JP2005083851A - Thermal analyzer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the damage of a sample container, a heat-sensitive plate, the beam of a balance and the like by the movement of fingers in a thermal analyzer having a structure for grasping the sample container using fingers. <P>SOLUTION: This thermal analyzer has a beam 37 equipped with the heat-sensitive plate 39 on which the sample container 4 is placed and rotatable on a fulcrum 36, a deflection detector 42 for detecting the deflection of the bam 37, the fingers 32 capable of grasping the sample container 4, a finger driving device 26 for allowing the fingers 32 to perform the grasping operation of the sample container 4 and the operation for releasing the grasping of the sample container 4, an arm lift device 12 for forwardly moving the fingers 32 in a measuring part Pm toward the heat-sensitive plate 39 and rearwardly moving them in the opposite direction, a position sensor for detecting the reciprocation of the fingers 32 and a control circuit for stopping the advance of the fingers 32 due to the arm lift device 12 on the basis of the output signals of the deflection detector 42 and the position sensor. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a thermal analyzer that measures the thermal characteristics of a sample based on the rotational deflection of a balance beam that supports the sample.

  2. Description of the Related Art Conventionally, thermal analyzers that measure the thermal characteristics of a sample based on the rotational shake of a balance beam are known. For example, a TG (Thermogravimetry) apparatus is known as such a thermal analysis apparatus. There is also known a thermal analyzer that performs measurement while automatically exchanging a plurality of samples (see, for example, Patent Document 1).

  This thermal analyzer has, for example, a gripping member that can be opened and closed, and a transport arm that transports the gripping member between a sample standby position and a measurement position. When exchanging the sample, first, the sample container at the sample standby position is held by the holding member. For example, the sample container is gripped by closing the gripping member.

  Next, the gripping member is transported from the sample standby position to the measurement position by the transport arm. At the measurement position, for example, a heat sensitive plate fixed to the tip of the balance beam is placed. The sample container transported to the measurement position is placed on the measurement position, that is, on the heat sensitive plate when the gripping by the gripping member is released. The release of gripping is performed, for example, by moving the gripping member open.

JP-A-5-052732 (pages 2 and 3, FIG. 1)

  When measuring an unknown sample using a thermal analyzer, when the temperature of the sample is raised, the sample may foam and overflow from the sample container and protrude outside. When the thermal analyzer has a structure that can automatically replace the sample, if you try to transport a sample container that overflows the sample, the gripping member that tries to grip the container will collide with the sample that has overflowed and hardened. The plate is pushed, so that the sample holder, the balance beam and the like may be damaged.

  Further, in a thermal analyzer that performs measurement up to a high temperature of, for example, 1500 ° C., the thermal plate is often made of a Pt (platinum) metal. When the temperature at the measurement position is increased to about 1500 ° C. in this thermal analyzer, Pt forming the heat sensitive plate may be deposited on the sample container and the sample container may adhere to the heat sensitive plate. In this case, when the sample container is gripped by the gripping member of the automatic transfer device and lifted away from the heat sensitive plate, the heat sensitive plate attached to the sample container is lifted together with the sample container, and as a result, the sample container, the heat sensitive plate, and the balance are lifted. There is a risk of damaging the beam.

  The present invention has been made in view of the above-described problems, and in a thermal analyzer having a structure for holding a sample container using a holding member, the sample container, the heat sensitive plate, and the balance are moved by moving the holding member. The purpose is to prevent the beam etc. from being damaged.

  In order to achieve the above object, a thermal analysis apparatus according to the present invention comprises a sample mounting portion on which a sample container is placed, a beam that can rotate around a fulcrum, and a beam detection means that detects vibration of the beam, A gripping member capable of gripping the sample container; gripping member driving means for causing the gripping member to perform an operation of gripping the sample container and an operation of releasing the gripping; and the gripping member toward the sample mounting portion. Gripping member moving means for moving back and forth in the opposite direction, gripping member detection means for detecting forward movement and / or backward movement of the gripping member, and output signals of the beam detection means and the gripping member detection means And a stop control means for stopping the progress of the gripping member by the gripping member moving means.

  As the “beam detecting means”, for example, it is desirable to use a photosensor unit having a structure in which a light-shielding plate fixed to a beam is positioned between a light source and a light receiving element. Further, it is desirable that the “gripping member” has an open / close structure that grips the sample container from both sides like tweezers. Further, the “gripping member driving means” is variously configured corresponding to the structure of the gripping member. For example, if the gripping member is of an openable type such as tweezers, a mechanism that converts rotational power from a motor or the like into linear movement using a device that converts rotational movement such as a micrometer into linear movement. Can be configured.

  Further, it is desirable that the “gripping part moving unit” is configured using, for example, a linear motion mechanism having an arbitrary structure. Such a linear motion mechanism can be constituted by, for example, a screw shaft and a slider block that is screwed to the screw shaft. In this case, if the screw shaft is rotated while the gripping member is connected to the slider block, the slider block moves linearly on the axis of the screw shaft, thereby moving the gripping member connected to the slider block back and forth linearly. Can be made.

