• Journal of the Korean Society of Industry Convergence
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• v.25 no.5
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• pp.909-915
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• 2022

In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.6_1
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• pp.953-959
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• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• Journal of the Korean Institute of Gas
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• v.24 no.3
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• pp.54-62
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• 2020

Watching the leakage accident of the Gumi Hube Global AHF(Anhydrous fluoric Acid), I experienced how much chemical accidents affect on our society. Since then, many studies have been conducted on chemical accident in many fields. The use department wanted to find improvement plans for the process system and apply them to the field. The safety field wanted to study improvement of safety through the analysis of damage effects and apply them to emergency response to reduce damage effects. In this study, Mechanical safe devices have been applied which can respond quickly to chemical accidents occurring during the charging operation to enhance the safety of the AFH ISO Tank(Anhydrous fluoric Acid International Organization for Standardization Tank). Investigation of similar tanks confirmed that other chlorine tanks with the same working procedure as AHF ISO Tank have a mechanical safety device, EFV(Excess Flow Valve). Applicability and performance for emergency shutdown when EFV is introduced in AHF ISO Tank can be verified by comparing and examining the accident situation of Hube Global Accident and the accident in Ulsan 2018. Comparing accident cases, expected performance and applicability, It is suggested that EFV, a mechanical safety device that can reduce damage from chemical accidents to the tank and handle accidents early, should be introduced to the tank.