Automatic acid soaking and washing device

Abstract

The invention discloses an automatic acid soaking and washing device, and relates to the technical field of laboratory equipment. The supporting bottom frame is installed on the bottom inner wall of the closed operation cabin, and the top face of the supporting bottom frame is in a step shape with the height reduced step by step; through cooperative work of the closed operation cabin, the vessel conveying mechanism, the multi-stage soaking tank group and the main controller, by means of an automatic conveying function of a six-axis mechanical arm and a self-adaptive pneumatic clamp, vessel recognition of an industrial camera and safety protection design of an anti-collision sensor are matched; automatic, accurate and continuous conveying of vessels in the whole process of primary acid leaching, secondary acid leaching, ultrasonic treatment, rinsing and drying is achieved, personnel are completely prevented from making direct contact with concentrated acid and being exposed to acid mist, a standard cleaning program is preset through the main controller, the problem that the cleaning effect is unstable due to manual operation differences is solved, and the cleaning efficiency is improved. And the repeatability and reliability of vessel cleaning are improved.

Description

Technical Field

[0001] This invention relates to the field of laboratory equipment technology, and specifically to an automatic acid soaking and washing device. Background Technology

[0002] In analytical chemistry laboratories, the cleanliness of glassware and quartzware directly affects the accuracy of experimental results. In particular, in trace analysis experiments, trace contaminants on the surface of the glassware may lead to experimental failure or data deviation. Acid immersion is the most commonly used glassware cleaning method in laboratories, which effectively removes inorganic and organic contaminants from the surface of glassware by immersing in strong acid.

[0003] The acid immersion washing method commonly used in laboratories at present is mainly manual operation. Experimenters need to manually complete the entire process, including putting the glassware into the tank, taking it out at regular intervals, and rinsing it multiple times. This is not only because direct contact with concentrated acid can easily cause chemical burns and long-term exposure to acid mist environment can harm human health, but also because the process is time-consuming and labor-intensive. The cleaning cycle for a single glassware can take several hours to several days, and the cleaning effect is highly dependent on the operator's experience, making it difficult to guarantee the repeatability of the cleaning effect. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic acid soaking and washing device that solves the problems of dangerous manual operation, acid waste, and inconsistent cleaning effect in traditional acid soaking and washing.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic acid soaking and washing device, comprising a sealed operating chamber; A support frame is installed on the inner wall of the sealed operating chamber. The top surface of the support frame is in the shape of a stepped structure with gradually decreasing height. The top of the support frame is equipped with a primary acid soaking tank, a secondary acid soaking tank, an ultrasonic cleaning tank, an ultrapure water rinsing tank and a hot air drying tank in sequence from high to low. A vessel conveying mechanism is installed on the outer wall of the supporting base; The vessel conveying mechanism includes a conveying frame, a fixed frame, a moving mechanism, a six-axis robotic arm, an adaptive pneumatic gripper, an industrial camera, and multiple anti-collision sensors. The fixed frame is installed at the bottom of the conveying frame, the moving mechanism is installed between the inner walls of both sides of the conveying frame, the six-axis robotic arm is installed at the top of the moving mechanism, the adaptive pneumatic gripper is installed at the end of the six-axis robotic arm, the industrial camera is installed on the outer wall of the end of the six-axis robotic arm, and the multiple anti-collision sensors are respectively installed on the outer wall of each joint of the six-axis robotic arm. An acid circulation mechanism is installed on the right side of the bottom inner wall of the sealed operating chamber; The waste liquid treatment mechanism is installed on the left side of the bottom inner wall of the sealed operating chamber; The main controller is installed on the lower side of the outer wall of the sealed operating cabin.

[0006] Furthermore, the moving mechanism includes a moving screw, a drive assembly, a moving seat, a first protective sleeve, and a second protective sleeve. The moving screw is mounted between the inner walls of both sides of the conveying frame via bearings. The drive assembly is mounted on one end of the moving screw. The moving seat is threaded onto the outer wall of the moving screw. The first protective sleeve is fitted onto one side of the outer wall of the moving screw, and the second protective sleeve is fitted onto the other side of the outer wall of the moving screw.

