless of the orientation of the plug10fixed to the first opening210of the liquid storage container200.

Further, according to the liquid supply device100of the present embodiment, it is possible to obtain a state where the protrusion22of the socket20is inserted in the groove12of the plug10by the robot30to form a fixed state where the lock balls22aare fixed to the fixing groove12aby the adjustment unit23of the socket20. Further, it is possible to adjust the position of the lock balls22aby using the adjustment unit23to release the fixed state where the lock balls22aare fixed to the fixing groove12a.

Further, according to the liquid supply device100of the present embodiment, the image capturing unit40recognizes the orientation of the plug axis Zp1of the plug10, and the robot30grips the cap tool60so that the cap part50and the plug10are in an attitude where the orientation of the cap axis Zc1matches the orientation of the plug axis Zp1. The holding part61of the cap tool60gripped by the hand31is rotated in the anticlockwise direction, and thereby the cap part50held by the holding part61is detached from the plug10.

Since the cap tool60is gripped by the hand31in a suitable attitude with respect to the orientation of the plug10, the cap part50can be reliably detached from the plug10regardless of the orientation of the plug10fixed to the first opening210of the liquid storage container200. Further, it is possible to rotate the holding part61in the clockwise direction by using the cap tool60to attach the cap part50to the plug10.

Second Embodiment

Next, a liquid supply device100A of a second embodiment of the present disclosure will be described. The present embodiment is a modified example of the first embodiment and is substantially the same as the first embodiment, and the description thereof will be omitted below except when particular description is provided below.

The liquid supply device100of the first embodiment is to attach the socket20to the plug10fixed to the first opening210of the liquid storage container200, supply a gas to the liquid storage container200via the socket20, and thereby supply a liquid to a supply target device. In contrast, as illustrated inFIG.14, the liquid supply device100A of the present embodiment is to attach sockets20to plugs10fixed to both the first opening210and the second opening220.

As illustrated inFIG.14, the liquid supply device100A of the present embodiment has the plugs10fixed to both the first opening210and the second opening220and the sockets20to which the plugs10are attached. The structure and the function of each plug10and each socket20are the same as those in the first embodiment.

The socket20attached to the plug10fixed to the first opening210is connected to a liquid pipe LL1that supplies a liquid to a supply target device. The socket20attached to the plug10fixed to the second opening220is connected to a liquid pipe LL2that returns a liquid circulating from the supply target device to the liquid storage container200. In the present embodiment, the liquid supplied to the supply target device via the liquid pipe LL1is returned to the liquid storage container200via the liquid pipe LL2to circulate the liquid.

Cap parts50are attached in advance to both the plug10fixed to the first opening210and the plug10fixed to the second opening220. In the present embodiment, first, the liquid storage container200on which the cap parts50are attached to both the first opening210and the second opening220is carried into a predefined position within a motion range of the robot30.

The control unit70then performs steps S102to S113ofFIG.4on the first opening210. This operation results in a state where the socket20is attached to the plug10of the first opening210. The control unit70then performs steps S102to S113ofFIG.4on the second opening220. This operation results in a state where the socket20is attached to the plug10of the second opening220.

The control unit70activates a pump (not illustrated) connected to the liquid pipe LL1after the sockets20have been attached to both the plug10of the first opening210and the plug10of the second opening220. Once the operation of the pump is started, the liquid is supplied from the liquid storage container200to the supply target device via the liquid pipe LL1, and the liquid is returned from the supply target device to the liquid storage container200via the liquid pipe LL2. The gas used for replacing the volume of the liquid supplied from the liquid storage container200to the outside is supplied from both the gas pipe GL1and the gas pipe GL2to the liquid storage container200. Note that only one of the gas pipe GL1and the gas pipe GL2illustrated inFIG.14may be connected to the socket20to supply the gas from the single gas pipe to the liquid storage container200.

