JPH04324366A - Automatic measuring apparatus for ph value, oh value or the like - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically measuring the pH value and OH value of a chemical agent such as polyether for polyurethane by operating a robot hand.

0002

[Prior Art] For example, there are regulations in JIS-1557 for measuring the pH value of polyether for polyurethane, and conventionally, all the JIS methods have been performed manually or using an automatic pH meter. Ta.

[0003] With commercially available automatic pH meters, it is only necessary to place a beaker containing a sample at a specified set position, so there is no problem of chemical contamination due to dripping of the chemical as the electrode moves.

0004

[Problems to be Solved by the Invention] Even if an automatic pH meter is used to measure the pH value of a sample (for example, polyether for polyurethane), as the number of samples to be tested increases, manual methods are extremely difficult. It was complicated and inefficient. Therefore, the present inventors attempted to automate pH value measurement using a robot, but there are various obstacles to putting this into practical use. For example, in an automated system to which the present invention is applied, an electrode is moved between a sample beaker placed on a pH value measurement table (stirrer) and a cleaning station by operating a robot hand. Wiping is necessary because the chemical solution that adheres to the electrodes when they are moved drips and scatters onto the stirrer and pedestal, contaminating them and causing not only unsightliness but also damage to the equipment due to corrosion. In the automatic measurement system to which the present invention is applied, simply pH
It not only measures values, but also measures OH values, etc., and the equipment built into it, mainly robots, is packed together, making it difficult to wipe off scattered chemical solutions, so there is a need for easier maintenance. be done.

[0005] In view of the above, the present invention is an object of the present invention to effectively prevent contamination due to dripping and scattering of chemical solutions and to facilitate maintenance of the pH value of a sample to be inspected, such as polyether for polyurethane, by robot operation. The purpose is to clarify automatic measuring devices.

[0006]

[Means for solving the problem] The pH value and O
The automatic measuring device for H value, etc. has a chemical solution receiver placed at the bottom of the movement route of the measurement electrode operated by a robot hand, and a chemical solution receiver has a gutter-like part that extends in at least two directions and a part of it. A liquid reservoir is provided.

[0007]

[Example] Figure 1 shows the pH of polyether for polyurethane.
The present invention is applicable to automatic measuring devices for chemical agents in general, which are operated by a robot hand.

In the figure, reference numeral 10 is a robot, which performs 360 degree rotation, elevation, extension and contraction of the arm, 360 degree rotation of the robot hand, and grasping operations of the 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 pipette is provided to be handled by the user. 14
is a heating block that houses test tubes containing samples to be tested, and controls the temperature to reduce viscosity and facilitate sampling. 15 and 16 are stirrers, 17 is an electrode holder station for holding an electrode holder when measuring pH value, 18 is a cleaning station for cleaning the electrodes, 19 is a dispensing stand, 20 is a buzzer switch, 21 and 22 is a balance, 23~
26 is a rack for preparing beakers, flasks, etc. used for measurements, 27 is a remote teaching module, 28 is a TARE switch, and 29 is an alarm release /
A robot start switch, 30 a personal computer for managing samples and measurement data, 31 an FDD CRT for operating the robot, 32 a power event controller, and 33 a computer for controlling measurement equipment.

Next, the operating procedure will be explained, starting with automatic measurement of OH value.

[0010] 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), and then the flask is brought to the dispensing stand 19, the reaction liquid (reaction auxiliary liquid) is poured into the flask, and the flask is Return to 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.

In the subsequent measurement work, first, set the air condenser, set the above-treated flask in the reaction tank, wait for reaction, take it out from the reaction tank, transfer the flask to the autocycler, and remove the condenser and flask. Cleaning is done manually. The flask 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, the procedure for automatic pH value measurement will be explained.

