GB2130367A

GB2130367A - Analytical sample vessel manipulator

Info

Publication number: GB2130367A
Application number: GB08330687A
Authority: GB
Inventors: Masahiro Yamamoto; Hiroshi Tanaka; Chihiro Watanabe
Original assignee: Seiko Instruments Inc
Current assignee: Seiko Instruments Inc
Priority date: 1982-11-19
Filing date: 1983-11-17
Publication date: 1984-05-31
Also published as: GB8330687D0; JPS5992355A; DE3341717A1; FR2536539A1

Abstract

A sample manipulator comprises a centrifugal separator (1) having a rotary table (4) adapted to carry a plurality of reaction vessels (3); first drive means (1a) for rotating said rotary table (4); a first bath (14) disposed below said rotary table (4); second drive means (19) for effecting relative movement between the first bath (14) and the said rotary table to enable a reaction vessel (3) carried by the latter to be introduced into the first bath (14); a sample supply nozzle (7) for introducing a sample into a reaction vessel (3) carried by the rotary table; at least one second bath (32-34) which is spaced from the first bath (14); an automatic carrying device (35) for moving a said reaction vessel (3) between the rotary table (4) and the or each second bath (32-34); and a sequence controller (26) for controlling the operation of the first and second drive means (1a, 19), the supply nozzle (7), and the automatic carrying device (35). <IMAGE>

Description

SPECIFICATION Chemical manipulator The present invention relates to a chemical manipulator, and, although it is not so restricted, it relates more pa rticularly to an improved manipulator for analysing very small quantities (e.g. of the order of p1) of liquids and for automating theiranalysis.

The conventional process for analyzing very small quantities of liquids ofthe order of ,ul is very complicated and a great part ofthe process is carried out manually by an operator.

Although the present invention is primarily directed to any novel integer or step, or combination of integers or steps, as herein disclosed and/or as shown in the accompanying drawings, nevertheless, accordingto one particularaspectofthe present invention to which, however, the invention is in no way restricted, there is provided a chemical manipulator comprising a centrifugal separator having a rotary table adapted to carry a plurality of reaction vessels; first drive means for rotating said rotary table; a first bath disposed below said rotarytable; second drive means for effecting relative movement between the first bath and the said rotary table to enable a reaction vessel carried bythe latterto be introduced into the first bath; a sample supply nozzle for introducing a sample into a reaction vessel carried by the rotary table; at least one second bath which is spaced from the first bath; an automatic carrying device for moving a said reaction vessel betweenthe rotarytable andthe or each second bath; and a sequence controller for controlling the operation ofthe first and second drive means, the supply nozzle, and the automatic carrying device.

The rotary table may be rotated into a position in which a reaction vessel carried thereby is vertically aligned with the first bath.

The or each second bath may be horizontally spaced apart from the first bath.

The second drive means may be operable to effect vertical movement of the first bath towards and away from the rotarytable. Preferably, the second drive means are also operable to effect vertical movement of a mixerfor mixing the contents of a reaction vessel.

There may be a suction nozzle which may be brought into contact with a reaction vessel carried by the rotary table, the suction nozzle being connected to suctionmeans for removing waterfrom a sample in the reaction vessel. Preferable, the suction nozzle and the sample supply nozzle are carried by a common support, third drive means, which are controlled by the sequence controller, being provided for effecting relative movement between the said common support and the rotary table.

The automatic carrying device preferably comprises gripping means for gripping a rection vessel, first moving means for rotating the gripping means in the horizontal plane, second moving meansformoving the gripping means linearly in the horizontal plane, and third moving means for moving the gripping means linearly in the vertical plane, the operation of thegripping means and ofthefirst, second andthird moving means being controlled bythe sequence controller.

There may be a detecting meansfordetecting the rotational position ofthe rotary table, in which case the sequence controller is preferably controlled by the detecting means.

There are preferably means for maintaining each of the first and second baths at a constanttemperature.

The invention is illustrated, merely by way of example, in the accompanying drawings, in which: Figure lisa general block diagram showing a chemical manipulator according to the present invention; and Figure 2 is a block diagram showing a principal part of the manipulator of Figure 1.