According to the liquid supply device100A of the present embodiment, it is possible to reliably couple the socket side liquid channel21to the plug side liquid channel11regardless of the orientation of the plug10fixed to the first opening210of the liquid storage container200. Further, it is possible to reliably couple the socket side liquid channel21to the plug side liquid channel11regardless of the orientation of the plug10fixed to the second opening220of the liquid storage container200.

Third Embodiment

Next, a liquid supply device100B of a third embodiment of the present disclosure will be described. The present embodiment is a modified example of the first embodiment and is substantially the same as the first embodiment, and the description thereof will be omitted below except when particular description is provided below.

The liquid supply device100of the first embodiment is to attach the socket20to the plug10fixed to the first opening210of the liquid storage container200, supply a gas to the liquid storage container200via the socket20, and thereby supply a liquid to a supply target device. In contrast, as illustrated inFIG.15, the liquid supply device100B of the present embodiment is to fix a plug80to the second opening220to attach a socket90.

The plug (second plug)80has a plug side gas channel81fixed to the second opening220and extending along a plug axis (second plug axis) Zp2. The plug side gas channel81communicates with a space above the liquid storage container200. An external thread is formed in the outer circumferential surface of the upper end of the plug80. The external thread of the plug80is engaged with the internal thread of the second opening220, and thereby the plug80is fixed to the second opening220.

The socket90is detachably attached to the plug80and has a socket side gas channel91extending along the socket axis (second socket axis) Zs2. The socket90is connected to a gas pipe GL3used for supplying a gas to the liquid storage container200. The socket90is gripped by the hand31of the robot30.

The cap parts50are attached in advance to both the plug10fixed to the first opening210and the plug80fixed to the second opening220. In the present embodiment, first, the liquid storage container200in which the cap parts50are attached to both the first opening210and the second opening220is carried into a predefined position within a motion range of the robot30.

The control unit70then performs steps S102to S113ofFIG.4on the first opening210. This operation results in a state where the socket20is attached to the plug10of the first opening210. The control unit70then performs steps S102to S113ofFIG.4on the second opening220. This operation results in a state where the socket90is inserted in the plug80of the second opening220, and the socket side gas channel91is coupled to the plug side gas channel81.

The control unit70activates a pump (not illustrated) connected to the liquid pipe LL1after the socket20has been attached to the plug10of the first opening210and the socket90has been attached to the plug80of the second opening220. Once the operation of the pump is started, the liquid is supplied from the liquid storage container200to the supply target device via the liquid pipe LL1. The gas used for replacing the volume of the liquid supplied from the liquid storage container200to the outside is supplied from the gas pipe GL3to the liquid storage container200via socket90.

According to the liquid supply device100B of the present embodiment, it is possible to reliably couple the socket side liquid channel21to the plug side liquid channel11regardless of the orientation of the plug10fixed to the first opening210of the liquid storage container200. Further, it is possible to reliably couple the socket side gas channel91to the plug side gas channel81regardless of the orientation of the plug80fixed to the second opening220of the liquid storage container200.

In the present embodiment, the shape of the portion of the plug10in which the socket20is inserted differs from the shape of the portion of the plug80in which the socket90is inserted. Further, the shape of the portion of the socket20to be inserted in the plug10differs from the shape of the portion of socket90to be inserted in the plug80. Thus, it is not possible to connect the socket90to the plug10even when the worker tries to do so, and it is not possible to connect the socket20to the plug80even when the worker tries to do so. This can prevent an erroneous connection of the socket90to the plug10and an erroneous connection of the socket20to the plug80.

Although a gas is supplied from the gas pipe GL3to the liquid storage container200via the socket90in order to replace the volume of a liquid supplied from the liquid storage container200to the outside in the present embodiment, another aspect may be employed. For example, to pressurize the space above the liquid storage container200, a gas may be supplied from the gas pipe GL3to the liquid storage container200via the socket90. In such a case, the liquid stored in the liquid storage container200is supplied from the liquid storage container200to the supply target device via the liquid pipe LL1by the pressure of the gas supplied from the gas pipe GL3.