[0007] Furthermore, the acid circulation mechanism includes an acid storage tank, an insulation jacket, an overflow pipe, an original acid bottle, and a filtration mechanism. The acid storage tank is installed on the bottom inner wall of the sealed operating chamber, the insulation jacket is installed on the outer wall of the acid storage tank, the overflow pipe is installed at the top center of the acid storage tank, and the other end of the overflow pipe is connected to the upper side of the outer wall of the primary acid soaking tank. The original acid bottle is connected to one side of the top of the acid storage tank through a pipe with a solenoid valve, and the filtration mechanism is installed at the bottom of the acid storage tank.

[0008] Furthermore, the filtration mechanism includes a circulating pump, a suction pipe, a delivery pipe, a filter, and a return pipe. The circulating pump is installed on the bottom inner wall of the sealed operating chamber. The suction pipe is connected to the inlet of the circulating pump, and the other end of the suction pipe is connected to the outlet of the acid storage tank. The delivery pipe is connected to the outlet of the circulating pump. The filter is installed at the top of the delivery pipe. The return pipe is installed on the upper side of the outer wall of the filter, and the other end of the return pipe is connected to the upper side of one end of the primary acid soaking tank.

[0009] Furthermore, the waste liquid treatment mechanism includes a neutralization reaction tank, a neutralizing agent storage tank, a gas transmission pipe, a waste gas absorption tower, and two agitators. The neutralization reaction tank is installed on the bottom inner wall of the sealed operating chamber. The neutralizing agent storage tank is connected to one end of the neutralization reaction tank through a pipe with a solenoid valve. The gas transmission pipe is installed on one side of the top of the neutralization reaction tank. The waste gas absorption tower is installed at one end of the gas transmission pipe that penetrates the side wall of the sealed operating chamber. The two agitators are respectively installed on both sides of the outer wall of the neutralization reaction tank.

[0010] Furthermore, the waste liquid treatment mechanism also includes two transmission pipes, two waste acid collection tanks, and two collection pipes. The two transmission pipes are installed on the lower side of the other end of the neutralization reaction tank. The two waste acid collection tanks are respectively installed on the other end of the two transmission pipes. The two collection pipes are respectively installed on the top of the two waste acid collection tanks, and the other end of the two collection pipes is connected to the bottom end of the primary acid soaking tank and the secondary acid soaking tank, respectively.

[0011] Furthermore, an observation window is embedded in the middle of the outer wall of the sealed operating chamber, a sealing door is embedded in the upper side of one end and the lower side of the other end of the sealed operating chamber, and a shelf is installed in the upper side of one end and the lower side of the other end of the sealed operating chamber.

[0012] Furthermore, the drive assembly, six-axis robotic arm, adaptive pneumatic gripper, industrial camera, and multiple anti-collision sensors are all electrically connected to the main controller. The moving seat is configured with a trapezoidal structure, and the bottom of the moving seat has a groove adapted to the conveyor frame. Both the first protective sleeve and the second protective sleeve are configured with a folding structure.

[0013] Furthermore, the circulating pump and the insulation jacket are both electrically connected to the main controller, the acid storage tank is equipped with an online density meter and a temperature sensor, and the insulation jacket is a water bath jacket.

[0014] Furthermore, a pH sensor is installed on the neutralization reaction tank, a liquid level sensor is installed on the waste acid collection tank, and a solenoid valve is installed on the collection pipe.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention achieves automatic, precise and continuous transfer of vessels throughout the entire process of primary acid immersion, secondary acid immersion, ultrasonication, rinsing and drying by working together with a sealed operating chamber, a vessel transfer mechanism, a multi-stage soaking tank group and a main controller, and with the automated transfer function of a six-axis robotic arm and an adaptive pneumatic clamp, combined with the safety protection design of industrial camera vessel recognition and anti-collision sensor. This completely avoids direct contact between personnel and concentrated acid and exposure to acid mist. By pre-setting standardized cleaning programs by the main controller, the problem of unstable cleaning effect caused by human operation differences is avoided, and the repeatability and reliability of vessel cleaning are improved.

