JP2023165515A - Cap attachment/detachment system - Google Patents

Abstract

To provide a cap attachment/detachment system capable of automatically detaching a cap attached to a mouth of a container and automatically attaching the cap to the mouth of the container.SOLUTION: A cap attachment/detachment system (1) according to this invention is a cap attachment/detachment system (1) capable of attaching/detaching a cap (A) to/from a mouth (210) of a container (200), the system comprising: a cap gripping mechanism (2) including a cap gripping part (2.1) having a shape able to fit a shape of the cap (A); a rotation drive mechanism (3) that rotates the cap gripping part (2.1); a measurement device (20) capable of measuring a position of the mouth (210) of the container (200); a gripping mechanism providing device (5) capable of moving the cap gripping mechanism (2) to the position measured by the measurement device (20); and a control device (50) for controlling those operations.SELECTED DRAWING: Figure 2

Description

The present invention relates to a capping/detaching system. In particular, the present invention relates to a cap attachment/detachment system that can automatically remove a cap attached to the opening of a container, and can automatically attach the cap to the opening of the container.

2. Description of the Related Art Devices for automatically extracting liquid from containers such as tanks and drums are used in factories in various technical fields. For example, devices are used that automatically extract chemicals such as polishing slurry, cleaning liquid, plating liquid, etc. used in semiconductor manufacturing processes from drums.

For example, Patent Document 1 discloses a polishing liquid supply device that can automatically supply liquid.

Further, Patent Document 2 discloses a capping device for automatically attaching a cap to the opening of a container.

JP 2021-8003 Publication JP 2018-127233 Publication

In recent years, automatic guided vehicles (AGVs) and the like are sometimes used to transport a container containing a medical solution to a position where the medical solution is extracted. In this case, in addition to automatically providing the drug solution from the container, there is also a process of automatically removing the cap attached to the opening of the container transported by AGV, etc., and drawing out the liquid to the opening of the container from which the cap has been removed. It is also desired that the process of inserting rod-like bodies such as conduits and stirring blades for this purpose be carried out completely automatically.

In addition, it is preferable that not only the process of extracting the chemical liquid carried out in the factory that uses the chemical liquid, but also the process of injecting the liquid chemical carried out in the factory that manufactures the chemical liquid, be carried out fully automatically, and in this case as well, It is also desired that the process of inserting a rod-shaped body such as a liquid conduit into the opening on the top surface of the container and the process of attaching a cap to the opening of the container after injecting the medicinal solution into the container can be performed completely automatically.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a cap attachment/detachment system that can automatically remove a cap attached to the opening of a container, and can automatically attach the cap to the opening of the container.

In one embodiment,
The cap attaching/detaching system (1) is capable of attaching and detaching the cap (A) to the opening (210) of the container (200),
a cap gripping mechanism (2) having a cap gripping part (2.1) having a shape that can fit into the shape of the cap (A);
a rotational drive mechanism (3) for rotating the cap gripping part (2.1);
a measuring device (20) capable of measuring the position of the opening (210) of the container (200);
a gripping mechanism providing device (5) capable of moving the cap gripping mechanism (2) to a position measured by the measuring device (20); and a control device (50) for controlling these operations.
Equipped with.

If the process of transporting the container with an AGV, etc., removing the cap of the container, providing a rod-shaped body to the opening of the container, and providing the drug solution from the container is to be performed automatically, the process of removing the cap of the container. is performed at the same location as the step of providing the rod and the step of providing the drug solution.

In this case, at the location where the cap of the container is removed, since the container is transported by an AGV or the like, the orientation of the container cannot be made constant, and the opening of the container and the cap are in various positions each time. Even if the position of the opening and cap of the container can be set so that it can be transported at a constant position, if the container is a resin drum, there will be a large molding error, so the position of the opening and cap will be approximately 1 cm. There may be deviations.

Therefore, in this cap attaching/detaching system, the position of the opening of the container is measured using a measuring device that can measure the position of the opening of the container, and then a gripping mechanism providing device that can move the cap gripping mechanism to the opening position is combined. Thereby, the cap and the cap gripping mechanism can be aligned with high precision.

Also, by having the steps of removing the cap of the container, providing the rod to the opening of the container, and providing the drug solution from the container in the same location, a large number of machines need to be located at that location. come out. Therefore, it is necessary to simplify the configuration of each device that performs these steps, and in this cap attachment/detachment system, the shape of the cap of the container to be used and the shape of the cap gripping portion can be fitted in the first place. As long as the cap and the cap gripping part can be precisely aligned, the cap can be easily attached and detached by simply rotating the cap gripping mechanism.

In one embodiment, the capping/detaching system (1) includes a variable diameter means (2.2) that allows the cap gripping mechanism (2) to radially expand and contract the shape of the cap grip (2.1). ).

When the cap gripping mechanism of the cap attachment/detaching system has a diameter variable means, force is applied to the inner periphery of the cap shape by expanding and contracting the shape of the cap grip portion in the radial direction. The cap can be firmly gripped and the cap can be easily removed from the cap gripping part.

In one embodiment, the diameter variable means (2.2) includes a wedge-shaped member (2.2a) that moves up and down, and a cap gripping mechanism (2.2a) that moves up and down as the wedge-shaped member (2.2a) moves up and down. ) and an opening/closing member (2.2b) that can be opened and closed in the radial direction.

In one embodiment, the opening/closing member (2.2b) includes at least two facing members (2.2b) facing each other with a wedge-shaped member (2.2a) in between, and the facing member (2.2b) ) are connected by a spring member (2.2c).

When the diameter variable means is constituted by a wedge-shaped member and an opening/closing member corresponding to the wedge-shaped member, the configuration becomes extremely simple. Thereby, the cap attaching/detaching system itself can be configured very simply. Further, when the opening/closing member is composed of two facing members connected by a spring member, the diameter variable means can be further simplified in structure.

