JPH04324362A - Automatic measuring apparatus having means for preventing splashing of injected chemical liquid - Google Patents

Abstract

PURPOSE:To prevent occurrence of a problem of poor reaction or the like by making a chemical liquid splashing into a flask without complicating the robot operation as automation art for measuring pH value, OH value or the like of a chemical agent such as polyether for polyurethane. CONSTITUTION:In an automatic measuring apparatus, operation of injecting a chemical liquid into a flask by the operation of a robot hand is performed by inserting a tip 3 into the flask 4 with vertical movement of either of the flask 4 or the tip 3 by the robot operation using the tip 3 of a burette or pipette bent slightly near the tip thereof.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic measuring device having a means for preventing scattering of an injected chemical solution, which is preferably used to automatically measure, for example, the pH value and OH value of polyether for polyurethane.

0002

[Prior Art] Conventionally, p of polyether for polyurethane has been used.
In order to measure the H value and the OH value, everything was done manually in accordance with the test method specified in JIS-K-1557, except for using an automatic titration device.

[0003] Conventionally, a buret used for injecting a chemical into a flask is formed of a straight glass tube with a tapered tip, as shown in FIG. When injecting a chemical solution, the injected chemical solution may scatter, and some of it may adhere to the inner wall of the flask neck or burette tip, or even fly out, resulting in an insufficient amount of reaction solution and reducing the reliability of the data. There were cases where sexual performance was impaired. In particular, if the sample is a highly viscous product, it may form an irregularly raised shape at the bottom of the flask, so if the injected chemical solution hits the top surface with force, it will bounce irregularly and cause the above-mentioned situation. The measured values are 2 to 3% higher than those measured manually.

0004

[Problems to be Solved by the Invention] Conventional manual methods for measuring the pH value and OH value of polyether for polyurethane are extremely complicated and inefficient. Therefore, the present inventors attempted to automate the measurement using a robot, but found that there were various obstacles in trying to put it into practical use. For example, if you try to inject a sample or solvent into a flask by operating a buret or pipette using a robot hand, in the posture shown in Figure 3, the injected chemical solution will hit the sample collected at the bottom of the flask and scatter. , it adheres to the walls of flasks, burettes, etc., resulting in poor reactions due to insufficient chemical solution, and malfunctions such as variations in measurement data occur.

[0005] Although it is possible to inject a chemical into a tilted flask by operating a robot hand, the robot hand is the same as a human's one-handed operation, so the operation of setting the flask in a tilted state, It is necessary to insert the burette or pipette, which is held vertically, into the flask by tilting it, which is very complicated and results in a large loss of operating time.

[0006] In view of the above, the present invention reveals an automatic measuring device having an improved means for preventing scattering of an injected chemical solution, which can inject the chemical solution into a flask without complicating the robot operation and without scattering the drug solution. The purpose is to

[0007]

[Means for Solving the Problems] The automatic measurement device according to the present invention uses a buret or pipette whose tip is slightly curved in order to perform an operation of injecting a drug into a flask by operating a robot hand. The device is characterized in that it is carried out by vertically moving either the or flask by robot operation, and that this device automatically measures the pH value and OH value of polyester for polyurethane.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Prior to explaining the present invention, an automatic measuring device to which the present invention is applied and a measurement procedure will be explained.

An automatic measuring device to which the present invention is applied is shown in FIG. Although this device automatically measures the pH value and OH value of polyether for polyurethane, the present invention is not limited to this device, and can be used for various automatic measurements performed by operating a beaker or flask with a robot hand. Applies to equipment.

In FIG. 2, reference numeral 10 denotes a robot, which rotates its arm 360 degrees, raises and lowers, extends and contracts, rotates its robot hand 360 degrees, and grasps its fingers. The robot hand is provided with a syringe hand 11 and a grip hand 12, which are used by replacing them according to the operating procedure. A pipette rack 13 is arranged at the front position of the syringe hand 11.
A buret or pipette is provided that can be handled by the operator. Burettes or pipettes are designed as tips to be replaced after each operation, and are disposable or non-disposable.
Otherwise, it can be washed and used again.

Reference numeral 14 denotes a heating block in which a test tube containing a sample to be examined is housed, and the temperature is controlled to lower the viscosity and facilitate sampling. 15 and 16 are stirrers, 17 is an electrode holder station on which the electrode holder is placed when measuring the pH value, 18 is a cleaning station for cleaning the electrode, 19 is a dispensing stand, 20 is a buzzer switch, 21.
22 is a balance, 23 to 26 are racks for preparing beakers or flasks used for measurement, 27 is a remote teaching module, 28 is a TARE changeover switch, and 29 is a switch for canceling an alarm or starting the robot. 30 is a personal computer for managing samples and measurement data, 31 is an FDD CRT for robot operation, 32
is a power event controller, and 33 is a computer for controlling measurement equipment.

Next, the operating procedure for automatic OH value measurement will be explained.

[0013] The samples to be measured are placed in test tubes and prepared in the heating block 14, and the samples are numbered in the order in which they are to be measured. etc. are FDD CRT 3
1, and the reagents, solvents, etc. used in the measurement are also adjusted and prepared.