  Further, the “gripping member detection means” is preferably a position sensor such as a micro switch or a photo sensor that detects movement of the grip member. The “stop control means” may be various control devices such as a computer, a sequence control device using a relay element, and a programmable controller.

  According to the thermal analysis apparatus having the above-described configuration, when the gripping member detection means detects the forward movement or the backward movement of the gripping member, the movement of the gripping member is further detected if the beam detection means detects that the beam has shaken. It can be determined that some abnormal load is applied to the beam. At this time, if the progress of the gripping member is stopped by the stop control means, damage to elements around the gripping member, for example, the sample container, the heat sensitive plate, the beam, etc. can be prevented.

In the thermal analysis apparatus having the above-described configuration, the stop control unit detects the movement of the gripping member when the gripping member detection unit detects the forward movement of the gripping member and the beam detection unit detects the shake of the beam. It is desirable to stop.
According to this configuration, for example, when the sample is foamed and overflows from the sample container, it is possible to prevent the gripping member from colliding with the overflowed sample and applying an excessive load to the sample container or the heat sensitive plate.

In the thermal analysis apparatus having the above-described configuration, the stop control unit may cause the gripping member to move forward when the gripping member detection unit detects the backward movement of the gripping member and the beam detection unit detects shake of the beam. It is desirable to stop.
Considering the case where the sample container is attached to the heat sensitive plate by vapor deposition or the like, when the holding member lifts the sample container, the heat sensitive plate and the beam attached to the sample container are also lifted. In this case, the sample container, the heat sensitive plate, etc. An excessive load is applied. According to the above-described thermal analysis device that stops the movement of the gripping member when the shaking of the beam is detected during the backward movement of the gripping member, the sample container and the thermal plate are attached as described above. In such a state, it is possible to prevent the sample container and the heat sensitive plate from being damaged when the gripping member grasps the sample container and moves backward.

  The thermal analysis apparatus having the above-described configuration preferably includes a grip release control unit that causes the grip member driving unit to perform an operation of releasing the grip of the sample after the stop control unit stops the progress of the grip member.

  The grip release control unit can be configured by the same control device as the stop control unit described above, or can be configured by a control device different from the stop control unit. When a computer is used as the control device, it is desirable that the stop control means and the grip release control means are realized by the one computer. The “operation for releasing the grip” performed on the grip member is an operation of opening the grip member when the grip member is configured by an opening / closing mechanism such as tweezers. When the gripping member with respect to the sample container is released in this manner, the gripping force of the gripping member with respect to the sample container is released, so that it is possible to reliably prevent an excessive load from being applied to the sample container and the like.

  According to the thermal analysis apparatus of the present invention, when the forward or backward movement of the gripping member is detected by the gripping member detection unit such as a position sensor, the beam is swung by the beam detection unit such as a photosensor. If detected, it can be determined that some abnormal load is applied to the beam due to the movement of the gripping member. At this time, if the progress of the gripping member is stopped by the stop control means, damage to elements around the gripping member, for example, the sample container, the heat sensitive plate, the beam, etc. can be prevented.

  Hereinafter, the thermal analysis apparatus according to the present invention will be described by taking a TG apparatus having an automatic sample exchange function as an example. Of course, the present invention is not limited to this embodiment.

  FIG. 1 shows a TG device which is an embodiment of a thermal analysis device according to the present invention. The TG device 1 includes a sample changer 2 that automatically performs sample exchange and a balance device 3 that performs TG measurement. The sample changer 2 includes a turntable 6 that constitutes a sample standby section where a plurality of sample containers 4 are placed, and a transport arm 7 that transports the sample containers 4. An appropriate amount of the sample to be measured is stored in the sample container 4. A table rotating device 8 is attached to the turntable 6. The table rotating device 8 is a device for rotating the turntable 6 intermittently about the central axis X0. This intermittent rotation is an operation for sequentially transporting different sample containers 4 to the removal position P0.

  The table rotating device 8 can be configured by any conventionally known rotary driving device. For example, a structure in which the rotation of a rotating device such as a motor is transmitted to the turntable 6 by a power transmission element such as a gear can be employed. In this case, in order to realize intermittent rotation of the turntable 6, it is desirable to use a stepping motor or a servo motor as a motor that is a power source. In order to measure the rotation angle of the turntable 6, it is desirable to attach a pulse generator to the rotation axis of the turntable 6 or to arrange a photo sensor around the rotation axis of the turntable 6. .

  The transfer arm 7 is supported by a support shaft 9. An arm rotating device 11 and an arm elevating device 12 are attached to the support shaft 9. The arm rotating device 11 is a device for rotating the transport arm 7 as shown by an arrow A around the support shaft 9. The arm lifting device 12 is a device for moving the transport arm 7 up and down as indicated by an arrow B.

