End of arm attachment for a robotic arm
An apparatus comprises: a robotic arm and an end-of-arm attachment fixedly attached to the robotic arm, where the end-of-arm attachment comprises: a fixed portion of the end-of-arm attachment fixedly attached to the robotic arm which is adapted to receive exchangeable portions of the end-of-arm attachment; a first exchangeable portion of the end-of-arm attachment adapted to remove a cap from a container, retain the cap, and reinstall the cap on the container; and a second exchangeable portion of the end-of-arm attachment adapted to install a dispense head on the container and remove the dispense head from the container, where the dispense head is capable of dispensing a liquid-based material from the container. Methods of using the apparatus are provided.
1 . An apparatus comprising:
a robotic arm; and
an end-of-arm attachment fixedly attached to the robotic arm, wherein the end-of-arm attachment comprises:
a fixed portion of the end-of-arm attachment fixedly attached to the robotic arm, the fixed portion comprising a universal head with a chassis, a servo motor, a servo drive adapter, guide pins, and locks; the fixed portion being adapted to receive exchangeable portions of the end-of-arm attachment;
in a first configuration, a first exchangeable portion of the end-of-arm attachment adapted to remove a cap from a container, retain the cap, and reinstall the cap on the container, the first exchangeable portion comprising a shipping cap end-of-arm tool with a chassis, a servo drive receiver, a belt and pulley system, and a shipping cap rotor; and
in a second configuration, a second exchangeable portion of the end-of-arm attachment adapted to install a dispense head on the container and remove the dispense head from the container, wherein the dispense head is capable of dispensing a liquid-based material from the container, the second exchangeable portion comprising a dispense head end-of-arm tool with a chassis, a servo drive receiver, a belt and pulley system, and a dispense head rotor.
2 . The apparatus according to claim 1 wherein the first exchangeable portion comprises a first rotor comprising a plurality of clamps adapted to close about the cap such that torque may be applied to the cap by rotation of the first rotor.
3 . The apparatus according to claim 1 wherein the second exchangeable portion comprises a second rotor engaged with the dispense head and capable of applying torque to the dispense head by rotation of the second rotor.
4 . The apparatus according to claim 3 wherein the dispense head comprises three or more through-channels.
5 . The apparatus according to claim 4 wherein at least one through-channel is connected to a Chemical Mechanical Polishing (CMP) tool.
6 . The apparatus according to claim 3 wherein the dispense head comprises four or more through-channels.
7 . The apparatus according to claim 6 wherein at least one through-channel is connected to a Chemical Mechanical Polishing (CMP) tool.
8 . The apparatus according to claim 1 wherein the liquid-based material is a Chemical Mechanical Polishing (CMP) process chemical and wherein the CMP process chemical is dispensed to a CMP process tool.
9 . The apparatus according to claim 1 wherein the fixed portion comprises a servo motor adapted to engage alternately with a first rotor of the first exchangeable portion such that the servo motor may apply torque to the first rotor and a second rotor of the second exchangeable portion such that the servo motor may apply torque to the second rotor.
10 . The apparatus according to claim 9 additionally comprising a torque monitor to measure torque applied by the servo motor.
11 . The apparatus according to claim 9 wherein the fixed portion additionally comprises a position monitor to measure rotational position of the servo motor.
12 . The apparatus according to claim 1 wherein the fixed portion comprises one or more locks which, in a locked position, maintains the first exchangeable portion or the second exchangeable portion in a fixed position relative to the fixed portion, and which, in an open position, releases the first exchangeable portion or the second exchangeable portion.
13 . The apparatus according to claim 1 wherein the fixed portion comprises one or more cameras capable of capturing an image of the container.
14 . The apparatus according to claim 1 wherein the fixed portion comprises one or more range-finding detectors.
15 . An apparatus according to claim 1 , wherein the first exchangeable portion comprises a first rotor comprising a plurality of clamps adapted to close about the cap such that torque may be applied to the cap by rotation of the first rotor;
wherein the second exchangeable portion comprises a second rotor comprising a dispense head such that torque may be applied to the dispense head by rotation of the second rotor;
wherein the fixed portion comprises a servo motor adapted to engage alternately with the first rotor such that the servo motor may apply torque to the first rotor, and the second rotor such that the servo motor may apply torque to the second rotor, and wherein the apparatus comprises a torque monitor to measure torque applied by the servo motor;
wherein the fixed portion comprises one or more locks which, in a locked position, maintains the first exchangeable portion or the second exchangeable portion in a fixed position relative to the fixed portion, and which, in an open position, releases the first exchangeable portion or the second exchangeable portion; and
wherein the fixed portion comprises one or more cameras and one or more range-finding detectors.
16 . The apparatus according to claim 15 additionally comprising a programmable logic controller;
wherein the programmable logic controller is functionally connected to receive input from the torque monitor, the one or more cameras, and the one or more range-finding detectors; and
wherein the programmable logic controller is functionally connected to control the motion of the robotic arm, the motion of the servo motor, and the motion of the one or more locks.
17 . The apparatus according to claim 16 wherein the liquid-based material is a Chemical Mechanical Polishing (CMP) process chemical, wherein the CMP process chemical is dispensed to a CMP process tool, and wherein the programable logic controller is functionally connected to send status signals to the CMP tool.
18 . A method comprising:
providing an apparatus for automated filling or dispensing of liquid-based materials from a container the apparatus comprising:
a robotic arm;
an end-of-arm attachment fixedly attached to the robotic arm, wherein the end-of-arm attachment comprises:
a fixed portion of the end-of-arm attachment fixedly attached to the robotic arm, the fixed portion comprising a universal head with a chassis, a servo motor, a servo drive adapter, guide pins, and locks; the fixed portion being adapted to receive exchangeable portions of the end-of-arm attachment;
in a first configuration, a first exchangeable portion of the end-of-arm attachment adapted to remove a cap from a container, retain the cap, and reinstall the cap on the container, the first exchangeable portion comprising a shipping cap end-of-arm tool with a chassis, a servo drive receiver, a belt and pulley system, and a shipping cap rotor; and
in a second configuration, a second exchangeable portion of the end-of-arm attachment adapted to install a dispense head on the container and remove the dispense head from the container, wherein the dispense head is capable of dispensing a liquid-based material from the container, the second exchangeable portion comprising a dispense head end-of-arm tool with a chassis, a servo drive receiver, a belt and pulley system, and a dispense head rotor,
with the first exchangeable portion attached to the fixed portion, removing a cap from the container with the first exchangeable portion; and
with the second exchangeable portion attached to the fixed portion, installing a dispense head on the container.
19 . The method according to claim 18 additionally comprising:
dispensing a liquid-based material from the container through the dispense head.
20 . The method according to claim 19 wherein the liquid-based material is a Chemical Mechanical Polishing (CMP) process chemical, the method additionally comprising:
supplying a portion of the dispensed CMP process chemical to a CMP process tool; and
recirculating a portion of the dispensed CMP process chemical back into the container through the dispense head.