In one embodiment, the cap gripping mechanism (2) of the capping/detaching system (1) comprises:
a circular member (2.3) that can be rotationally driven together with the cap gripper (2.1) and can move up and down together with the wedge-shaped member (2.2a);
a vertical movement member (2.4) for vertically moving the circular member (2.3);
Equipped with.

Since the cap attaching/detaching system has such a configuration, it is possible to separate the vertical movement of the wedge-shaped member and the rotational movement of the cap gripping mechanism with a simple configuration, thereby allowing each to be independently operated. It can be exercised.

In one embodiment, said vertically movable member (2.4) of the capping/detaching system (1) comprises:
a cylinder (2.4a) that is not coaxial with the cap gripping mechanism (2) and moves in the vertical direction;
and a lever (2.4b) for transmitting the vertical movement of the cylinder to the circular member (2.3) to cause the circular member (2.3) to move vertically,
The circular member (2.3) can rotate by sliding on the lever (2.4b) at its outer periphery.

By configuring the vertical movement member in this way, the lever can effectively transmit the force of the vertical movement of the cylinder to the circular member and the wedge-shaped member, and the cylinder can be made smaller. .

In one embodiment, a roller (2.4c) is present at the contact between the lever (2.4b) and the outer circumference of the circular member (2.3).

When the lever has a roller at the contact part with the circular member, the rotational movement of the circular member is almost unaffected by the friction of the contact part with the lever, so that the vertical movement of the wedge-shaped member and the gripping of the cap are prevented. The independence of the mechanism from rotational movement can be increased.

In one embodiment, the cap gripping mechanism (2) of the cap attachment/removal system (1) includes an elastic member (2. 5).

Since the cap attaching/detaching system has such an elastic member, even if the container is not aligned vertically due to poor molding accuracy due to the resin drum, it can be easily aligned. I can do it.

In one embodiment, the shape of the cap (A) is concave or convex, and the shape of the cap grip (2.1) is convex or concave corresponding to the shape of the cap (A). .

In one embodiment, the capping/detaching system (1) comprises a second measuring device (4) capable of measuring the orientation of the cap (A).

Even if the cap attaching/detaching system includes a measuring device that can measure the position of the opening of the container, and a gripping mechanism providing device that can move the cap gripping mechanism to the position measured by the measuring device, For example, if an attempt is made to fit the convex shape of the cap grip into the concave shape of the cap, it may not be possible to fit them because their circumferential directions do not match. In order to prevent such a situation, the cap attaching/detaching system uses a second measuring device to measure the difference in the circumferential direction between the concave shape of the cap and the convex shape of the cap grip. The rotational drive mechanism that rotates the cap gripping portion can eliminate the difference in their circumferential orientations. Thereafter, by vertically moving the cap gripping part using the gripping mechanism providing device, the convex shape of the cap gripping part can be fitted into the concave shape of the cap without any problem.

In one embodiment, the cap attachment/detaching system (1) has a cap grip (2.1) for fitting a convex shape of the cap grip (2.1) into a concave shape of the cap (A). ) is equipped with a cap gripping part fine adjustment mechanism for matching the circumferential position of the cap gripping part.

Even if the cap attaching/detaching system includes a measuring device that can measure the position of the opening of the container, and a gripping mechanism providing device that can move the cap gripping mechanism to the position measured by the measuring device, For example, if an attempt is made to fit the convex shape of the cap grip into the concave shape of the cap, it may not be possible to fit them because their circumferential directions do not match. In this case, after vertically moving the cap grip using the holding mechanism providing device, a rotation drive mechanism that rotates the cap grip and a cap grip fine adjustment mechanism are used to adjust the cap grip to the concave shape of the cap. Convex shapes can be fitted without any problem. At this time, by managing the torque applied to the cap gripping part by the cap gripping part fine adjustment mechanism, it is possible to observe whether or not the cap and the cap gripping part are fitted.

According to the present invention, it is possible to provide a cap attachment/detachment system that can automatically remove a cap attached to an opening of a container, and can automatically attach a cap to an opening of a container.

FIG. 1 shows a schematic diagram of one embodiment of a liquid injection and extraction system comprising the capping and uncapping system of the present invention. FIG. 2 shows one embodiment of the capping/detaching system of the present invention. FIG. 3 shows the capping/detaching system of the present invention positioned on top of the cap. FIG. 4 shows a state in which the cap gripping mechanism of the cap attachment/detaching system of the present invention is engaged with the cap, and the cap is about to be removed by rotating the cap gripping mechanism. FIG. 5 shows the cap attachment/detachment system of the present invention with the cap removed. FIG. 6 shows the cap attachment/removal system of the present invention moving the cap to a predetermined position after the cap has been removed. FIG. 7 shows a perspective view from below of the cap gripping mechanism 2 in one embodiment of the cap attachment/detachment system of the present invention. FIG. 8 shows a side view of the cap gripping mechanism 2 in one embodiment of the cap attachment/detaching system of the present invention. 9 is a sectional view taken along line AA and line BB in FIG. 8. FIG. 10 is an enlarged view of the cap grip 2.1 from below. FIG. 11 shows a schematic diagram of another embodiment of the liquid injection and extraction device of the present invention. FIG. 12 shows an example of a liquid injection and extraction device of the present invention in which the rod-shaped stirring blade is tilted in order to perform stirring near the central axis of the container. FIG. 13 shows details of a turntable that can be used in one embodiment of the liquid injection and extraction device of the present invention. FIG. 14 is a perspective view showing a state immediately after the container is transported to the liquid injection and extraction device of the present invention. FIG. 15 is a perspective view illustrating the proper positioning of the opening of the container on the container placement table after the container has been transported to the liquid injection and extraction system of the present invention. FIG. 16 is a side view of the opening of the container being properly positioned on the container placement platform after the container has been delivered to the liquid injection and extraction system of the present invention. FIG. 17 is a perspective view showing the rod-shaped body inserted into the opening of the container in the liquid injection and extraction system of the present invention. FIG. 18 is a side view showing the rod-shaped body inserted into the opening of the container in the liquid injection and extraction system of the present invention.