  FIG. 2 shows a configuration around the support shaft 9. In the figure, the support shaft 9 is included in a turning / lifting device 13. The turning / lifting device 13 includes a casing 17 that is rotatably supported by the machine frame 16 by a shaft member 14. Inside the casing 17 is a DC (ie, direct current) motor 18, a gear train 19 connected to the output shaft of the DC motor 18, a screw shaft 21 connected to the output shaft of the gear train 19, A slide base 22 fitted to the screw shaft 21 is provided. The support shaft 9 is fixed to the slide base 22 and passes through the upper portion of the casing 17.

  The shaft member 14 fixed to the bottom of the casing 17 is connected to the output shaft of the stepping motor 23 inside the machine frame 16. When the stepping motor 23 operates and the output shaft rotates, the shaft member 14 rotates, and the casing 17 rotates accordingly. The rotation of the casing 17 causes the transfer arm 7 to move around between the standby unit Pw and the measurement unit Pm in FIG.

  In FIG. 2, when the DC motor 18 operates to rotate its output shaft, the rotation is transmitted to the screw shaft 21 via the gear train in the gear train 19, and the screw shaft 21 rotates. When the screw shaft 21 rotates, the slide base 22 fitted to the screw shaft 21 translates in the axial direction of the screw shaft 21, that is, the vertical direction in FIG. At the time of this parallel movement, the support shaft 9 fixed to the slide base 22 is moved in parallel in the vertical direction, whereby the transfer arm 7 fixed to the support shaft 9 is moved up and down, that is, moved up and down.

  The transfer arm 7 includes a lift base 24 fixed to the support shaft 9, a linear stepping actuator 26 fixed on the lift base 24, and an opening / closing mechanism connected to the output shaft of the linear stepping actuator 26. 27 and a cover 28 covering each of the above elements. The linear stepping actuator 26 is an operating device that operates so that its output shaft 26a moves forward and backward as indicated by an arrow F. Such a structure can be achieved, for example, by converting the rotational output of the rotating device into linear movement by screw fitting.

  As shown in FIG. 2A, a pair of opening / closing members 29 facing each other are provided at the tip of the opening / closing mechanism 27. The opening / closing mechanism 27 functions to move the opening / closing member 29 in parallel as indicated by an arrow C when the output shaft 26a of the linear stepping actuator 26 moves forward and backward as indicated by an arrow F. Since this function can be achieved by various known mechanisms, detailed description thereof is omitted.

  A support member 31 is fixed to the tip of each of the pair of opening / closing members 29. These support members 31 extend downward as shown in FIG. And the finger 32 as a holding member is attached to the lower end of each of these support members 31 with a screw and other fasteners. Thus, the finger 32 has a structure that can be attached to and detached from the support member 31.

  In FIG. 2, four position sensors Sv0, Sv1, Sv2, and Sv3 are provided at different positions in the vertical direction around the travel path of the slide base 22. These sensors are for detecting the height position of the finger 32, and will be described in detail later. Two position sensors Sh0 and Sh1 are provided at different angular positions in the plane around the bottom of the casing 17. The sensor Sh0 is a sensor that detects that the transfer arm 7 in FIG. 1 is in the standby unit Pw. The sensor Sh1 is a sensor that detects that the transport arm 7 is in the measurement unit Pm. These position sensors can be constituted by sensors having an arbitrary structure, but can be constituted by, for example, a micro switch, a photo sensor, or the like.

  The arm rotation device 11 in FIG. 1 is configured by a drive system including the stepping motor 23 in FIG. 2 and a casing 17 that is rotationally driven by the motor 23. 1 is constituted by a drive system including a DC motor 18, a gear train 19, a screw shaft 21, and a slide base 22.

  Next, the balance apparatus 3 of FIG. 1 has a balance beam 37 rotatably supported by a torsion band 36 constituting a fulcrum, and an electric furnace 38 for changing the temperature of the sample. In the present embodiment, it is assumed that measurement is performed without using a standard substance, and therefore, only one balance beam 37 for placing a sample to be measured is used. If a measurement using a standard material is performed, a total of two balance beams 37 are used, one for the sample to be measured and one for the standard material.

  At the tip of the balance beam 37, a heat sensitive plate 39 as a sample mounting portion is provided. A sample container 4 containing a sample to be measured is placed on the heat sensitive plate 39 and used for measurement. An electromagnetic compensator 41 is provided in the vicinity of the fulcrum 36 of the balance beam 37. In addition, a shake detection device 42 is provided at the rear end of the balance beam 37. The electric furnace 38 has a space R having a volume capable of accommodating a heat sensitive plate 39 while incorporating a heater that generates heat when energized. Further, a furnace moving device 43 is attached to the electric furnace 38. The furnace moving device 43 is a device that translates the electric furnace 38 between a position that covers the heat sensitive plate 39 and a position that opens the heat sensitive plate 39 to the outside. FIG. 1 shows a state where the electric furnace 38 is placed at a position where the heat sensitive plate 39 is opened to the outside.