[0016] (2) This invention achieves real-time monitoring and automatic replenishment of acid concentration, precise temperature control and cyclic filtration of particulate pollutants through the coordinated work of acid storage tank, insulation jacket, overflow pipe, original acid bottle and filtration mechanism. This ensures that the acid is always in the best cleaning activity state, greatly extends the service life of the acid, reduces acid waste and lowers the experimental cost. At the same time, the linkage between the overflow pipe and the soaking tanks at each level ensures the stable circulation and cleanliness of the acid during the cleaning process.

[0017] (3) This invention achieves the classified collection, automatic neutralization treatment and efficient purification of acid mist by the coordinated operation of components such as neutralization reaction tank, neutralizing agent storage tank, gas transmission pipe, waste gas absorption tower and agitator. The pH sensor on the neutralization reaction tank monitors the neutralization effect in real time to ensure that the waste liquid meets the discharge standards. The waste gas absorption tower further removes acid mist through packing adsorption, avoiding pollution of the environment by waste acid and waste gas, and meeting the environmental protection and safety requirements of the laboratory. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention; Figure 2 A schematic diagram of the structure without the sealed operating chamber is provided for an embodiment of the present invention; Figure 3 A schematic diagram of the vessel conveying mechanism is provided for an embodiment of the present invention; Figure 4 A structural cross-sectional view of the moving mechanism is provided for embodiments of the present invention; Figure 5 A schematic diagram of the acid circulation mechanism is provided for an embodiment of the present invention; Figure 6 A schematic diagram of the filtration mechanism is provided for an embodiment of the present invention; Figure 7 A schematic diagram of the waste liquid treatment mechanism is provided for an embodiment of the present invention; Figure 8 A schematic diagram of the waste liquid collection component is provided for an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1. Sealed operating chamber; 2. Support frame; 3. Vessel conveying mechanism; 4. Acid circulation mechanism; 5. Waste liquid treatment mechanism; 6. Primary acid soaking tank; 7. Secondary acid soaking tank; 8. Ultrasonic cleaning tank; 9. Ultrapure water rinsing tank; 10. Hot air drying tank; 11. Main controller; 12. Observation window; 13. Sealed door; 14. Shelf; 31. Conveying frame; 32. Fixed frame; 33. Moving mechanism; 34. Six-axis robotic arm; 35. Adaptive pneumatic clamp; 36. Industrial camera; 37. Anti-collision sensor; 331. Moving screw 332. Rod; 333. Drive assembly; 334. Moving base; 335. First protective sleeve; 336. Second protective sleeve; 47. Acid storage tank; 48. Insulation jacket; 49. Overflow pipe; 40. Original acid bottle; 41. Filtering mechanism; 42. Circulating pump; 43. Liquid extraction pipe; 44. Liquid delivery pipe; 455. Filter; 46. Return pipe; 57. Neutralization reaction tank; 58. Neutralizing agent storage tank; 59. Gas delivery pipe; 50. Waste gas absorption tower; 51. Stirrer; 52. Transfer pipe; 53. Waste acid collection tank; 54. Collection pipe. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] As attached Figure 1 To be continued Figure 8 As shown: Example 1: This invention provides an automatic acid immersion washing device, including a sealed operating chamber 1, which is integrally welded from 304 stainless steel. The inner wall of the chamber is coated with a polytetrafluoroethylene anti-corrosion coating, which has strong acid corrosion resistance and sealing properties, effectively preventing acid mist leakage and ensuring a safe operating environment. The support frame 2, installed on the inner wall of the sealed operating chamber 1, is made of high-strength aluminum alloy profiles. The top surface of the support frame 2 is stepped with gradually decreasing height. From high to low, the top of the support frame 2 is equipped with a primary acid soaking tank 6, a secondary acid soaking tank 7, an ultrasonic cleaning tank 8, an ultrapure water rinsing tank 9, and a hot air drying tank 10, providing soaking treatments with different cleaning levels. The primary acid soaking tank 6 is filled with 20%-30% nitric acid or hydrochloric acid to remove stubborn contaminants. The secondary acid soaking tank 7 is filled with 5%-10% dilute acid to remove residual contaminants. The ultrasonic cleaning tank 8 is used with a neutral cleaning agent for deep cleaning. The ultrapure water rinsing tank 9 adopts a counter-current rinsing design to save water to the maximum extent and ensure no acid residue. The hot air drying tank 10 uses HEPA filtered hot air for efficient drying and avoids secondary pollution. The vessel conveying mechanism 3 is installed on the outer wall of the supporting base 2 to realize the automatic transfer of vessels between workstations; The vessel conveying mechanism 3 includes a conveying frame 31, a fixed frame 32, a moving mechanism 33, a six-axis robotic arm 34, an adaptive pneumatic gripper 35, an industrial camera 36, ​​and multiple anti-collision sensors 37. The fixed frame 32 is installed at the bottom of the conveying frame 31, the moving mechanism 33 is installed between the inner walls of both sides of the conveying frame 31, the six-axis robotic arm 34 is installed at the top of the moving mechanism 33 and has a weight sensing function, the adaptive pneumatic gripper 35 is installed at the end of the six-axis robotic arm 34 and is adapted to various sizes of beakers, volumetric flasks, and digestion tubes. It can automatically adjust the gripping force according to the shape of the vessel, the industrial camera 36 is installed on the outer wall of the end of the six-axis robotic arm 34 and automatically identifies the type and degree of contamination of the vessel and assigns an appropriate cleaning program, and multiple anti-collision sensors 37 are respectively installed on the outer wall of each joint of the six-axis robotic arm 34 to ensure safe operation. The acid circulation mechanism 4 is installed on the right side of the bottom inner wall of the sealed operating chamber 1 and is used for the storage, transportation and concentration maintenance of acid. Waste liquid treatment unit 5 is installed on the left side of the bottom inner wall of the sealed operating chamber 1 and is used for the collection and neutralization of waste acid. The main controller 11 is installed on the lower side of the outer wall of the sealed operating chamber 1, and consists of an industrial-grade PLC and a touch screen. The moving mechanism 33 includes a moving screw 331, a drive assembly 332, a moving base 333, a first protective sleeve 334, and a second protective sleeve 335. The moving screw 331 is mounted between the inner walls of both sides of the conveying frame 31 via bearings. The drive assembly 332 is mounted on one end of the moving screw 331. The drive assembly 332 is a servo motor or a pneumatic motor used to drive the moving screw 331 to rotate. The moving base 333 is threaded onto the outer wall of the moving screw 331. The first protective sleeve 334 is sleeved on one side of the outer wall of the moving screw 331, and the second protective sleeve 335 is sleeved on the other side of the outer wall of the moving screw 331. An observation window 12 is embedded in the middle of the outer wall of the sealed operating chamber 1. It is made of transparent explosion-proof glass. Sealing doors 13 are embedded in the upper side of one end and the lower side of the other end of the sealed operating chamber 1. They adopt a pneumatic locking structure to ensure that there is no leakage of acid mist. The door is equipped with a safety interlock device. The equipment will automatically stop when the door is opened. A shelf 14 is installed on the upper side of one end and the lower side of the other end of the sealed operating chamber 1. The drive assembly 332, the six-axis robotic arm 34, the adaptive pneumatic gripper 35, the industrial camera 36, ​​and multiple anti-collision sensors 37 are all electrically connected to the main controller 11 to achieve coordinated automated operation of each component, ensuring a precise and efficient cleaning process. The moving seat 333 is designed with a trapezoidal structure to ensure its own structural stability. The bottom of the moving seat 333 has a groove that matches the conveyor frame 31, which enables precise engagement and positioning with the conveyor frame 31, ensuring the synchronization and reliability of the two during linkage. The first protective sleeve 334 and the second protective sleeve 335 are both designed with a folding structure to adapt to the extension, swing, and other movement trajectories of the robotic arm or related components. Without affecting the operation of the equipment, they provide dust and acid mist corrosion protection for the moving screw 331.