The present invention will be specifically described using the following embodiments as examples, but the present invention is not limited thereto. If there is no particular detailed mention of each device, mechanism, means, etc. in this specification, a person skilled in the art can use well-known mechanical devices, mechanisms, means, etc. for these. Each embodiment can be combined by a person skilled in the art based on common knowledge, and configurations not specified for each embodiment have the same configuration as other embodiments or a configuration suitable for that embodiment. be able to. Note that in this specification, the x direction, y direction, and z direction are also referred to as the horizontal direction, vertical direction, and vertical direction, respectively.

《Cap attachment and detachment system》
FIG. 1 shows a schematic diagram of one embodiment of a liquid injection and extraction system comprising the capping and uncapping system of the present invention. FIG. 2 shows one embodiment of the capping/detaching system of the present invention.

The liquid injection and extraction system 100 shown in FIG. 1 is a device for automatically inserting a rod-shaped body 10, such as a liquid conduit for liquid extraction, into an opening provided on the upper surface of a container 200. This system 100 includes a (first) measuring device 20 that can measure the position of the opening or cap of a container 200, a rod-shaped object providing device 30 for the rod-shaped object 10, and a rod-like object providing device 30 for moving the container in a planar direction and/or circumferential direction. An optional container repositioning device 40, which can be moved, and a control device 50 for controlling these operations are provided. The liquid injection and extraction system 100 is equipped with the cap attachment/detachment system 1 of the present invention, so that the cap A attached to the opening 210 of the container 200 can be removed. Here, the measuring device 20 and the control device 50 of the liquid injection and extraction system 100 can also be used in the capping/detaching system 1.

As shown in FIG. 2, the cap attaching/detaching system 1 includes a cap gripping mechanism 2 having a cap gripping part 2.1 having a shape that can fit into the shape of the cap A; a rotational drive mechanism for rotating the cap gripping part 2.1. 3; and an optional second measuring device 4. Although not shown in FIG. 2, the cap attaching/detaching system 1 includes a grasping mechanism providing device 5 that can move the cap grasping mechanism 2 to the position measured by the measuring device 20, and a control for controlling these operations. A device 50 is also provided.

3 to 6 show a series of operations in which the cap attachment/detachment system 1 of the present invention removes the cap A from the container 200.

FIG. 3 shows a state in which the gripping mechanism providing device 5 of the cap attachment/detaching system 1 has moved the cap gripping mechanism 2 to the upper part of the cap A of the container 200. Here, as a preliminary step, the position of the cap A or opening 210 of the container 200 is measured by a measuring device 20 as shown in FIG. A signal is given to the gripping mechanism providing device 5, and the gripping mechanism providing device 5 moves the cap gripping mechanism 2 to the top of the cap A of the container 200 in the horizontal and vertical directions.

FIG. 4 shows a state in which the cap gripping part 2.1 is being rotated by the rotational drive mechanism 3 of the cap attachment/detaching system 1. As a preliminary step, in response to a signal from the control device 50, the gripping mechanism providing device 5 vertically moves the cap gripping mechanism 2 downward to the position of the cap A of the container 200, and then adjusts the cap to the shape of the cap A. The shape of the gripping part 2.1 is fitted.

FIG. 5 shows that after the cap gripping mechanism 2 removes the cap A to expose the opening 210 of the container 200, the gripping mechanism providing device 5 moves the cap gripping mechanism 2 vertically upward while still gripping the cap A. This shows the state in which the

FIG. 6 shows a state in which the gripping mechanism providing device 5 has moved the cap gripping mechanism 2 from the position of the opening 210 of the container 200 in the horizontal and vertical directions. In this position, the cap gripping mechanism 2 can either release its grip on the cap A and remove it from the cap grip 2.1, or it can remain in its grip on the cap A. After this, the liquid injection and extraction system 100 can automatically insert the rod 10 into the opening 210 of the container 200.

Although FIGS. 3 to 6 show a series of steps for removing the cap A, the cap A can be attached to the opening 210 of the container 200 by performing these steps in the reverse order.

7-10 show details of the cap gripping mechanism 2 in one embodiment of the capping/detaching system 1. FIG. 7 to 10(a) show a state in which the cap gripping portion 2.1 is not expanded in the radial direction, and FIGS. 7 to 10(b) show a state in which the cap gripping portion 2.1 is expanded in the radial direction. It shows the condition. 7 is a perspective view of the cap gripping mechanism 2 seen from below, FIG. 8 is a side view of the cap gripping mechanism 2, and FIG. 9 is a sectional view taken along line AA and line BB in FIG. It is a diagram. FIG. 10 is an enlarged view of the cap grip 2.1 from below.

In this embodiment, the cap A has a cross-shaped concave shape, and the cap gripping portion 2.1 has a cross-shaped convex shape that can be fitted into the cap A, but the concave and convex shapes are Cap A and cap grip 2.1 may be interchanged. Further, their shapes are not particularly limited as long as the cap can be attached or removed when the cap gripping part 2.1 is rotated after the shape of the cap gripping part 2.1 is fitted into the shape of the cap A. . For example, their shape can be polygonal, such as triangular, square, or star-shaped.

In this embodiment, the cap gripping mechanism 2 has, in the cap gripping part 2.1, a diameter variable means 2.2 that can expand and contract the shape of the cap A in the radial direction. By enlarging the shape of the cap gripping part 2.1 in the radial direction, a force can be applied to the cap A and the cap A can be firmly gripped. Moreover, by reducing the radial direction, the cap A can be easily removed from the cap gripping part 2.1.