  The furnace moving device 43 can be configured by any conventionally known parallel moving device. For example, the electric furnace 38 is supported by a guide element such as a rail so as to be linearly movable, and the electric furnace 38 is linearly driven by a linear drive device. It is possible to adopt a configuration such as reciprocating. In this case, the linear drive device is, for example, a linear drive device in which a slider is screwed to a screw shaft and the slider is linearly moved by rotating the screw shaft, or a linear drive device using a wire that moves around. Etc. are considered.

  As shown in FIG. 3, the electromagnetic compensator 41 includes a permanent magnet 44 fixed to a balance beam 37 in the vicinity of the fulcrum 36, a coil 46 disposed in the magnetic field region of the permanent magnet 44, and a voltage detection device. And a resistor 47. One end of the resistor 47 is taken out as a TG output signal, and the TG output signal is input to the TG arithmetic circuit 48. The TG calculation circuit 48 calculates a change in the weight of the sample with respect to a change in the temperature of the sample based on the TG signal from the electromagnetic compensator 41. The calculation result is displayed so that it can be visually recognized by the display device 49 as necessary. As the display device 49, for example, a video display device such as a CRT display or LCD, or a print display device such as a printer is used.

  As shown in FIG. 3, the shake detection device 42 of FIG. 1 includes a light shielding plate 51 fixed to the rear end of the balance beam 37, a light source 52 that emits light toward the light shielding plate 51, A light receiving element 53 disposed on the opposite side of the light shielding plate 51 with respect to the light source 52. The output terminal of the light receiving element 53 is connected to a PID (proportional, integral, derivative) regulator 54. The output terminal of the PID adjuster 54 is connected to the input terminal of the coil 46 through the power amplifier 56.

  In FIG. 3, a pair of stoppers 57 are provided at appropriate positions on the opposite side of the heat sensitive plate 39 across the fulcrum 36 to prevent excessive rotation vibration of the balance beam 37, that is, excessive inclination vibration. The balance beam 37 can rotate around the fulcrum 36 within an angle range until it comes into contact with the stoppers 57.

  The sample change control circuit 61 in FIG. 4 performs control for realizing a process of exchanging and placing different sample containers 4 on the heat sensitive plate 39 at the tip of the balance beam 37 using the sample changer 2 shown in FIG. . In the present embodiment, the sample change control circuit 61 itself is configured using a computer, but this computer is a single computer connected to a host computer that controls the overall thermal analysis apparatus. Or a part of the host computer. The sample change control circuit 61 can also be configured using, for example, a sequence circuit that does not use a computer, a programmable controller that is a kind of computer, or the like.

  The sample change control circuit 61 includes a CPU (Central Processing Unit) 62, a ROM (Read Only Memory) 63, a RAM (RAM) 64, a storage medium 66, and a bus 67. The storage medium 66 is configured by a storage medium of an arbitrary system such as a mechanical memory such as a hard disk device or a CD (Compact Disc) device, or a semiconductor memory. Connected to the output port of the sample change control circuit 61 are the table rotating device 8 in FIG. 1, the arm rotating motor 23 in FIG. 2, the arm elevating motor 18, the finger opening / closing actuator 26, and the furnace moving device 43 in FIG. Has been.

  The TG arithmetic circuit 48 of FIG. 3, the height position sensors Sv0 to Sv3 of FIG. 2, and the angular position sensors Sh0 and Sh1 are connected to the input port of the sample change control circuit 61. A sample exchange signal S1 is input to the input port of the sample change control circuit 61 in a timely manner. This sample exchange signal S1 is a signal for instructing the sample change control circuit 61 that the timing for exchanging the sample has arrived. For example, the sample exchange signal S1 is sent from the host computer or the operator through a keyboard or other input device. Or sent from.

  The storage medium 66 stores a program for realizing a function for exchanging samples. The CPU 62 performs various calculations based on input signals from various input devices in accordance with the program, and further controls the operations of various output devices.

  The relationship between each element of this embodiment demonstrated above and the component which comprises this invention is as follows. That is, (1) the beam detecting means for detecting the shake of the beam is constituted by the shake detection device 42 of FIG. (2) The gripping member is constituted by the finger 32. (3) The gripping member driving means for applying the gripping operation and the grip releasing operation to the finger 32 is constituted by a drive system including the linear stepping actuator 26, the opening / closing mechanism 27, the opening / closing member 29, and the support member 31 shown in FIG. . (4) The gripping member moving means for reciprocating the finger 32 is constituted by a drive system including the motor 18, the gear train 19, the screw shaft 21, the slide base 22, and the support shaft 9 of FIG. 2. (5) The gripping member detection means for detecting the reciprocating movement of the finger 32 is constituted by the height position sensors Sv0 to Sv3 in FIG. (6) The stop control means for stopping the movement of the finger 32 based on the output signals of the beam detection means and the gripping member detection means is constituted by the sample change control circuit 61 of FIG.

  The operation of the TG device having the above configuration will be described below. Since this TG apparatus has a TG measurement function and a sample automatic exchange function, they will be described individually.