[0023] Working principle: The experimenter opens the sealed door 13 and places the vessel to be cleaned on the shelf 14. After the main controller 11 is started, the industrial camera 36 in the vessel conveying mechanism 3 first identifies the type and position of the vessel. The drive component 332 drives the moving screw 331 to rotate, so that the moving seat 333 moves smoothly along the conveying frame 31, thereby driving the six-axis robotic arm 34 to adjust its position. The adaptive pneumatic clamp 35 at the end precisely clamps the vessel, and the anti-collision sensors 37 on the outer wall of each joint of the six-axis robotic arm 34 monitor the surrounding environment in real time to avoid operational interference. Subsequently, the six-axis robotic arm 34 transfers the vessel sequentially to the primary acid soaking tank 6, secondary acid soaking tank 7, ultrasonic cleaning tank 8, ultrapure water rinsing tank 9 and hot air drying tank 10, which are distributed in a stepped manner on the top surface of the support base 2, to complete the process. The entire process of graded soaking, ultrasonic deep cleaning, pure water rinsing and drying realizes the automatic, precise and continuous transfer of the vessels through the primary acid soaking, secondary acid soaking, ultrasonic cleaning, rinsing and drying process, completely avoiding the risk of personnel directly contacting concentrated acid and being exposed to acid mist. Throughout the process, the first protective sleeve 334 and the second protective sleeve 335 of the moving mechanism 33 effectively prevent acid mist and impurities from corroding the moving screw 331. The sealed operating chamber 1 provides sealed protection, and the observation window 12 allows real-time observation of the internal operating status. The standardized cleaning program preset by the main controller 11 not only avoids the problem of unstable cleaning effect caused by human operation differences, but also significantly improves the repeatability and reliability of vessel cleaning, replacing traditional manual operation and fully ensuring the safety of operation and the consistency of cleaning effect.