Further, the diameter variable means 2.2 is not particularly limited as long as it can tighten or loosen the fitted state of the cap A and the cap gripping part 2.1, and may vary depending on the shape of the cap A and the cap gripping part 2.1. It can be.

Here, the diameter variable means 2.2 is capable of expanding and contracting the radial direction of the cross shape of the cap gripping part 2.1 only in one direction (Y direction); It may be possible to expand and contract in the radial direction (in the X direction and the Y direction). Here, the radial direction refers to the radial direction of cylindrical coordinates with the Z direction in the drawing as the central axis.

As shown in FIG. 9, this diameter variable means 2.2 includes a wedge-shaped member 2.2a that moves vertically, and a radial direction of the cap gripping mechanism 2 (FIG. 9) by moving the wedge-shaped member 2.2a up and down. The opening/closing member 2.2b can be opened and closed in the X direction). That is, when the wedge-shaped member 2.2a moves downward, the opening/closing member is pushed out in the radial direction, and the radial length of the cap gripping portion 2.1 becomes longer. When the diameter variable means 2.2 has such a configuration, the diameter of the cap gripping portion 2.1 can be changed with a very simple configuration of the cap gripping mechanism 2. That is, the cap gripping mechanism 2 can change the diameter of the cap grip 2.1 by simply moving the wedge-shaped member 2.2a in the vertical direction.

Here, the opening/closing member 2.2b consists of at least two facing members 2.2b facing each other with a wedge-shaped member 2.2a in between, and these facing members 2.2b are connected by a spring member 2.2c. . Therefore, the facing member 2.2b is always under a force from the spring member 2.2c so as to reduce the diameter of the cap gripping part 2.1, and due to the upward movement of the wedge-shaped member 2.2a. , the facing member 2.2b automatically closes and the diameter of the cap grip 2.1 is reduced.

As shown in FIGS. 7 and 10, the diameter variable means 2.2 connects the facing member 2.2b by two spring members 2.2c, and by moving the wedge-shaped member 2.2a upward. Alternatively, the wedge-shaped member 2.2a moves upward due to the restoring force of the spring member 2.2c, so that the facing member 2.2b can be easily reduced in the radial direction.

As shown in FIGS. 7 to 9, the cap gripping mechanism 2 includes a circular member 2.3 that can be rotationally driven together with the cap gripper 2.1 and can move up and down together with the wedge-shaped member 2.2a. , and a vertical movement member 2.4 for vertically moving the circular member 2.3. The cap gripping part 2.1 needs to be rotated by the rotary drive mechanism 3, but since the cap gripping part 2.1 has such a configuration, the vertical movement of the wedge-shaped member 2.2a and the rotation of the cap The rotational movement of the gripping mechanism 2 can be separated with a simple configuration, thereby allowing each to move independently.

For example, as shown in FIGS. 9(a) and (b), the circular member 2.3 can move up and down together with the wedge-shaped member 2.2a. As shown in FIGS. 8(a) and 8(b), the vertical movement member 2.4 of the capping/detaching system 1 can vertically move the circular member 2.3. Here, the vertical movement member 2.4 includes a cylinder 2.4a which is not coaxial with the cap gripping mechanism 2 and which moves vertically in the Z direction, and transmits the vertical movement of the cylinder 2.4a to the circular member 2.3. A lever 2.4b is provided for vertically moving the circular member 2.3. This allows the vertical movement of the cylinder 2.4a to be transmitted through the lever 2.4b to the circular member 2.3, which can cause the wedge-shaped member 2.2a to move up and down. By configuring the vertical movement member 2.4 in this way, the lever 2.4b can apply the force of the vertical movement of the cylinder 2.4a to the circular member 2.3 and the wedge-shaped member 2.2a according to the lever principle. The cylinder 2.4a can be made smaller.

Moreover, this circular member 2.3 can be rotated by sliding on the lever 2.4b at its outer circumference. Thereby, even if the cap gripping mechanism 2 and its circular member 2.3 are rotated by the rotary drive mechanism 3, the circular member 2.3 only slides in the contact area with the lever 2.4b, and the lever 2.4b is not affected by the rotational movement of the circular member 2.3 and therefore does not move in rotation.

As shown in FIGS. 7 and 9, the circular member 2.3 has a groove formed on its outer circumferential portion, which is the contact portion with the lever 2.4b, and the groove of the circular member 2.3 has a groove formed in the outer circumferential portion thereof, which is the contact portion with the lever 2.4b. The presence of 4c allows the circular member 2.3 to perform rotational movements without significant friction from its contact with the lever 2.4b.

The cap gripping mechanism 2 may include an elastic member 2.5 that can vertically displace the cap grip 2.1 to align it with the cap A in the vertical direction. Since the cap gripping mechanism 2 includes such an elastic member 2.5, even if the positions of the cap gripping part 2.1 and the cap A do not match in the vertical direction, the positions can be adjusted. can do. In particular, even if the container 200 is not aligned in the vertical direction due to poor molding accuracy due to the resin drum, it is useful because it can be easily aligned. For example, as shown in FIG. 8, the elastic member 2.5 may be located above the circular member 2.3, but is not particularly limited to this position. The configuration of the elastic member 2.5 is not particularly limited as long as it can apply a force that presses the cap gripping portion 2.1 downward against the cap A, and may be a spring, for example.

The rotation drive mechanism 3 is not particularly limited as long as it can attach or detach the cap A from the opening 210 of the container 200 by rotating the cap grasping mechanism 2 and rotating the cap A grasped by the cap grasping part 2.1. As shown in FIG. 2 and the like, the rotational drive mechanism 3 can be arranged substantially coaxially above the cap gripping mechanism 2.

The rotation drive mechanism 3 is controlled by a control device 50 and can include, for example, a rotation motor and a power source therefor. Further, the rotational drive mechanism 3 may also include a torque meter, thereby making it possible to determine whether the cap A is attached or detached.