First, the robot 10 has a grip hand 1.
Rotate to position 2, attach this to the tip of the arm,
The user switches to the flask finger 3, picks up the flask from the rack 23, carries it to the balance 22, measures the tare weight (measurement data is automatically input into the computer 33), and then moves it to the stirrer 15 and places it there. Next, the robot 10 switches from the grip hand 12 to the syringe hand 11, grabs a pipette from the pipette rack 13, selects and samples the sample in the measurement order from the samples prepared in the heating block 14, and places it on the stirrer 15. Pour it into the tared flask placed there, switch to grip hand 12 again,
The flask is brought to the balance 22 and its weight is measured (the measurement data is automatically input into the computer 33), then the reaction liquid (reaction auxiliary liquid) is put into the flask, and the flask is returned to the rack 23. The operation of the apparatus shown in FIG. 2 is now completed, and the subsequent measurement work is performed by a separate automatic titration device, but it is also possible to systemize it so that it is continuously performed by a robot.

[0015] In the subsequent measurement work, first, the air condenser is set, the above-treated flask is set in the reaction tank, waiting for reaction, taken out from the reaction tank, the condenser and flask are washed, and the flask is placed in the autocycler. The relocation is done manually. The beaker is moved to the titration position and dispensing position in the automatic titrator using an autocycler. In the automatic titration device, first, a partially neutralized liquid is injected (dispensed), stirred with a stirrer, and then a measurement electrode is inserted to measure the OH value, and the measurement data is automatically input into the computer 33. When the titration is completed, the electrode is automatically cleaned and one cycle of measurement is completed.

Next, automatic measurement of pH value will be explained.

A beaker is taken from the rack 23 and brought to the dispensing stand 19, where a solvent is injected, and then the beaker is moved to the stirrer 16 to neutralize the solvent. When neutralization is completed, transfer to the balance 21 and perform tare measurement (measurement data is automatically input into the computer 33), transfer the beaker to the stirrer 15 again, and measure the measurement order from the samples prepared in the heating block 14. Take a sample of what is in it and pour it into a beaker. Next, the beaker is transferred to the balance 21 and its weight is measured (data is automatically input into the computer 33). Next, the beaker is moved to and set in the stirrer 16, and the electrode holder for measuring the pH value prepared in the cleaning station 18 is transferred to the electrode holder station 17, and the electrode is immersed in the liquid in the beaker to measure the pH value. Measurement is performed, and the measured data is input into the computer 33 and printed out at the same time. When the pH value measurement is completed, the electrode is moved to the cleaning station 18 and cleaned, and the beaker is returned to the rack 23 to complete one cycle of pH value measurement.

The chemical liquid scattering prevention means of the present invention is shown in FIG. In the figure, 1 is a robot arm, and a syringe hand 2 (numeral 11 in FIG. 2) is attached to the tip of the arm in a replaceable manner. 3 is fixed to the dispensing stand 19 with a buret or pipette tip, and the tip 3 is inserted into and withdrawn from the flask 4 by moving the flask 4 up and down by robot operation.

[0019] The present invention also includes a mode in which the flask 4 is guided and placed in a predetermined position by a robot operation, and the chip 3 is moved up and down by the robot operation to be inserted into and withdrawn from the flask 4. .

As is clear from a comparison with the conventional burette or pipette 5 shown in FIG. Since the chemical liquid naturally falls along the inner wall of the flask 4, the chemical liquid 6 that has already been injected is not scattered. Although a flat-bottomed flask is shown as a container for injecting a chemical solution, the present invention is also effective in the case of a round-bottomed flask, an Erlenmeyer flask, or even a beaker.

[0021]

[Effects of the Invention] According to the present invention, when a chemical solution is injected into a flask using a burette tip by operation of a robot hand, the chemical solution is supplied from the tip of the buret or pipette toward the inner wall of the flask and flows along the inner wall. Since it falls quietly, there is no scattering of the chemical solution, which prevents the measurement data from being distorted.Also, the operation of the robot hand can be greatly simplified, which is effective in shortening the measurement time. , the problem mentioned above is solved.

[Brief explanation of drawings]

[Fig. 1] A perspective view showing an embodiment of the present invention.

[Figure 2] Schematic diagram of automatic measuring device

[Figure 3] Schematic diagram showing a conventional example

[Explanation of symbols]

1 Robot arm 2 Syringe hand 3 Buret or pipette tip 4
Flask 5 Conventional burette or pipette 6
Injected chemical solution 10 Robot 11 Syringe hand 12 Grip hand 13 Pipette rack 14 Heating block 15 Stirrer 16 Stirrer 17 Electrode holder station 18 Washing station 19 Dispensing stand 20 Buzzer switch 21 Balance 22 Balance 23 Beaker (flask) rack 24 Beaker (flask) ) Rack 25 Beaker (flask) rack 26 Beaker (flask) rack 27 Remote teaching module 28 TA
RE changeover switch 29 Alarm release or robot start switch 30
Management PC 31 FDD CRT 32 for robot operation
power event controller

Claims (2)

[Claims] Claim 1: The operation of injecting a chemical solution into a flask by operating a robot hand is performed by using a buret or pipette whose tip is slightly curved, and by robot operating either the buret or pipette or the flask in a vertical direction. An automatic measuring device characterized in that the measurement is carried out by moving the device. [Claim 2] pH value and O of polyester for polyurethane
The automatic measuring device according to claim 1, which automatically measures the H value.