[0024] Example 2: This embodiment is basically the same as the previous embodiment, except that the acid circulation mechanism 4 includes an acid storage tank 41, an insulation jacket 42, an overflow pipe 43, an original acid bottle 44, and a filter mechanism 45. The acid storage tank 41 is installed on the bottom inner wall of the sealed operating chamber 1 and is made of high-purity PTFE material. The insulation jacket 42 is installed on the outer wall of the acid storage tank 41. The overflow pipe 43 is installed at the top middle of the acid storage tank 41, and the other end of the overflow pipe 43 is connected to the upper side of the outer wall of the primary acid soaking tank 6. The original acid bottle 44 is connected to one side of the top of the acid storage tank 41 through a pipe with a solenoid valve. The filter mechanism 45 is installed at the bottom of the acid storage tank 41. The filtration mechanism 45 includes a circulation pump 451, a suction pipe 452, a delivery pipe 453, a filter 454, and a return pipe 455. The circulation pump 451 is installed on the bottom inner wall of the sealed operating chamber 1. The circulation pump 451 adopts an acid-resistant magnetic drive pump and has a shaft seal-free design to completely avoid the risk of acid leakage. The suction pipe 452 is connected to the inlet of the circulation pump 451, and the other end of the suction pipe 452 is connected to the outlet of the acid storage tank 41. The delivery pipe 453 is connected to the outlet of the circulation pump 451. The filter 454 is installed at the top of the delivery pipe 453 and can remove particulate contaminants in the acid. The return pipe 455 is installed on the upper side of the outer wall of the filter 454, and the other end of the return pipe 455 is connected to the upper side of one end of the primary acid soaking tank 6. Both the circulating pump 451 and the insulation jacket 42 are electrically connected to the main controller 11, enabling the main controller 11 to precisely control the acid circulation rate and automatically adjust the water temperature of the insulation jacket 42. This allows the operating parameters of the acid circulation system to match the cleaning process requirements in real time. The acid storage tank 41 is equipped with an online density meter and a temperature sensor, which can collect the concentration and temperature data of the acid in the tank in real time and feed them back to the main controller 11, providing data support for automatic replenishment of acid concentration and precise temperature control. The insulation jacket 42 is a water bath jacket, which can make the acid temperature in the acid soaking tank uniformly and stably maintained within the optimal working range of 20-50℃ through heat conduction of the constant temperature circulating water in the jacket, avoiding local overheating or temperature fluctuations that may affect the cleaning effect.