The measuring device 20 is not particularly limited as long as it can provide the above functions, but for example, the measuring device 20 can include a camera and an image processing device that processes images taken by the camera. Such a measuring device 20 is commercially available, and a well-known measuring device can be used. Note that the image processing device may be common to the control device 50 or may be an independent component.

In the measuring device 20, for example, in an image taken with a camera, the opening or cap of the container has a circular shape whose color is different from other parts, so the image processing device identifies the circular portion as the opening or the cap of the container 200. can be recognized as an image.

The gripping mechanism providing device 5 can move the cap gripping mechanism 2 to the upper part of the opening 210 of the container 200 or the position of the cap A measured by the measuring device 20 under the control of the control device 50 . The gripping mechanism providing device 5 can move the cap gripping mechanism 2 in the horizontal direction, as shown in FIGS. It can be moved to the cap A position.

The gripping mechanism providing device 5 is not particularly limited as long as it can provide the above functions, but may be configured to be movable together with the cap gripping mechanism 2 using a rack and pinion mechanism, for example. The gripping mechanism providing device 5 can be configured to move the cap gripping mechanism 2 vertically and horizontally.

The cap attachment/detachment system 1 can include a second measuring device 4 that can measure the orientation of the cap A. The position of the cap A is measured by the (first) measuring device 20, which can also be used for liquid injection and extraction systems, and the cap gripping mechanism 2 is moved to the top of the cap A, and then the second The measuring device 4 measures the orientation of the cap, and based on that information, the rotary drive mechanism 3 makes fine adjustments so that the circumferential orientations of the cap gripping portion 2.1 and the cap A match and they can be easily fitted. can do.

The second measuring device 4 can also have a similar configuration to the (first) measuring device 20, but the second measuring device 4 has a smaller opening or cap on the container than the (first) measuring device 20. By arranging it at a position close to , it is possible to measure the position and orientation of the opening or cap more precisely than the (first) measuring device 20 . For example, as shown in FIG. 2, the second measuring device 4 can be placed adjacent to the cap gripping mechanism 2.

In addition to or instead of the second measuring device 4, the cap attachment/detachment system 1 includes a cap gripper 2.1 and a cap A so that the cap gripping portion 2.1 and the cap A can be fitted in the same orientation. A cap gripping part fine adjustment mechanism for matching the positions of the gripping part 2.1 and the cap A in the circumferential direction can be provided. For example, the cap gripping part fine adjustment mechanism lowers the cap gripping mechanism 2 to the position of the cap A by the gripping mechanism providing device 5, and then, while pressing the cap gripping part 2.1 against the cap A, the cap gripping part 2.1 The cap gripping mechanism 2 can be configured to be rotated by the rotation drive mechanism 3 until it can be fitted onto the cap A.

The control device 50 is not particularly limited in its configuration, position, etc., as long as it can control the operations of the cap gripping mechanism 2, the rotation drive mechanism 3, the measuring device 20, and the gripping mechanism providing device 5. The control device 50 may perform its functions with one or more devices. Additionally, the control device 50 may be common to the control device of the liquid injection and extraction system 100 described below, or may be a separate device.

The control device 50 may be an electronic control unit (ECU), which is configured as a microprocessor centered on a CPU, and in addition to the CPU, a ROM that stores processing programs and a ROM that temporarily stores data. It can be equipped with a RAM, an input/output port, and a communication port.

For example, information regarding the position of the opening 210 of the container 200 or the cap A transmitted from the measuring device 20 is input to the control device 50 as a signal through an input port. Based on the signal related to the opening position input to the control device 50, the control device 50 grips the container 200 so that the opening 210 of the container 200 or the cap A on the horizontal plane approaches the position of the cap gripping mechanism 2 on the horizontal plane. A signal for operating the mechanism providing device 5 is output. In some cases, information on the orientation of the cap A measured by the second measuring device 4 is input to the control device 50, and based on that information, the control device 50 adjusts the orientation of the cap grip 2.1 and the cap A. A signal is output to the rotational drive mechanism 3 to align the circumferential direction.

《Liquid injection and extraction system》
A liquid injection and extraction system 100 shown in FIG. 11 is a device for automatically inserting first and second rod-shaped bodies 11 and 12 into an opening provided on the upper surface of a container 200. This system 100 includes a measuring device 20 that can measure the position of the opening of a container 200, first and second rod-shaped body providing devices 31 and 32 for the first and second rod-shaped bodies 11 and 12, and a container. A container position changing device 40 that can move the container in a planar direction and/or a circumferential direction, and a control device 50 for controlling these operations are provided.

Rod 10 may not be a component of liquid injection and extraction system 100, but may be an element used by liquid injection and extraction system 100. In the embodiment of FIG. 1, there are two rod-like bodies 10, at least one of which is a liquid conduit for injecting or extracting liquid, and the other is a liquid conduit, a gas conduit, a stirring blade, a thermometer, etc. It may be a sensor. For example, the rod 10 may be a bundle of rods such as conduits for multiple liquids or gases, sensors, etc.

Further, for example, when the liquid injection and extraction system 100 is a processing liquid extraction device used in some manufacturing process, the rod-shaped body 10 may include a conduit for extracting the liquid and a used It may be a conduit for injecting a liquid to reuse the later processing liquid and return it to the container 200, or it may be a bundle of these.

In the embodiment of FIG. 11, the first rod-shaped body 11 is a liquid conduit for liquid extraction, and the second rod-shaped body 12 is a stirring blade. In this case, the first rod-shaped body 11 includes a conduit for extracting the processing liquid and a pipe for injecting the liquid in order to reuse the used processing liquid and return it to the container 200. It may also be a bundle with a conduit.

In the embodiment of FIG. 11, the first rod-shaped body 11, which is a liquid conduit, further includes a tubular pipe 13 for injecting or extracting liquid. Further, the second rod-shaped body 12, which is a stirring blade, further includes a stirrer 14 for stirring the stirring blade.