(TG measurement function)
When performing TG measurement, in FIG. 3, the balance beam 37 supported with the torsion band 36 as a fulcrum is in a state of being able to freely rotate and tilt in the direction of arrow DD ′ around the torsion band 36. . The sample container 4 is placed on the heat sensitive plate 39 at the tip of the balance beam 37, and the sample to be measured is accommodated in the sample container 4. When performing the TG measurement, the electric furnace 38 is placed at a measurement position indicated by a broken line, so that the sample container 4 is disposed in the electric furnace 38.

  A shielding plate 51 provided at the rear end of the balance beam 37 blocks an optical path between the light source 52 and the light receiving element 53. When the balance beam 37 is tilted from the horizontal position, that is, from the equilibrium position, the output signal of the light receiving element 53 changes from the reference signal. Therefore, the position of the balance beam 37 can be detected by detecting this signal change. The output signal of the light receiving element 53 is applied as a control signal to the coil 46 of the electromagnetic compensator 41 through the PID adjuster 54 and the power amplifier 56. The coil current i0 is converted into a voltage by the detection resistor 47, and the voltage is output as a TG output signal.

  The temperature of the electric furnace 38 changes according to a predetermined temperature control program, and the temperature of the sample in the sample container 4 changes accordingly. When the weight changes in the sample during the temperature change, the balance beam 37 swings in the D direction or the D ′ direction. This shake is detected by the light receiving element 53, and the PID adjuster 54 and the power amplifier 56 pass a current through the coil 46 to restore the shake of the balance beam 37. When an electric current flows through the coil 46, an electromagnetic force is generated, and the magnet 44 is moved to the original reference position by this electromagnetic force, and thereby the deflection of the balance beam 37 is compensated.

  During this compensation operation, the current i0 supplied to the coil 46 corresponds to the return moment acting on the balance beam 37, and the return moment corresponds to the amount of increase / decrease of the sample. Therefore, by measuring the TG output voltage corresponding to the current i0, the weight change of the sample is measured, ie, weighed. This measurement result is displayed by the display device 49. For example, it is displayed in the form of a graph in which the horizontal axis represents temperature change and the vertical axis represents weight change.

(Automatic sample exchange function)
When TG measurement for one sample is completed, TG measurement is then performed for a different sample. In this case, it is necessary to replace the sample on the heat sensitive plate 39. In this embodiment, the replacement can be performed automatically and continuously.

  In FIG. 4, when the sample exchange signal S1 is sent to the sample change control circuit 61, the sample change control circuit 61 executes the sample exchange process shown in FIG. First, in steps S1 and S2, the transfer arm 7 of FIG. 1 is placed at the home position. Although this home position can be set to an appropriate position as required, in this embodiment, the standby unit Pw in FIG. 1 is set as the home position.

  When the transfer arm 7 is placed at the home position, in step S3, it is checked whether or not the sample container 4 is on the heat sensitive plate 39 in the balance device 3 of FIG. This can be performed by checking the current flowing through the electromagnetic compensator 41 of FIG. 3 or by providing a dedicated sensor in the vicinity of the thermal plate 39. If there is a container 4 on the heat sensitive plate 39 (NO in step S3), the process proceeds to step S4 and processing for collecting the container 4 is performed. On the other hand, if there is no container 4 on the heat sensitive plate 39 (YES in step S3), a process of taking out the next sample container 4 from the turntable 6 of FIG. 1 is performed.

  When the container removal process of step S5 is entered, the transfer arm 7 is lowered in FIG. 1 to lower the tip of the finger 32 to the side of the container 4. Next, the finger 32 is closed and moved in the direction of arrow C, and the container 4 is gripped from both sides. Next, the transfer arm 7 is raised to lift the container 4 from the turntable 6. Next, the transfer arm 7 is swung from the standby part Pw to the measurement part Pm, and the container 4 held by the finger 32 is set at a position above the heat sensitive plate 39. The steps up to here are executed by the container removal routine S5 of FIG.

  Next, the container attachment routine of step S6 is entered and the following process is executed. That is, in FIG. 1, the transfer arm 7 is lowered and the tip of the finger 32 is lowered to the vicinity of the heat sensitive plate 39. At this time, the container 4 held by the finger 32 does not contact the heat sensitive plate 39 but is lowered to a position in the vicinity thereof. When the container 4 is set in the vicinity of the heat sensitive plate 39, the finger 32 opens in the direction of arrow C and the container 4 falls from the finger 32, whereby the container 4 is placed on the heat sensitive plate 39.

  Thereafter, the transfer arm 7 moves up and stops at a predetermined height position, and further turns as shown by the arrow A from the measurement unit Pm to the standby unit Pw, and is set to the standby unit Pw, that is, the home position. As described above, a new sample is mounted on the thermal plate 39, and then the above-described TG measurement is performed on the sample.

  If it is determined in step S3 that there is a container on the thermal plate 39 (NO in step S3), the container on the thermal plate 39 must be collected prior to mounting a new sample on the thermal plate 39. I must. Therefore, control proceeds to step S4, and a routine for collecting containers is entered. In this container collection routine, as shown in FIG. 6, the forward movement process of the finger is performed at step S11, the reverse movement process of the finger is performed at step S12, and the container return process is further performed at step S13. .