[0025] Working principle: After the main controller 11 is started, in addition to driving the vessel conveying mechanism 3 to transfer the vessels to the primary acid soaking tank 6, secondary acid soaking tank 7 and other stations for grading according to the preset program, the acid circulation mechanism 4 is started simultaneously. The acid storage tank 41 stores the cleaning acid. The heat insulation jacket 42 on its outer wall is precisely maintained by the main controller 11 to maintain the acid temperature. The online density meter and temperature sensor on the acid storage tank 41 collect the acid concentration and temperature data in real time and feed them back to the main controller 11. When the concentration is lower than the preset value, the main controller 11 controls the solenoid valve on the pipeline between the original acid bottle 44 and the acid storage tank 41 to open, automatically replenishing concentrated acid to ensure the acid activity. At the same time, the circulation pump 451 draws the acid in the acid storage tank 41 through the extraction pipe 452 and delivers it to the filter 454 through the delivery pipe 453. After filtering particulate impurities, the filtered clean acid solution is returned to the primary acid soaking tank 6 through the return pipe 455. Excess acid solution in the primary acid soaking tank 6 is returned to the acid storage tank 41 through the overflow pipe 43, forming a closed-loop circulation. This ensures that the acid solution is always in the optimal cleaning activity state, greatly extends the service life of the acid solution, reduces waste, and lowers experimental costs. Throughout the process, the circulation pump 451, the insulation jacket 42, and the main controller 11 are electrically connected, realizing real-time monitoring and automatic replenishment of acid solution concentration and precise temperature control. This ensures stable circulation and continuous cleanliness of the acid solution during the cleaning process. The continuous supply of clean acid solution ensures the stability of the cleaning effect. Combined with the sealed protection of the closed operating chamber 1 and the automated operation of the vessel transfer mechanism 3, the safety, efficiency, and standardization of acid soaking washing are comprehensively improved.

[0026] Example 3: This embodiment is basically the same as the previous embodiment, except that the waste liquid treatment mechanism 5 includes a neutralization reaction tank 51, a neutralizing agent storage tank 52, a gas transmission pipe 53, a waste gas absorption tower 54, and two agitators 55. The neutralization reaction tank 51 is installed on the bottom inner wall of the sealed operating chamber 1 and is injection molded from acid and alkali resistant PP material. The neutralizing agent storage tank 52 is connected to one end of the neutralization reaction tank 51 through a pipe with a solenoid valve. The gas transmission pipe 53 is installed on one side of the top of the neutralization reaction tank 51. The waste gas absorption tower 54 is installed at one end of the gas transmission pipe 53 that penetrates the side wall of the sealed operating chamber 1. The two agitators 55 are respectively installed on both sides of the outer wall of the neutralization reaction tank 51. The stirring shaft of the agitator 55 is made of 316L stainless steel, and the stirring blades are paddle-type structures. After starting, it can quickly stir the reaction liquid, accelerate the neutralization reaction rate, and ensure that the neutralization effect is uniform and thorough. The waste liquid treatment mechanism 5 also includes two transmission pipes 56, two waste acid collection tanks 57 and two collection pipes 58. The two transmission pipes 56 are installed on the lower side of the other end of the neutralization reaction tank 51. The two waste acid collection tanks 57 are respectively installed on the other end of the two transmission pipes 56. The two collection pipes 58 are respectively installed on the top of the two waste acid collection tanks 57, and the other end of the two collection pipes 58 are respectively connected to the bottom end of the primary acid soaking tank 6 and the secondary acid soaking tank 7. A pH sensor is installed on the neutralization reaction tank 51 to monitor the acidity and alkalinity of the waste liquid in the tank in real time. When the pH value does not reach the standard range of 6-9, a feedback signal is sent to the main controller 11 to trigger the automatic addition of neutralizing agent to ensure that the waste liquid is neutralized to the standard. A liquid level sensor is installed on the waste acid collection tank 57 to monitor the amount of waste acid stored in the tank in real time. When the liquid level reaches the set upper limit, an alarm signal is issued to remind the staff to deal with it in time and avoid the waste acid from overflowing. A solenoid valve is installed on the collection pipe 58, which can be precisely controlled by the main controller 11 to realize the timed and quantitative discharge and classified collection of waste acid in the primary acid soaking tank 6 and the secondary acid soaking tank 7, ensuring the orderly and controllable waste liquid treatment process.