As shown in FIGS. 12(a) and 12(b), the second rod-shaped body 12, which is the stirring blade, has a tilting mechanism 15 for tilting the stirring blade. Good too. Thereby, the tip of the stirring blade 12 can be brought closer to the center of the container 200, and the liquid inside the container 200 can be mixed efficiently.

The rod-shaped body 10 needs to have a smaller diameter than the opening diameter of the container 200, and the second rod-shaped body 12, which is a stirring blade, also needs to have a smaller diameter. On the other hand, the larger the diameter of the stirring blade, the higher the mixing performance. Therefore, when using stirring blades as the rod-shaped body 10, it is preferable to use a centrifugal stirrer or the like without stirring blades. Further, as the stirring blade, a foldable stirring blade that can be opened by rotating and closed by hitting the opening when removed from the opening of the container 200 is also useful.

The measuring device 20 can measure the position of the opening of the container 200 that has been introduced into the liquid injection and extraction system 100. In the liquid injection and extraction system 100, the measurement device 20 measures the position of the opening and transmits the information to the control device 50.

In the embodiments of FIGS. 1 and 11, the measuring device 20 is located above the container 200 and the rod-shaped body providing device 30 that are carried in. However, the position of the measuring device 20 is not particularly limited as long as it can measure the position of the opening of the container 200. As shown in FIGS. 1 and 11, the measurement device 20 may be attached to the pedestal 70 of the liquid injection and extraction system 100, but the measurement device 20 is not limited to such an embodiment. may be located at a separate location from the liquid injection and extraction system 100.

The measuring device 20 may be the same as that of the cap attaching/detaching system 1, and the configuration described above regarding the cap attaching/detaching system 1 can be used.

The rod-shaped body providing device 30 is controlled by the control device 50 and can move the rod-shaped body 10 to a position above the opening of the container 200 measured by the measuring device. If there are a plurality of rod-shaped body providing devices 30 as shown in FIG. 1 or 11, each of them can be independently controlled to move the rod-shaped body 10.

Particularly when there are a plurality of rod-shaped object providing devices 30, the horizontal movement distance of the rod-like object providing devices 30 may be limited because they collide with each other. Therefore, a liquid injection and extraction system 100 comprising a container repositioning device 40 that can move the position of the opening of the container 200 is very advantageous, especially when there are a plurality of rod-shaped body providing devices 30.

The rod-shaped body providing device 30 is located above the container 200 being carried in. As shown in FIGS. 1 and 11, the rod-shaped body providing device 30 may be attached to the pedestal 70 of the liquid injection and extraction system 100, but is not limited to such an embodiment. The body presentation device 30 may be located separately from the liquid injection and extraction system 100.

The rod-shaped object providing device 30 is not particularly limited as long as it can provide the above functions, but it can be configured to be movable together with the rod-shaped object 10 by, for example, a rack and pinion mechanism. The rod-shaped object providing device 30 is configured to be able to move the rod-shaped object 10 at least in the vertical direction. For example, in a case where the container 200 used in the liquid injection and extraction system 100 always has the same shape, and if the container 200 is rotated on the spot, the opening will move to a position directly below the rod-shaped body providing device 30. In this case, the rod-shaped body providing device 30 only needs to move the rod-shaped body 10 in the vertical direction. However, the rod-shaped body providing device 30 may be configured to be able to further move in one or two horizontal directions. In this case, the liquid injection and extraction system 100 can be used to accommodate a variety of container shapes.

In the embodiment of FIG. 11, there are first and second rod providing devices 31, 32 for the first and second rods 11, 12. The first rod-shaped body providing device 31 can move the tubular piping 13 for the first rod-shaped body 11, which is a liquid conduit, together with the first rod-shaped body 11. Further, the second rod-shaped body providing device 32 can move the stirrer 14 for the second rod-shaped body 12, which is a stirring blade, together with the second rod-shaped body 12.

The optional container position changing device 40 finely changes the position and/or orientation of the container 200 carried in under control from the control device 50 based on the information of the position of the opening of the container 200 measured by the measuring device 20. By adjusting, the position of the opening of the container 200 on the horizontal plane and the position of the rod-shaped body 10 on the horizontal plane can be brought closer to each other. In the case of a semi-automatic liquid injection and extraction system 100 or the like in which the container 200 is manually transported, the installation of the container position changing device 40 is essential because the opening position of the container 200 can be determined to a certain degree before the container 200 is transported. isn't it.

The configuration of the container position changing device 40 is not particularly limited as long as it can change the position and/or orientation of the container 200. For example, the container position changing device 40 may be a container placement stand that can place the container 200 and change its position and/or orientation from the bottom of the container 200, or it may be a container placement stand that can place the container 200 and change its position and/or orientation from the bottom of the container 200. It may be a device that can change direction. For example, the container position changing device 40 may be a device that changes the orientation of the container 200 by holding both sides of the container 200 between two belts and moving the belts in opposite directions.

Further, for example, the container position changing device 40 may be a turntable-like container arrangement stand that can move the container in the circumferential direction. For example, FIG. 13 shows an example in which the container placement stand 40 includes a circular plate-shaped turntable. This container placement stand 40 has a side wall 41 extending about two-thirds of its entire outer circumference. The side wall 41 is erected vertically on the outer periphery of the circular plate-shaped container placement table 40, and the container 200 is transported to the container placement table 40 from a portion 42 without a side wall by an automatic guided vehicle or a trolley 220. .

