A fully automated dual-station chemical filling robot arm

Abstract

This utility model provides a fully automated dual-station chemical filling robotic arm, belonging to the technical field of electronic-grade chemical special systems. It includes a first filling Z-axis module and a second filling Z-axis module. The first filling Z-axis module is located on the horizontal side of the second filling Z-axis module, and a first bucket-holding module is located at the lower side of the first filling Z-axis module. A second bucket-holding module is located at the lower side of the second filling Z-axis module. A first capping module is mounted on the first filling Z-axis module, and a second capping module is mounted on the second filling Z-axis module. Both the first and second filling Z-axis modules are equipped with a filling module, a nitrogen placement module, and a liquid receiving module. This utility model features dual-station collaborative operation, breaking through the efficiency limitations of traditional single-station systems. It significantly increases production capacity compared to single-station equipment, integrating automatic bucket loading, positioning, filling, cap closing, and bucket discharging into a fully automated process, reducing the time spent on manual intervention.

Description

Technical Field

[0001] This utility model belongs to the technical field of electronic-grade chemical special systems, specifically relating to a fully automatic dual-station filling robot arm for chemicals. Background Technology

[0002] Electronic-grade chemicals are high-purity chemicals used in the electronics industry, widely applied in semiconductors, display panels, and other fields. They require extremely high purity and cleanliness, and must be stored in 1-4L bottles, requiring filling before storage. Most existing filling equipment uses a single station, which is inefficient. Moreover, it is difficult to achieve automatic bottle loading, positioning, filling, capping, and discharging, and manual intervention is time-consuming.

[0003] Therefore, a fully automated dual-station chemical filling robotic arm is proposed. Summary of the Invention

[0004] This invention provides a fully automated dual-station chemical filling robotic arm, the purpose of which is to solve the problems mentioned above.

[0005] This utility model embodiment provides a fully automated dual-station chemical filling robotic arm, including a filling Z-axis module one and a filling Z-axis module two. The filling Z-axis module one is located on the horizontal side of the filling Z-axis module two, and a bucket-holding module one is arranged at the lower side of the filling Z-axis module one. A bucket-holding module two is arranged at the lower side of the filling Z-axis module two. A capping module one is arranged on the filling Z-axis module one, and a capping module two is arranged on the filling Z-axis module two. Both the filling Z-axis module one and the filling Z-axis module two are provided with a filling module, a nitrogen placement module, and a liquid receiving module. The filling module is located between the nitrogen placement module and the liquid receiving module. A Z-axis motor is arranged at the bottom of both the filling Z-axis module one and the filling Z-axis module two. A dust-free cable chain and a position sensor are arranged on the outer side wall of both the filling Z-axis module one and the filling Z-axis module two. The dust-free cable chain is located on one side of the position sensor.

[0006] Furthermore, the first and second bucket-holding modules have lifting functions, can be lifted and moved in the X direction, and both the first and second bucket-holding modules are equipped with telescopic cylinders, clamping cylinders, transplanting modules, and lifting cylinders. By adopting the above technical solution, the barrel clamping module 1 and barrel clamping module 2 can clamp, move and lift electronic grade chemical bottles of 1-4L, thereby realizing filling and capping.

[0007] Furthermore, the distance between the robotic arms on the filling Z-axis module one and the filling Z-axis module two is 600mm, the distance between the capping module one and the capping module two and the nitrogen placement module is 115mm, and the distance between the filling module and the nitrogen placement module is 120mm. By adopting the above technical solutions and through strict spacing control, the accuracy of various operations performed by the dual-station filling robot arm can be guaranteed.

[0008] The beneficial effects of this utility model are as follows: This utility model features dual-station collaborative operation, breaking through the efficiency limitations of traditional single-station equipment. It significantly increases the production capacity compared to single-station equipment, integrating automatic barrel loading, positioning, filling, capping, and barrel discharging into full automation, reducing the time spent on manual intervention.