[0027] Working Principle: The main controller 11 coordinates the vessel conveying mechanism 3 to complete the vessel grading and cleaning, and the acid circulation mechanism 4 to maintain stable acid circulation, while simultaneously starting the waste liquid treatment process. Waste acid in the primary acid soaking tank 6 and the secondary acid soaking tank 7 flows into two waste acid collection tanks 57 for temporary storage through two collection pipes 58 connected at the bottom. The liquid level sensor on the waste acid collection tank 57 monitors the liquid level in real time and feeds it back to the main controller 11. When the preset value is reached, the main controller 11 controls the valve on the transmission pipe 56 to open, and the waste acid is transported to the neutralization reaction tank 51 through the two transmission pipes 56. The neutralizing agent storage tank 52 automatically injects neutralizing agent into the neutralization reaction tank 51 through a pipe with a solenoid valve. The main controller 11 adjusts the opening of the solenoid valve according to the real-time data of the pH sensor on the neutralization reaction tank 51. Two agitators 55 operate synchronously to accelerate the neutralization reaction, ensuring that the waste liquid is neutralized to the standard range. The acid mist generated during the reaction is transported to the waste gas absorption tower 54 through the gas transmission pipe 53 for adsorption and purification, avoiding pollution of the environment by waste acid and waste gas, and meeting the environmental protection and safety requirements of the laboratory. Throughout the process, all components of the waste liquid treatment mechanism 5 are linked with the main controller 11 to realize fully automated control of waste acid collection, temporary storage, neutralization and waste gas purification. Combined with the unmanned operation of the container conveying mechanism 3, the efficient reuse of acid liquid by the acid liquid circulation mechanism 4 and the sealed protection of the closed operation chamber 1, it not only completely solves the problems of manual contact risk and acid liquid waste in traditional acid soaking and washing, but also achieves environmentally compliant treatment of waste liquid and waste gas, and fully achieves automation, efficiency, environmental protection and standardization of acid soaking and washing.

[0028] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An automatic acid soaking and washing device, characterized in that, include: Sealed operating cabin (1); A support frame (2) is installed on the bottom inner wall of the sealed operating chamber (1). The top surface of the support frame (2) is in the form of a stepped structure with gradually decreasing height. The top of the support frame (2) is equipped with a primary acid soaking tank (6), a secondary acid soaking tank (7), an ultrasonic cleaning tank (8), an ultrapure water rinsing tank (9), and a hot air drying tank (10) in sequence from high to low. The vessel conveying mechanism (3) is installed on the outer wall of the supporting base (2); The vessel conveying mechanism (3) includes a conveying frame (31), a fixed frame (32), a moving mechanism (33), a six-axis robotic arm (34), an adaptive pneumatic clamp (35), an industrial camera (36), and multiple anti-collision sensors (37). The fixed frame (32) is installed at the bottom of the conveying frame (31), the moving mechanism (33) is installed between the inner walls of the two sides of the conveying frame (31), the six-axis robotic arm (34) is installed at the top of the moving mechanism (33), the adaptive pneumatic clamp (35) is installed at the end of the six-axis robotic arm (34), the industrial camera (36) is installed on the outer wall of the end of the six-axis robotic arm (34), and multiple anti-collision sensors (37) are respectively installed on the outer wall of each joint of the six-axis robotic arm (34). An acid circulation mechanism (4) is installed on the right side of the bottom inner wall of the sealed operating chamber (1); Waste liquid treatment mechanism (5) is installed on the left side of the bottom inner wall of the sealed operating chamber (1); The main controller (11) is installed on the lower side of the outer wall of the sealed operating chamber (1).

2. The automatic acid soaking and washing device according to claim 1, characterized in that, The moving mechanism (33) includes a moving screw (331), a drive assembly (332), a moving seat (333), a first protective sleeve (334), and a second protective sleeve (335). The moving screw (331) is mounted between the inner walls of the two sides of the conveying frame (31) by bearings. The drive assembly (332) is mounted on one end of the moving screw (331). The moving seat (333) is threaded onto the outer wall of the moving screw (331). The first protective sleeve (334) is sleeved on one side of the outer wall of the moving screw (331), and the second protective sleeve (335) is sleeved on the other side of the outer wall of the moving screw (331).