  In FIG. 1, the finger forward movement step S <b> 11 is a process of transporting the finger 32 to the container 4 and collecting the container 4 by the finger 32 in order to collect the container 4 on the heat sensitive plate 39. 6 is a process of lifting the finger 32 holding the container 4 on the heat sensitive plate 39 to a predetermined height position above the heat sensitive plate 39. In the container returning step S13 in FIG. 6, the finger 32 thus lifted is transported by the transport arm 7 from the measurement unit Pm to the standby unit Pw as shown by the arrow A in FIG. 1, and the finger 32 is further lowered. In this process, the container 4 is returned to the turntable 6.

  6 will be described in detail. In step S21 in FIG. 7, is the transfer arm 7 in FIG. 1 at the predetermined height position above the heat sensitive plate 39, which is the measurement unit Pm? Check whether or not. This check is determined based on the output signals of the angular position sensor Sh1 and the height position sensor Sv3 in FIG. If the transfer arm 7 is not in that position (NO in step S21), the process proceeds to step S22, and the transfer arm 7 is turned by the turning motor 23 in FIG. Further, it is moved up and down by the height moving motor 18 as necessary.

  When the transfer arm 7 is set at a predetermined height position above the photosensitive plate 39 (YES in step S21), the finger 32 in FIG. 1 is replaced with the linear stepping actuator 26 in FIG. 2 in step S23 and step S24. To open the finger 32. Thereafter, in step S25, the finger 32 is lowered at a high speed by the motor 18 of FIG. The term “high speed” as used herein does not mean a disorderly high speed, but a speed that is as fast as possible within a range that does not hinder the transported sample, the structure of the present thermal analyzer, and the like.

  Next, when the tip of the finger 32 that descends at high speed descends to a predetermined position above the thermal plate 39 by a distance Da as shown in FIG. 9A (YES in step S26), the descent of the finger 32 stops in step S27. In step S28, the lowering speed of the finger 32 is switched to a low speed. Whether or not the finger 32 has been lowered to a predetermined position of the distance Da is determined based on the output signal of the position sensor Sv2 in FIG. The specific size of the distance Da should be changed according to the physical properties of the sample. However, according to the experiment by the present inventor, it was preferable that Da = about 3 mm.

  In the present embodiment, while the lowering process of the finger 32 is being executed as described above, it is checked in step S29 in FIG. 7 whether or not there is an increase in the position of the heat sensitive plate 39 in FIG. This check is performed based on whether or not an increase signal has flowed through the electromagnetic compensator 41 of FIG. This check is performed to detect whether or not the sample S protrudes from the container 4 in FIG. 9A.

  More specifically, if the sample S protrudes from the container 4, as shown in FIG. 9B, the tip of the descending finger 32 hits the protruding portion of the sample S and pushes the balance beam 37 downward. At this time, since the increase signal flows through the electromagnetic compensator 41, it can be detected that the sample S protrudes from the container 4 by detecting the increase signal. Such protrusion of the sample S is caused by, for example, the heated sample S foaming and overflowing from the container 4. On the other hand, when the sample S is completely contained in the container 4 without protruding from the container 4, the finger 32 does not generate an increase signal and the side of the container 4 as shown in FIG. Descent to the direction.

  If it is determined in step S29 of FIG. 7 that there is no increase (YES), and if it is determined in step S30 that the finger 32 has been lowered to the side position of the container 4 on the heat sensitive plate 39 (YES in step S30), step S31. Then, the lowering movement of the finger 32 is stopped, and the finger 32 is closed and moved in step S32, and the finger 32 grips the container 4 as shown in FIG. As a result, the routine for moving the finger forward ends, and the control returns to the routine shown in FIG. Whether or not the finger 32 has descended to a position directly above the heat sensitive plate 39 is detected by, for example, the position sensor Sv0 in FIG.

  On the other hand, it may be determined that there is an increase in step S29 in FIG. 7 (NO in step S29). As shown in FIG. 9B, the sample S overflows from the container 4 due to foaming of the sample S, and the tip of the descending finger 32 hits the overflowed portion and presses the heat sensitive plate 39. It is possible. If this phenomenon is left unattended, the container 4, the heat sensitive plate 39, the balance beam 37 and the like may be damaged by being pushed by the finger 32, which is not preferable. In the present embodiment, this is avoided by steps S33 to S35 of FIG.

  That is, when it is determined that the amount is increased (NO in step S29), the lowering of the finger 32 is stopped in step S33, and the finger 32 is opened in step S34 to release the pressure on the container 4, and the original routine of FIG. Return. As a result, as shown in FIG. 9C, the finger 32 moves back upward to return the container 4 to the free state. Thereby, damage to the container 4 etc. is prevented. 7, if an error signal is generated and an error display is performed using an indicator lamp or an error sound is generated, the automatic conveyance of the container 4 at the heat sensitive plate 39 is hindered. It is possible to inform the measurer that the error has occurred.