[0009] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0010] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model; Figure 2 This is a front view of an embodiment of the present utility model; Figure 3 This is a schematic diagram showing the cooperation between the filling Z-axis module 1 and the bucket-holding module 1 in an embodiment of this utility model; Attached reference numerals: 1. Filling Z-axis module one; 11. Z-axis motor; 12. Dust-free cable chain; 13. Position sensor; 2. Filling Z-axis module two; 3. Bucket holding module one; 4. Bucket holding module two; 5. Capping module one; 6. Capping module two; 7. Filling module; 8. Nitrogen placement module; 9. Liquid receiving module. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0012] Reference Figure 1-3 This utility model embodiment proposes a fully automated dual-station chemical filling robot arm, including a filling Z-axis module 1 and a filling Z-axis module 2. Both filling Z-axis modules 1 and 2 are non-standard customized, with a stroke of 200mm and model number CH17-L10-C-S200-BC-ZHC75B-D3. Filling Z-axis module 1 is located on the horizontal side of filling Z-axis module 2, and a [missing information - likely a device or component] is provided at the lower side of filling Z-axis module 1. The container has a first-stage container holding module 3 and a second-stage container holding module 4 located on the lower side of the filling Z-axis module 2. Both the first-stage container holding module 3 and the second-stage container holding module 4 have lifting functions, allowing them to be lifted and moved in the X direction. Both the first-stage container holding module 3 and the second-stage container holding module 4 are equipped with telescopic cylinders, clamping cylinders, transfer modules, and lifting cylinders. The first-stage container holding module 3 and the second-stage container holding module 4 can clamp, move, and lift electronic grade chemical bottles of 1-4L, thereby realizing filling and capping.

[0013] The filling Z-axis module 1 is equipped with a capping module 5, and the filling Z-axis module 2 is equipped with a capping module 6. Both the filling Z-axis module 1 and the filling Z-axis module 2 are equipped with a filling module 7, a nitrogen placement module 8, and a liquid receiving module 9. The filling module 7 is located between the nitrogen placement module 8 and the liquid receiving module 9. The distance between the robotic arms on the filling Z-axis module 1 and the filling Z-axis module 2 is 600mm. The distance between the capping module 5 and the capping module 6 and the nitrogen placement module 8 is 115mm. The distance between the filling module 7 and the nitrogen placement module 8 is 120mm. Through strict distance control, the accuracy of the dual-station filling robotic arms in performing various operations can be guaranteed. Both the filling Z-axis module 1 and the filling Z-axis module 2 are equipped with Z-axis motors 11 at their bottom positions. The Z-axis motors 11 are explosion-proof motors with brakes, model: MS1H4-75B30CB-A334R-EXdT5, and their driver model: SV660FS2R8I. Both the filling Z-axis module 1 and the filling Z-axis module 2 are equipped with dust-free cable chains 12 and position sensors 13 on their outer side walls. The position sensors 13 are explosion-proof sensors, model: BNM12-D4YE. The dust-free cable chains 12 are located on one side of the position sensors 13. Specifically, the aforementioned filling robotic arm module fulfills two functions: capping and (filling & nitrogen placement in the same tube). The specific operation flow is as follows (the overall product flow is a right-in, left-out layout, see the attached instruction manual). Figure 1 (The left-right relationship shown) #1 filling STEP 1: Extend the barrel extension cylinder; STEP 2: Clamp the bucket with the cylinder; STEP3: Lift the bucket using the lifting cylinder; STEP 4: The bucket-carrying transplanting module delivers the filling bottles to the transfer station; STEP 5: The bucket lifting cylinder retracts; STEP 6: Release the barrel clamping cylinder; STEP 7: Retract the barrel extension cylinder; STEP 8: Return the bucket transfer module to the inlet; STEP 9: Extend the barrel telescopic cylinder; STEP 10: Clamp the bucket with the cylinder; STEP 11: Lift the bucket using the lifting cylinder; STEP 12: The bucket transfer module delivers the filling bottles to the capping station. STEP 13: The bucket lifting cylinder lowers. STEP14: Lower the Z-axis; STEP 15: Tighten the cap using the cylinder clamp; STEP16: Z-axis rise, cap tightening servo tightening; STEP17: Lift the bucket using the lifting cylinder; STEP 18: The bucket transfer module delivers the filling bottles to the filling station. STEP 19: The bucket lifting cylinder lowers. STEP20: Release the bucket clamp cylinder; STEP21: Descent along the Z-axis; STEP22: Fill and purge with nitrogen simultaneously, then lift along the Z-axis after filling is complete; STEP23: Clamp the bucket with the cylinder; STEP24: Lift the bucket using the lifting cylinder; STEP 25: The bucket transfer module delivers the filling bottles to the capping station. STEP 26: The bucket lifting cylinder lowers. STEP27: Descent along the Z-axis; STEP28: Tighten the cap using the cylinder clamp; STEP29: Z-axis descent, cap tightening servo tightening; STEP30: Lifting cylinder for bucket lifting; STEP 31: The bucket transplanting module delivers the filling bottles to the transfer station; STEP32: The bucket lifting cylinder descends; STEP33: Release the barrel clamping cylinder; STEP34: Retract the barrel extension cylinder; STEP35: The bucket transfer module returns to the inlet.