3. The automatic acid soaking and washing device according to claim 1, characterized in that, The acid circulation mechanism (4) includes an acid storage tank (41), an insulation jacket (42), an overflow pipe (43), an original acid bottle (44), and a filter mechanism (45). The acid storage tank (41) is installed on the bottom inner wall of the sealed operating chamber (1). The insulation jacket (42) is installed on the outer wall of the acid storage tank (41). The overflow pipe (43) is installed at the top middle of the acid storage tank (41), and the other end of the overflow pipe (43) is connected to the upper side of the outer wall of the primary acid soaking tank (6). The original acid bottle (44) is connected to the top side of the acid storage tank (41) through a pipe with a solenoid valve. The filter mechanism (45) is installed at the bottom of the acid storage tank (41).

4. An automatic acid soaking and washing device according to claim 3, characterized in that, The filtration mechanism (45) includes a circulation pump (451), a suction pipe (452), a delivery pipe (453), a filter (454), and a return pipe (455). The circulation pump (451) is installed on the bottom inner wall of the sealed operating chamber (1). The suction pipe (452) is connected to the inlet of the circulation pump (451), and the other end of the suction pipe (452) is connected to the outlet of the acid storage tank (41). The delivery pipe (453) is connected to the outlet of the circulation pump (451). The filter (454) is installed at the top of the delivery pipe (453). The return pipe (455) is installed on the upper side of the outer wall of the filter (454), and the other end of the return pipe (455) is connected to the upper side of one end of the primary acid soaking tank (6).

5. An automatic acid soaking and washing device according to claim 1, characterized in that, The waste liquid treatment mechanism (5) includes a neutralization reaction tank (51), a neutralizing agent storage tank (52), a gas transmission pipe (53), a waste gas absorption tower (54), and two agitators (55). The neutralization reaction tank (51) is installed on the bottom inner wall of the sealed operating chamber (1). The neutralizing agent storage tank (52) is connected to one end of the neutralization reaction tank (51) through a pipe with a solenoid valve. The gas transmission pipe (53) is installed on one side of the top of the neutralization reaction tank (51). The waste gas absorption tower (54) is installed at one end of the gas transmission pipe (53) that passes through the side wall of the sealed operating chamber (1). The two agitators (55) are respectively installed on both sides of the outer wall of the neutralization reaction tank (51).

6. An automatic acid soaking and washing device according to claim 5, characterized in that, The waste liquid treatment mechanism (5) also includes two transmission pipes (56), two waste acid collection tanks (57) and two collection pipes (58). The two transmission pipes (56) are installed on the lower side of the other end of the neutralization reaction tank (51). The two waste acid collection tanks (57) are respectively installed on the other end of the two transmission pipes (56). The two collection pipes (58) are respectively installed on the top of the two waste acid collection tanks (57), and the other end of the two collection pipes (58) are respectively connected to the bottom end of the primary acid soaking tank (6) and the secondary acid soaking tank (7).

7. An automatic acid soaking and washing device according to claim 1, characterized in that, An observation window (12) is embedded in the middle of the outer wall of the sealed operating chamber (1). A sealing door (13) is embedded in the upper side of one end and the lower side of the other end of the sealed operating chamber (1). A shelf (14) is installed on the upper side of one end and the lower side of the other end of the sealed operating chamber (1).

8. An automatic acid soaking and washing device according to claim 2, characterized in that, The drive assembly (332), the six-axis robotic arm (34), the adaptive pneumatic gripper (35), the industrial camera (36), and the multiple anti-collision sensors (37) are all electrically connected to the main controller (11). The moving seat (333) is configured as a trapezoidal structure, and the bottom end of the moving seat (333) is provided with a groove that matches the conveyor frame (31). The first protective sleeve (334) and the second protective sleeve (335) are both configured as folding structures.

9. An automatic acid soaking and washing device according to claim 4, characterized in that, The circulating pump (451) and the insulation jacket (42) are both electrically connected to the main controller (11). The acid storage tank (41) is equipped with an online density meter and a temperature sensor. The insulation jacket (42) is a water bath jacket.

10. An automatic acid soaking and washing device according to claim 6, characterized in that, A pH sensor is installed on the neutralization reaction tank (51), a liquid level sensor is installed on the waste acid collection tank (57), and a solenoid valve is installed on the collection pipe (58).

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