A gear 43 is provided on the side wall 41 of the container placement table 40, and together with a gear (not shown) provided on a motor 44, the entire container placement table 40 can be rotated by a rack and pinion mechanism. has been done. The motor 44 is controlled by the control device 50 to rotate the loaded container 200 on the container placement table 40, thereby changing the position of the opening 210 of the container 200 on the horizontal plane and the position of the rod-shaped body 10 on the horizontal plane. can be brought closer to the position of

It is preferable that the thickness of the container placement stand 40 is small. For example, the thickness of the container placement platform 40, excluding the sidewall 41, may be less than or equal to 10 cm, less than or equal to 5 cm, less than or equal to 3 cm, less than or equal to 2 cm, or less than or equal to 1 cm from the ground on which the liquid injection and extraction system 100 is installed. If the thickness is small, the AGV can be used to move the container even when using a relatively heavy container. In this case, a slope may be installed to place the containers on the container placement table 40 from the ground.

The control device 50 controls the measuring device 20, the rod-shaped body providing device 30, and the container position changing device 40 of the liquid injection and extraction system 100, and automatically inserts the rod-shaped body into a container having an opening on the top surface. Liquid can be injected into or extracted from the container. The configuration of the control device 50 is not particularly limited as long as it can perform such a function.

The control device 50 may be the same as that of the cap attachment/detaching system 1, and the configuration described above regarding the cap attachment/detaching system 1 can be used.

For example, information regarding the position of the opening 210 of the container 200 transmitted from the measuring device 20 is input to the control device 50 as a signal through an input port. Based on the signal related to the opening position inputted to the control device 50, the control device 50 controls the container position changing device to bring the position of the opening 210 of the container 200 on the horizontal plane closer to the position of the rod-shaped body 10 on the horizontal plane. A signal for operating the container position changing device 40 is outputted to the container position changing device 40. The initial position of the rod-shaped body 10 may always be constant; in this case, the control device 50 sends a signal to the rod-shaped body providing device to return the rod-shaped body 10 to the initial position at the timing when the container 200 is newly replaced, etc. Output to 30. Further, when the initial position of the rod-shaped body 10 is not constant, the control device 50 controls the current position of the rod-shaped body 10 when bringing the position of the opening 210 of the container 200 on the horizontal plane closer to the position of the rod-shaped body 10 on the horizontal plane. After acquiring the position information, a signal for operating the container position changing device 40 is output to the container position changing device 40.

Thereafter, the control device 50 outputs a signal to the rod-shaped object providing device 30 to move the rod-shaped object 10 to a position directly above the opening 210 of the container 200, but only the operation of the container position changing device 40 is performed. However, if the rod-shaped body 10 can be positioned directly above the opening 210 of the container 200, this is not necessary. When the rod-shaped body 10 is moved to a position directly above the opening 210 of the container 200, the control device 50 causes the rod-shaped body providing device 30 to insert the rod-shaped body 10 into the opening 210 of the container 200. Outputs a signal to move the object straight down.

In the liquid injection and extraction system 100, when the injection of the liquid into the container 200 or the extraction of the liquid from the container 200 is completed, the control device 50 causes the rod-shaped body 10 to be inserted into the opening 210 of the container 200 with respect to the rod-shaped body providing device 30. A signal is output to move the rod-shaped body 10 directly upward so as to pull it out. The control device 50 can determine whether to end the injection of liquid into the container 200 or the extraction of the liquid from the container 200 based on the information on the weight of the container 200 from the measuring device 60. Further, the control device 50 also determines whether the container 200 is placed on the liquid injection and extraction system 100 and the liquid injection and extraction system 100 starts operating based on the information on the weight of the container 200 from the weighing device 60. I can do it.

Weighing device 60 can be located above or below container repositioning device 40 and can measure the weight of container 200.

The pedestal 70 can support, for example, the metering device 20, the bar providing device 30, and the control device 50 of the liquid injection and extraction system 100. The frame 70 may be part of the equipment in the factory or may be an independent equipment.

The container 200 is not particularly limited as long as it can be transported by an automatic guided vehicle or the trolley 220, and may be, for example, a tank, a drum, or the like, or may be made of metal, resin, or the like. However, as described above, when the container 200 is made of resin, the position of the opening of the container 200 varies greatly due to molding errors. Injection and extraction system 100 is particularly useful.

Container 200 can contain, for example, 10 liters or more, 50 liters or more, 100 liters or more, or 200 liters or more of liquid, and contains 3000 liters or less, 2000 liters or less, 1000 liters or less, or 500 liters or less of liquid. be able to.

The container 200 has one or more openings 210, and a lid may be attached to the openings 210. In this case, the liquid injection and extraction system 100 may include an automatic lid removal device.

The liquid contained in the container 200 may be, for example, a polishing slurry used in a semiconductor manufacturing process, or a chemical such as a cleaning solution or a plating solution, and the liquid injection and extraction system 100 is also used in such fields. be able to.

Furthermore, the present invention relates to a method of extracting a liquid from or injecting a liquid into a container using the liquid injection and extraction system 100 as described above. Note that for each configuration of the method of the present invention, reference can be made to each configuration described regarding the liquid injection and extraction system of the present invention.

This method includes transporting a container 200 having an opening 210 into the liquid injection and extraction system 100, measuring the position of the opening 210 of the container 200 with a measuring device 20, and acquiring positional information of the opening 210 measured by the measuring device 20. transmitting the information to the control device 50; activating the rod-like object providing device 30 by the control device 50 based on the position information of the opening 210 and the position information of the rod-like object 10 to insert the rod-like object 10 into the opening 210 of the container; This includes extracting liquid from or injecting liquid into the container 200 by means of the rod-shaped body 10.

Loading the container 200 into the liquid injection and extraction system 100 may be loading the container 200 into the container repositioning device 40 of the liquid injection and extraction system 100. Further, in this case, the step of controlling and operating the container placement table 40 by the control device 50 based on the position information of the opening 210 to bring the position of the opening 210 of the container on the horizontal plane and the position of the rod-shaped body 10 on the horizontal plane closer to each other. can be included.