In the drawings there is shown a chemical manipulator according to the present invention which comprises a centrifugal separator 1 and a rotary table 4 which is provided adjacent its periphery with a plurality of reaction vessels 3 (only one shown), the rotary table 4 being rotatably mounted on a driving shaft 2 ofthe centrifugal separator 1.Each reaction vessel 3 is pivotally mounted so as to be moved during the rotation of the table 4 into the dotted line position shown in Figure 1.

Mounted on the driving shaft 2, approximately centrally of the length thereof, is a detecting disc 5 one portion of which is disposed between the arms of a U-shaped rotary position detecting sensor 6. The rotational position ofthe rotarytable4canthus be detected by the sensor 6.

Above the centrifugal separator 1 there is provided a nozzle moving device 10 for effecting vertical movement of a support 9 in the directions indicated by a double-headed arrow A. The support9carries a sample supply nozzle 7 for introducing a sample into a reaction vessel 3 carried bythetable 4 and a suction nozzle 8 for effecting drying. A shaft 11 which is secured to or integral with the support 9 is slidably mounted in a supporting cylinder 12 and is arranged to move vertically upwardly and downwardly in the directions ofthe double-headed arrow A by the operation of a solenoid plunger 13.

Below the centrifugal separator 1 there is provided a device 17 foreffecting vertical movement of a support 16 in the directions indicated by a double-headed arrow B. Mounted on a peripheral portion of the support 16 is a constant temperature bath 14 and a mixer 1 5for mixing the contents of a reaction vessel 3.

The table 4 may be rotated into a position in which eitherthe constanttemperature bath 14 or the mixer 15 is vertically aligned with a selected reaction vessel 3. A driving shaft 18 is secured to orformed integrally with the support 16. Thus the driving shaft is may, as shown, have a reduced diameter portion 31 which extends through an aperture in the support 16, the parts 18,31 defining a shoulderwhich supports the support 16. The driving shaft 18 is mounted in a supporting cylinder 20 having a solenoid plunger 19.

Thus the support 16 can be moved vertically upwardly and downwardly in the directions of the double headed arrow B by actuating the solenoid plunger 19 so asto enable a reaction vessel 3 carried bythe table 4 to be introduced into the bath 14. The axes ofthe driving shafts 2, 18 are coaxial.

Constanttemperature baths 32,33,34 and an automatic carrying device 35 for carrying reaction vessels 3a, 3b, 3c are provided adjacent to the centrifugal separator 1, the baths 32-34 being horizontally spaced apartfromthe bath 14 and having covers 32a, 33a, 33b, respectively. The automatic carrying device 35 is provided for moving each reaction vessel 3a, 3b, 3cbetween the rotary table 4 and each of the baths 32-34. The automatic carrying device 35 comprises a manipulator 36 (Figure 2) for gripping the reaction vessels 3a,3b, 3c, the manipulator36 having a pairofrelativelymovablegripping arms 36a adapted to grip a flange 3don a reaction vessel.A solenoid plunger 37 is arranged to effect movement of the arms 36a in the directions farrows C for opening and closing the manipulator. A moving device 39 is provided for moving a shaft 38 on which is mounted, orwithwhich is integral, the solenoid plunger 37, the shaft 38 being movable in the directions of a double-headed arrow D. Thus the moving device 39 is arranged to effectmovementofthe manipulator 36 in the horizontal plane. A driving device 40 is provided for rotating the moving device 39, and thus the manipulator 36, in the horizontal plane, i.e. in the directions of a double-headed arrow E, and a driving device 44 is provided for moving the moving device 39 vertically upwardly and downwardly in the directions of a double-headed arrow F.The driving device 44 is arranged to effect vertical movement of a shaft 42 which supports the moving device 39 and the driving device 40. The shaft 42 is slidably mounted in a supporting cylinder 41 having a solenoid plunger 43, wherebythe shaft 42 may be moved upwardly and downwardly in the directions of the arrow F. The device 44 is thus able to move the devices 39 and 40 linearly vertically bytheactuation ofthe solenoid plunger43. The operation of the solenoid plunger 37, the driving device 40, the moving device 39, and the driving device 44 is controlled by a sequence controller26.