  In addition, when the descent speed of the finger 32 approaches the distance Da from the container 4, the speed is switched to a low speed when the sample S collides with the finger 32 to reduce the impact as much as possible to prevent damage to the container 4 or the like. It is to do. Therefore, it is desirable to set a specific numerical value of the low speed to an appropriate value each time according to the material, shape, etc. of the container 4, the heat sensitive plate 39, the balance beam 37, and the like.

  When step S28 to step S32 in FIG. 7 are performed, the container 4 is gripped by the finger 32 as shown in FIGS. 10 (a) and 10 (b). Thereafter, the control proceeds to finger return movement step S12 in FIG. In this finger reverse movement step S12, as shown in FIG. 10C, in step S41 to step 44 of FIG. 8, the finger 32 is raised to a distance Db above the heat sensitive plate 39 at a low speed and stopped there. Let Here, the distance Db is determined based on the output signal of the position sensor Sv1 in FIG.

  While the finger 32 moves up at a low speed, it is checked in step S42 whether or not a weight reduction signal has flowed through the electromagnetic compensator 41 of FIG. This is to prevent damage to the container 4, the heat sensitive plate 39, the balance beam 37, etc. even when the container 4 is attached to the heat sensitive plate 39 in FIG. If it is determined in step S42 that there is no reduction (YES in step S42), the finger 32 is raised at a high speed in step S45, and when the finger 32 reaches a predetermined height position, the finger 32 is raised, and accordingly, the transfer arm. 7 is stopped (step S46, step S47).

  On the other hand, in step S42, a decrease in weight may be detected while the finger 32 is moving up (NO in step S42). This is because, as shown in FIG. 10D, since the container 4 is attached to the heat sensitive plate 39, when the container 4 is lifted by the finger 32, the heat sensitive plate 39 and the balance beam 37 are lifted together. to cause. Such adhesion between the container 4 and the heat sensitive plate 39 is brought about by, for example, depositing Pt on the heat sensitive plate 39 formed of a Pt-based metal on the container 4. If the container 4 is lifted by the finger 32 while this adhesion is left unattended, the heat sensitive plate 39 and the balance beam 37 are lifted together with the container 4, and as a result, the heat sensitive plate 39 and the like may be damaged. In the present embodiment, this is avoided by steps S48 to S50 in FIG.

  That is, when it is determined that the weight is reduced (NO in step S42), the finger 32 is stopped from being lifted in step S48, and the finger 32 is opened in step S49 to release the gripping operation on the container 4, and then the finger 32 is moved. Return to the upper position at high speed (steps S45 to S47). As a result, as shown in FIG. 10E, the finger 32 moves backward away from the container 4. Thereby, damage to the container 4 etc. is prevented. In addition, if an error display is performed using an indicator lamp etc. in step S50 of FIG. 8, a measurer can be notified that the situation which obstruct | occluded the automatic conveyance of the container 4 in the place of the thermal plate 39 occurred.

  Note that the low speed movement in step S41 means that when the container 4 is attached to the heat sensitive plate 39 as shown in FIG. 10 (d), the heat sensitive plate 39 is lifted together with the container 4 by the finger 32. During Db, the speed is such that the heat sensitive plate 39 or the like is not damaged. According to the inventor's experiment, the distance Db was preferably about 1 mm. The specific size of the low speed varies depending on the shape, material, and the like of the container 4, the heat sensitive plate 39, and the balance beam 37, and is set to a suitable value as necessary. .

  As described above, according to the present embodiment, the thermal plate 39 is moved by the movement of the finger 32 even when the sample S is foamed or the sample container 4 adheres to the thermal plate 39. Can be reliably prevented from being damaged.

(Other embodiments)
In the above embodiment, as shown in FIG. 2, the position sensors Sv <b> 0 to Sv <b> 3 that detect the movement of the slide base 22 fixed to the support shaft 9 are used to detect the height position of the finger 32. However, the position sensors Sv0 to Sv3 may be arranged around the hoistway of the finger 32 in the measurement unit Pm in FIG. 1 to directly detect the movement of the finger 32.

  In the above embodiment, a position sensor such as a micro switch or a photo switch is used to detect the height position and the turning angle position of the finger 32. Instead, a pulse motor is used as a drive source. The height position and the angular position can also be determined by the number of pulses supplied to the motor. Also, a pulse generator can be attached to the output shaft of the motor, and the height position and angular position can be determined based on the number of pulses generated from the pulse generator.

  In the embodiment of FIG. 7, when the container 4 is held by the finger 32, the finger 32 is first lowered at a high speed, and the speed is switched to a low speed when approaching the container 4. This is to prevent damage to the container 4 or the like due to the finger 32 colliding with the sample S at a high speed when the sample S overflows from the container 4. However, when the mechanical strength of the container 4 or the heat sensitive plate 39 is high, or when the descending speed of the finger 32 is low from the beginning, it is not necessary to switch the speed of the finger 32 to a low speed.