After loading the container 200 into the liquid injection and extraction system 100 , the method of the present invention may further include measuring the weight of the container 200 by the weighing device 60 and transmitting this information to the controller 50. After the control device 50 receives the weight information of the container 200, the measurement device 20 can measure the position of the opening 210.

In the step of inserting the rod 10 into the opening 210 of the container by operating the rod providing device 30 with the control device 50 based on the position information of the opening 210 and the position information of the rod 10, the position information of the rod 10 is If the initial position of the rod-shaped body 10 is determined, that information can be used; if the initial position is not determined, the position information of the rod-shaped body 10 can be measured and used. Further, the operation of the rod-shaped body providing device 30 may include horizontal movement and vertical movement.

After the step of extracting liquid from container 200 or injecting liquid into container 200, the method of the present invention further includes measuring the weight of container 200 by means of weighing device 60 and transmitting this information to controller 50. be able to. This allows the control device 50 to control the timing of extracting the liquid or stopping the injection of the liquid.

After extracting the liquid or stopping the injection of the liquid, the method of the present invention may further include activating the rod providing device 30 by the controller 50 to extract the rod 10 from the opening 210 of the container 200. . In this case, the rod-shaped body providing device 30 can move the rod-shaped body 10 to the initial position, or can move the rod-shaped body 10 to a position where the rod-shaped body 10 does not get in the way for carrying out the container.

Finally, the containers after use can be transported by an automated guided vehicle or trolley 220 from the liquid injection and extraction system 100, in particular from the container repositioning device 40.

14-18 illustrate the steps when liquid injection and extraction system 100 is used.

FIG. 14 shows the container 200 immediately after being transferred to the liquid injection and extraction system 100. Here, the position of the opening 210 of the container 200 and the position of the rod-shaped body 10 at the top of the container 200 are apart.

When the container 200 is transported, the weighing device 60 measures the weight of the container 200, and a signal thereof is transmitted to the control device 50. Thereafter, the control device 50 operates the container position changing device 40.

15 and 16 show a state in which the container 200 is moved in the circumferential direction by the container position changing device 40 operated by the control device 50 to optimize the position of the opening 210 of the container 200, that is, the opening 210 of the container 200 is The position on the horizontal plane of the container 200 and the position of the rod-shaped body 10 on the upper part of the container 200 on the horizontal plane are shown in a state close to each other. Moreover, the state in which the rod-shaped body providing device 30 is further actuated by the control device 50 and the rod-shaped body 10 is moved to a position directly above the opening 210 of the container 200 is also shown here.

17 and 18 show a state in which the rod-shaped body 10 is vertically moved by the rod-shaped body providing device 30 and inserted into the opening 210 of the container 200.

A... Cap 1... Cap attaching/detaching system 2... Cap gripping mechanism 2.1... Cap gripping part 2.2... Diameter variable means 2.2a... Wedge-shaped member 2.2b... Facing member 2.2c... Spring member 2.3... Circular member 2.4...Vertical movement member 2.4a...Cylinder 2.4b...Lever 2.4c...Roller 2.5...Elastic member 3...Rotary drive mechanism 4...Second measuring device 5...Gripping mechanism providing device 10, 11, 12... Rod-shaped body 13... Tubular piping 14... Stirrer 15... Tilting mechanism 20... Measuring device 30, 31, 32... Rod-shaped body providing device 40... Container position changing device 41... Side wall 42... Part without side wall 43... Gear 44...motor 50...control device 60...metering device 70...cradle 100...liquid injection and extraction system 200...container 210...opening 220...automatic guided vehicle or trolley

Claims (11)

A cap attachment and detachment system that allows a cap to be attached and detached from an opening of a container,
a cap gripping mechanism having a cap gripping portion having a shape that can fit into the shape of the cap;
a rotational drive mechanism that rotates the cap gripping section;
a measuring device capable of measuring the position of the opening of the container;
a gripping mechanism providing device capable of moving the cap gripping mechanism to a position measured by the measuring device; and a control device for controlling these operations.
Equipped with a cap attachment and detachment system. The cap attaching/detaching system according to claim 1, wherein the cap gripping mechanism has a diameter variable means that can expand and contract the shape of the cap gripping part in a radial direction. The cap attaching/detaching system according to claim 1 or 2, wherein the diameter variable means includes a wedge-shaped member that moves in the vertical direction, and an opening/closing member that can open and close the cap gripping mechanism in the radial direction by moving the wedge-shaped member up and down. . 4. The cap attachment/removal system according to claim 3, wherein the opening/closing member includes at least two facing members facing each other with a wedge-shaped member in between, and the facing members are connected by a spring member. a circular member that can be rotationally driven together with the cap gripping part and can move up and down together with the wedge-shaped member;
a vertical movement member for vertically moving the circular member;
The capping/detaching system according to claim 3, comprising: The vertical movement member is
The cap gripping mechanism includes a cylinder that is not coaxial and moves in the vertical direction;
and a lever for transmitting the vertical movement of the cylinder to the circular member to move the circular member vertically,
6. The capping/detaching system according to claim 5, wherein the circular member is capable of rotational movement by sliding on the lever at its outer periphery. 7. The cap attachment/detachment system according to claim 6, wherein a roller is present at a contact portion between the lever and the outer periphery of the circular member. The cap attachment/removal system according to claim 1, wherein the cap gripping mechanism includes an elastic member that can be vertically displaced to perform vertical alignment with the cap. The cap attaching/detaching system according to claim 1, wherein the cap has a concave or convex shape, and the cap grip has a convex or concave shape corresponding to the shape of the cap. The cap attachment/detachment system according to claim 9, further comprising a second measuring device capable of measuring the orientation of the cap. In order to fit the convex shape of the cap grip into the concave shape of the cap, a cap grip fine adjustment mechanism is provided for matching the position of the cap grip in the circumferential direction. Cap attachment/detachment system.

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