The sample supply nozzle 7 is arranged to receive a sample (e.g. ofthe order of p1) from a sample supply device 21, and the suction nozzle 8 is connected to a condenser23which is itself connected to a cooling device 22, the output from the condenser 23 being supplied to a vacuum pump 24. The sample supply device 21 is also arranged to supply samples through outlets 30(7) to the reaction vessels 3a, 3b, 3c.

The constant temperature baths 32,33,34 are provided adjacentto the centrifugal separator 1 and to the automatic carrying device35,thecontroltempera- ture of each bath 32,33,34 being different from that of the others. The baths 14,32,33,34 are connected to a temperature controlling device 25 so as to be controlled at respective predetermined temperatures.

Output control signals from the sequence controller 26 are supplied to the vacuum pump 24; to a drive motor 1 afor rotating the centrifugal separator 1; to the solenoid plunger 19 ofthe device 17 for vertically moving the constant temperature bath 14 and the mixer 15; to the sample supply device 21; to the solenoid plunger 13 of the device 10for moving the nozzles 7,8 vertically; to the solenoid plunger 43 of the driving driving device 44 which forms part of the automatic carrying device 35; to a driving motor40a of the driving device 40; to a driving motor 39a of the moving device 39; and to the solenoid plunger 37 of the manipulator 36to control them. The sequence controller 26 is itself controlled by signals from the sensor 6.

The operation ofthe chemical manipulatorshown in the drawings will now be described. A zul sample supplied from the sample supply device 21 is introduced into the reaction vessel 3 when the solenoid plunger 13 causesthe support9 to descend so that a pipe 30 ofthe sample supply nozzle 7 is introduced into the reaction vessel 3.

In orderto introduce a sample into another reaction vessel 3 on the table 4, a control signal from the sequence controller 26 makes the drive motor la rotate through a predetermined angle so as to rotate the table 4to a location in which a desired reaction vessel 3 is moved to a position in which is is aligned with the sample supply nozzle 7. When the solenoid plunger 13 is actuated again in these circumstances, it causes the support 9 to descend, and a p1 sample is introduced intothe reaction vessel 3 by the sample supply nozzle7 in the same manner as described above.

In orderto remove the water in the reaction vessel 3, the drive motor la may be operated to rotate the table 4so as to bring the reaction vessel 3 to a position in which it is aligned with the suction nozzle 8, and then the solenoid plunger 13 is actuated. As a result, the support9 descends and the suction nonle 8 is brought into close contact with the reaction vessel 3. Then the liquid in the reaction vessel 3 is sucked out bythe use ofthe vacuum pump 24 and the condenser 23. Atthe same time, the undesired liquid in the sample is removed bythe air entering through an airfilter (not shown) and through an air supply pipe (not shown), a vacuum being maintained fo r a short time through the suction nozzle 8.

In orderto heat or cool the sample in the reaction vessel 3 rapidly,the support 16 is raised by operating the solenoid plunger 19. As a resultthe constant temperature bath 14 is raised and the reaction vessel 3 is introduced into the constanttemperature bath 14.

Therefore, the temperature in the reaction vessel 3 is changed to the pre-settemperature of the constant temperature bath 14within a certain period.

In orderto move a reaction vessel from the table 4to one ofthe constant temperature baths 32,33,34, 14 or to move it at will among the constanttemperature baths 32,33,34,14 by means ofthe automatic carrying device 35, the driving device 44, the moving device 39, and the driving device 40 are operated in orderto placethe manipulator36 inthe position where the reaction vessel can be picked up. Then the manipulator 36 is operated so as to pick up the reaction vessel byoperatingthesolenoid plunger37. Repetition of this operation-moves the reaction vessetsto the desired constanttemperature baths.

In the embodiment described above, the centrifugal separation, the introduction ofthe samples into the reaction vessels,the desiccation, the changes of temperatures and the mixing etc in the reaction vessel 3 can be performed very easily, accurately and automatically without manual operations by the use ofthe sequence controller 26 so as to shorten the time which a number of operators have had to spend on these difficult operations previously.