[0014] #2 filling STEP 1: Extend the barrel extension cylinder; STEP 2: Clamp the bucket with the cylinder; STEP3: Lift the bucket using the lifting cylinder; STEP4: The bucket transfer module delivers the filling bottles to the capping station; STEP 5: The bucket lifting cylinder descends; STEP 6: Lower the Z-axis; STEP 7: Tighten the cap using the cylinder clamp; STEP8: Z-axis rise, cap tightening servo tightening; STEP 9: Lift the bucket using the lifting cylinder; STEP 10: The bucket transfer module delivers the filling bottles to the filling station; STEP 11: The bucket lifting cylinder descends; STEP 12: Release the barrel clamp cylinder; STEP13: Lower the Z-axis; STEP 14: Fill and fill with nitrogen simultaneously, then lift along the Z-axis after filling is complete; STEP 15: Clamp the bucket with the cylinder; STEP16: Lift the bucket using the lifting cylinder; STEP 17: The bucket-carrying and transplanting module delivers the filling bottles to the capping station; STEP18: The bucket lifting cylinder descends; STEP19: Lower the Z-axis; STEP20: Z-axis descent, cap tightening servo tightening; STEP21: Z-axis rise; STEP22: Lift the bucket using the lifting cylinder; STEP 23: The bucket transfer module delivers the filled bottles to the discharge roller line; STEP24: The bucket lifting cylinder descends; STEP 25: Release the bucket clamp cylinder; STEP 26: Return the bucket transplanting module to the transfer station; STEP27: Extend the barrel telescopic cylinder; STEP28: Clamp the bucket with the cylinder; STEP29: Lift the bucket using the lifting cylinder; STEP30: The bucket transfer module delivers the filled bottles to the discharge roller line; STEP31: The bucket lifting cylinder retracts; STEP32: Release the bucket clamping cylinder; STEP33: Retract the barrel extension cylinder; STEP 34: Return the bucket transplanting module to the transfer station; STEP 35: Wait for the bucket to arrive.

[0015] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A fully automated dual-station chemical filling robotic arm, characterized in that: The system includes a filling Z-axis module 1 (1) and a filling Z-axis module 2 (2). The filling Z-axis module 1 (1) is located on the horizontal side of the filling Z-axis module 2 (2). A bucket holding module 1 (3) is provided at the lower side of the filling Z-axis module 1 (1). A bucket holding module 2 (4) is provided at the lower side of the filling Z-axis module 2 (2). A cap screwing module 1 (5) is provided on the filling Z-axis module 1 (1). A cap screwing module 2 (6) is provided on the filling Z-axis module 2 (2). A filling module (7), a nitrogen placement module (8), and a liquid receiving module (9) are provided on both the filling Z-axis module 1 (1) and the filling Z-axis module 2 (2). The filling module (7) is located between the nitrogen placement module (8) and the liquid receiving module (9). Both the filling Z-axis module one (1) and the filling Z-axis module two (2) are equipped with Z-axis motors (11) at their bottom positions, and both the filling Z-axis module one (1) and the filling Z-axis module two (2) are equipped with dust-free cable chains (12) and position sensors (13) on their outer side walls, with the dust-free cable chains (12) located on one side of the position sensors (13).

2. The full-automatic double-station chemical filling mechanical arm according to claim 1, characterized in that: The first bucket-holding module (3) and the second bucket-holding module (4) are equipped with lifting functions, which can lift and move in the X direction. Both the first bucket-holding module (3) and the second bucket-holding module (4) are equipped with telescopic cylinders, clamping cylinders, transplanting modules and lifting cylinders.

3. The full-automatic double-station chemical filling mechanical arm according to claim 1, characterized in that: The distance between the robotic arms on the filling Z-axis module one (1) and the filling Z-axis module two (2) is 600mm, the distance between the capping module one (5) and the capping module two (6) and the nitrogen placement module (8) is 115mm, and the distance between the filling module (7) and the nitrogen placement module (8) is 120mm.

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