  Further, in the embodiment of FIG. 8, when the container 4 is lifted by the finger 32, the finger 32 is first lifted at a low speed, and the speed is switched to a high speed when it is separated from the container 4 by a predetermined distance. This is to prevent the heat sensitive plate 39 and the like from being subjected to a rapid load as much as possible when the container 4 is attached to the heat sensitive plate 39. However, when the mechanical strength of the container 4 or the heat sensitive plate 39 is high, the finger 32 can be set at high speed from the beginning to the end. Further, when it is not necessary to increase the ascending speed of the finger 32, the speed of the finger 32 can be set to a low speed from the beginning to the end.

  In the above-described embodiment, the TG measurement apparatus having a structure in which only the measurement sample is mounted on the heat sensitive plate 39 of the single balance beam 37 is exemplified. However, instead of this, two balance beams are provided side by side. , TG measurement in which the measurement sample is placed on the heat sensitive plate of one balance beam, the standard substance is placed on the heat sensitive plate of the other balance beam, and the thermal change of the measurement sample is measured with reference to the standard substance The present invention can also be applied to an apparatus. The present invention can also be applied to all types of thermal analyzers having a structure using a balance beam.

  The present invention is suitably used when exchanging a sample in a thermal analysis apparatus having a structure using a balance beam, for example, a TG apparatus. The present invention is particularly useful when using a sample changer having a function of automatically exchanging samples.

It is a perspective view which shows one Embodiment of the thermal analyzer which concerns on this invention. It is sectional drawing which shows the turning drive system and raising / lowering drive system of the finger which are the principal parts of FIG. It is a figure which shows the balance apparatus which is the other main part of FIG. It is a block diagram which shows an example of the control system for performing a sample automatic exchange function. It is a flowchart which shows the flow of control performed by the control system of FIG. 6 is a flowchart showing in detail some steps in the flowchart of FIG. 5. 7 is a flowchart showing in detail some steps in the flowchart of FIG. 6. It is a flowchart which shows in detail some other steps in the flowchart of FIG. It is a figure which shows the mode of a change of the mechanism corresponding to the flowchart of FIG. It is a figure which shows the mode of a change of the mechanism corresponding to the flowchart of FIG.

Explanation of symbols

1. 1. TG device (thermal analysis device) 2. Sample changer Balance device,
4). Sample container, 6. 6. turntable (sample waiting section), Transfer arm,
9. Spindle, 13. Swivel / lift device; 14. Shaft member, 16. Machine frame,
17. Casing, 18. DC motor, 19. Gear train, 21. Screw shaft,
22. Slide base, 23. Stepping motor, 24. Lifting base,
26. Linear stepping actuator, 27. Opening and closing mechanism, 28. cover,
29. Opening and closing member, 31. Support member, 32. Fingers (gripping members),
36. Torsion band (fulcrum), 37. Balance beam 38. Electric furnace,
39. 45. Thermal plate (sample placement part) Permanent magnets, 46. Coil, 47. resistance,
51. Light shielding plate, 52. Light source, 53. Light receiving element, 56. Power amplifier,
57. Stopper, 61. Sample change control circuit, 66. Storage media,
67. Buses Da, Db. Distance, P0. Container removal position, Pw. Standby section,
Pm. Measuring section, R. Space, sample. S,
Sv0, Sv1, Sv2, Sv3. Height position sensor,
Sh0, Sh1. Angular position sensor,

Claims (5)

A beam having a sample mounting portion on which a sample container is placed and rotatable about a fulcrum;
Beam detecting means for detecting the deflection of the beam;
A gripping member capable of gripping the sample container;
A gripping member driving means for causing the gripping member to perform an operation of gripping the sample container and an operation of releasing the gripping;
A gripping member moving means for moving the gripping member forward and backward in the opposite direction toward the sample placement unit;
Gripping member detection means for detecting forward movement and / or backward movement of the gripping member;
A thermal analysis apparatus comprising: stop control means for stopping the progress of the gripping member by the gripping member moving means based on output signals of the beam detection means and the gripping member detection means.   2. The stop control means according to claim 1, wherein when the gripping member detection means detects the forward movement of the gripping member and the beam detection means detects the deflection of the beam, the stop control means stops the advancement of the gripping member. Thermal analysis device characterized by.   2. The stop control means according to claim 1, wherein when the gripping member detection means detects the backward movement of the gripping member and the beam detection means detects the deflection of the beam, the stop control means stops the progress of the gripping member. Thermal analysis device characterized by.   The grip release control means according to claim 2 or 3, further comprising: a grip release control means for causing the grip member driving means to perform an operation of releasing the grip of the sample after the stop control means stops the progress of the grip member. Thermal analysis equipment. In at least one of claims 1 to 4,
A thermal analysis apparatus comprising: a sample standby unit in which a plurality of sample containers are placed; and a container transfer unit that transfers the gripping member between the sample standby unit and the sample mounting unit.

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