The embodiment is of particular advantage in the processing of a large number of samples by automatically carrying the reaction vessels 3 from the centrifugal separator 1 to the constant temperature baths 32,33 or 34 by using the automatic carrying device 35.

Claims

1. A chemical manipulator comprising a centrifugal separator having a rotary table adapted to carry a plurality of reaction vessels; first drive means for rotating said rotary table; afirst bath disposed below said rotary table; second drive meansforeffecting relative movement between the first bath and the said rotary table to enable a reaction vessel carried by the latter to be introduced into the first bath; a sample supplynozzlefor introducing a sample into a reaction vessel carried by the rotary table; at least one second bath which is spaced from the first bath; an automatic carrying device for moving a said reaction vessel between the rotary table and the or each second bath; and a sequence controller for controllingthe operation ofthe first and second drive means, the supply nozzle, and the automatic carrying device.

2. A chemical manipulator as claimed in claim 1 in which the rotary table may be rotated into a position in which a reaction vessel carried thereby is vertically aligned with the first bath.

3. A chemical manipulator as claimed in claim 2 in which the or each second bath is horizontally spaced apartfrom the first bath.

4. A chemical manipulator as claimed in any preceding claim in which the second drive means are operable to effect vertical movement ofthe first bath towards and away from the rotary table.

5. Achemical manipulator as claimed in claim 4 in which the second drive means are also operable to effectvertical movement of a mixerfor mixing the contents of a reaction vessel.

6. Achemical manipulator as claimed in any preceding claim in which there is a suction nozzle which may be brought into contact with a reaction vessel carried by the rotary table, the suction nozzle being connected to suction meansfor removing water from a sample in the reaction vessel.

7. Achemical manipulator as claimed in claim 6 in which the suction nozzle and the sample supply nozzle are carried by a common support, third drive means, which are controlled by the sequence controller, being provided for effecting relative movement between the said common support and the rotary table.

8. Achemical manipulator as claimed in any preceding claim in which the automatic carrying device comprises gripping means for gripping a reaction vessel, first moving means for rotating the gripping means in the horizontal plane, second moving means for moving the gripping means linearly in the horizontal plane, and third moving means for moving the gripping means linearly in the vertical plane; the operation ofthe gripping means and ofthefirst, second and third moving means being controlled by the sequence controller.

9. Achemical manipulator as claimed in any preceding claim comprising a detecting means for detecting the rotational position of the rotary table.

10. Achemical manipulator as claimed in claim 9 in which the sequence controller is controlled by the detecting means.

11. Achemical manipulator as claimed in any preceding claim comprising means for maintaining each of the first and second baths at a constant temperature.

12. Achemical manipulator substantially as hereinbefore described with reference to and as shown in the accompanying drawings.

13. Any novel integerorstep, or combination of integers or steps, hereinbeforedescribed and/or as shown in the accompanying drawings, irrespective of whetherthe present claim is within the scope of, or relates to the same or a different invention from that of, the preceding claims.

14 A chemical manipulator characterized in that said chemical manipulator comprises a centrifugal separator having a rotatable rotating table on which a plurality of reaction vessels are mounted; a detecting means for detecting the rotational position ofthe rotating table; a constant temperature bath (A)/mixer moving devicewhich has a bath (A) and a mixer and is provided below the centrifugal separator so as to be movable in the supported axis; a nozzle holding device provided atthe upper position ofthe centrifugal separator, said nozzle holding device having a sample supplying nozzle and a drying suction nozzle; a constant temperature bath (B) positioned to a different place from that ofthe constanttemperature bath (A); an automatic carrying device for carrying reaction vessels to the constanttemperature bath (B); and asequencecontrollerforcontrollingsaidsample supplying nozzle, said drying suction nozzle, said centrifugal separator, said constant temperature baths (A), (B), said constant temperature bath (A)/ mixer moving device and said automatic carrying device: and said chemical manipulator is arranged to move automatically between said constant tempera- ture bath (B) and said rotating table by means of said sequence controller and said automatic carrying deviceforthe purpose of processing (e.g. cooling or heating) the reaction vessels orfor an analyzing process for a certain period such as maintenance.