The robot 10 picks up the beaker from the rack 23 with the beaker finger of the grip hand 12, brings it to the dispensing stand 19, pours 60 ml of isopropyl alcohol into the beaker, then sets the beaker on the stirrer 16 and pours it into the dispensing stand 19. As a Japanese additive, 1/200
Neutralize the solvent by injecting 0N-NaOH. When neutralization is completed, transfer to the balance 21 and measure the tare (measurement data is automatically input to the computer 33), transfer the beaker to the stirrer 15, and select the sample prepared in the heating block 14 that is in the order of measurement. Sample and inject into a beaker. Next, the beaker is transferred to the balance 21 and its weight is measured (the data is taken from the computer 3).
3)). Next, place the beaker on stirrer 1.
6 and set it, move the electrode holder for pH value measurement prepared in the cleaning station 18 to the electrode holder station 17, and measure the pH value by immersing the electrode in the liquid in the beaker. The data is input into the computer 33 and printed out at the same time. p
When the H 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. Conventional JIS
In the pH value determination process, the sample is set in a pH meter, stirred with a magnetic stirrer for 5 minutes to make a homogeneous solution, stood still for 1 minute, then read the first pH value, and then Stir for 1 minute, stand still for 1 minute, and then repeat the operation of stirring for 1 minute → standing still for 1 minute → reading until the difference between the read pH value and the pH value becomes 0.05 or less. In the apparatus shown in Figure 1, a solvent that has been neutralized in advance is injected into a beaker, set on a stirrer, and stirred, while a sample is injected and the pH value is adjusted every minute. is read, and if the difference from the previously read pH value is 0.05 or less, this is determined as the pH value. In the control process, the difference is ``0.05 or less?'' compared to the previously read pH value.
If ``NO'' is ``NO'', the next reading operation will be continued, and if ``YES'', the pH value will be determined → the operation will be stopped, data will be recorded and printed out. FIG. 2 shows a chemical liquid receiver 1 having a basic structure according to the present invention. This chemical liquid receiver 1 is composed of a gutter-like member 2 and a liquid reservoir 3, and receives the chemical liquid falling from the electrode that is moved between the stirrer 16 and the cleaning station 18 by operation of the robot hand. Catch it with 2 and guide it to the liquid pool 3.

In addition to the basic structure as shown, a liquid reservoir 3
It may also be a structure in which the liquid reservoir 3 serves as a base, a structure in which a container portion serving as the liquid reservoir 3 is provided within the base, or a structure in which the entire body is supported by a support stand separate from these.

It is preferable that the material forming the gutter-shaped portion 2 and the liquid reservoir 3 be chemically resistant, and various synthetic resin materials can be used, but they are made of an ordinary metal plate and have a surface that is resistant to chemicals. It may also be treated with chemicals.

[0017] When a certain amount of chemical solution has accumulated in the liquid reservoir 3, it can be taken out and treated as waste liquid, and if the whole is washed with a solvent, it can be used for a long period of time.

FIG. 3 shows another embodiment of the invention. In this embodiment, a cylindrical base 5 is inserted into a base 4 which also serves as a liquid reservoir 3, a gutter-like part 6 is connected to the base 5, and an extendable extension part 7 is provided in the gutter-like part 6. It is something that By overlapping the bases 5, multiple gutter-shaped parts 6 can be attached to the base 4 and adjusted to various angles. Also, since the length of each gutter-shaped part 6 can be adjusted, various automatic According to the moving route of the electrode in the measuring device,
There is an advantage that the direction, number, length, etc. of the chemical liquid receivers 1 can be freely adjusted.

In the embodiment shown in FIG.
It includes a structure in which a plurality of gutter-like parts 6 are rotatably attached to the upper part of the pipe.

[0020]

[Effects of the Invention] According to the present invention, the chemical solution dripping as the electrode moves is received by the chemical solution receiver 1 and does not scatter around, and the received drug solution can be disposed of as waste. This eliminates the need for troublesome tasks such as wiping, which not only simplifies maintenance work, but also avoids damage to equipment due to corrosion, which solves the above-mentioned problems.

[Brief explanation of drawings]

[Figure 1] Schematic diagram of automatic measuring device

[Fig. 2] Perspective view showing an example

[Fig. 3] Perspective view showing another embodiment

[Explanation of symbols]

1 Chemical solution receiver 2 Gutter-like part 3 Liquid reservoir 4 Base 5 Base 6 Gutter-like part 7 Extension part 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 minutes Note 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 selector switch 29 Alarm release/robot start switch 30
Management PC 31 FDD CRT 32 for robot operation
power event controller

Claims (2)

[Claims] 1. An automatic measuring device for pH value, OH value, etc., characterized in that a chemical liquid receiver is arranged below the moving route of a measuring electrode operated by a robot hand. 2. The pH value, OH value, etc. according to claim 1, wherein the chemical liquid receiver is composed of a gutter-like part extending in at least two directions and a liquid reservoir provided in a part of the gutter-like part. automatic measuring device.