JP2021139720A - Automatic constant volume device, automatic constant volume method, and automatic constant volume system - Google Patents

Abstract

To perform the work of fixing the volume of a liquid at a constant level with higher accuracy than possible before.SOLUTION: An image processing device 40 processes the image signal of a camera 30 and detects the height of a reticule 2a. A table drive device 13 drives a rotary table 10 and moves a liquid container 1 or a reticule-fitted container 2 to below a syringe 20. A syringe lifting device 22 raises or lowers the syringe and inserts a needle 21 into the liquid container or the reticule-fitted container. A syringe drive device 23 drives the syringe, and a liquid level sensor lifting device 25 raises or lowers a liquid level sensor 24. A control device 50 controls the liquid level sensor lifting device on the basis of the detection result of the image processing device, moves the liquid level sensor to the height of the reticule, and controls the syringe control device to continuously move the syringe upward of the reticule-fitted container, then repeats intermittent minute drive of the syringe until it is determined that the liquid level of a liquid in the reticule-fitted container detected by the liquid level sensor matches the height of the reticule.SELECTED DRAWING: Figure 1

Description

The present invention provides, for example, an automatic volume shaping device that automatically performs constant volume of a liquid (hereinafter referred to as “volume setting work”) in a pretreatment or the like when analyzing a substance contained in a liquid. The present invention relates to an automatic volumetric method and an automatic volumetric system that automatically performs volumetric work and other preprocessing.

For example, in the analysis of a substance by high performance liquid chromatography (HPLC), as one of the pretreatments for the analysis, a predetermined amount of the sample to be analyzed is placed in a container such as a measuring flask. It is necessary to dissolve the sample in a container such as a measuring flask in a diluted solution as a mobile phase (eluent) to perform volume determination work. In the past, this constant volume work was generally performed manually in many cases. Further, in recent years, an automatic pretreatment device that automatically performs pretreatment in combination with a transfer robot has been developed due to a demand for labor shortage and speeding up of work. In such an automatic pretreatment apparatus, there is one described in Patent Document 1 as a technique for automatically performing a constant volume operation.

Japanese Unexamined Patent Publication No. 6-50981

The conventional manual volume work has a problem that the accuracy varies depending on the difference in the precision of the work of the worker and the skill level of the work of the worker. On the other hand, in the conventional automatic pretreatment device, the coincidence between the marked line of the volumetric flask and the liquid level of the liquid in the volumetric flask is detected from the detection signal generated by the sensor means, and the volumetric volume operation is performed. Therefore, there is little variation in accuracy. However, for example, in Patent Document 1, a pulse is generated by detecting the rising and falling positions of a digital signal obtained by binarizing a video signal output from an image sensor using a one-dimensional CCD camera, and based on this pulse data. Although the detection is performed, it is difficult to improve the accuracy of the constant volume work because the time lag of the detection signal determination causes the accuracy to deteriorate.

An object of the present invention is to perform the liquid volume setting work with higher accuracy than before.

The automatic volumetric device of the present invention acquires an image of a marked line and a movable table on which a liquid container containing a liquid is mounted, and a marked line provided on the marked container, and outputs an image signal. The acquisition device, the image processing device that processes the image signal of the image acquisition device, performs image recognition of the marked line, and detects the height of the marked line, the syringe with the needle attached, and the movable table are driven. , A table drive that moves the liquid container or the marked container below the syringe, and the syringe lift that vertically supports the syringe and raises and lowers the syringe to insert the needle into the liquid container or the marked container. A syringe drive device that drives a device and a syringe to suck the liquid in the liquid container and discharges the sucked liquid into the marked container, and a liquid that detects the liquid level of the liquid in the marked container. A surface sensor, a liquid level sensor elevating device for elevating and lowering the liquid level sensor, a table drive device, a syringe elevating device, a syringe drive device, and a control device for controlling the liquid level sensor elevating device are provided, and the control device performs image processing. Based on the detection result of the device, control the liquid level sensor lifting device to move the liquid level sensor to the height of the marked line, control the syringe drive device, and continuously move the syringe above the marked container. The syringe is characterized by repeating intermittent minute driving until it is determined that the liquid level of the liquid in the marked container detected by the liquid level sensor matches the height of the marked line.

Further, in the automatic volume determination method of the present invention, an image acquisition device acquires an image of a marked line provided in a container with a marked line mounted on a movable table, an image signal is output, and an image processing device is used. The image signal of the image acquisition device is processed, the image of the marked line is recognized, the height of the marked line is detected, and the movable table equipped with the marked line container and the liquid container containing the liquid is provided by the table drive device. Driven to move the liquid container or marked container below the syringe to which the needle is attached, the syringe elevating device vertically supports the syringe, and the syringe is moved up and down to move the needle into the liquid container or marked. Insert it into a container with a wire, drive the syringe with a syringe drive device to suck the liquid in the liquid container, discharge the sucked liquid into the container with a marked line, and mark it with the liquid level sensor elevating device. The liquid level sensor that detects the liquid level of the liquid in the container with a line is raised and lowered, and the control device controls the liquid level sensor raising and lowering device based on the detection result of the image processing device, and sets the liquid level sensor at the height of the marked line. After moving to the top and controlling the syringe drive to continuously drive the syringe above the marked container, the liquid level of the liquid in the marked container detected by the liquid level sensor is marked. It is characterized in that the intermittent micro-driving of the syringe is repeated until it is determined that the height of the syringe is consistent with the above.

Since the container with a marked line used for the volumetric work is made of glass, the height of the marked line varies from product to product. In the present invention, the image acquisition device acquires an image of the marked line provided in the marked line container, outputs an image signal, and the image processing device processes the image signal of the image acquisition device to obtain the marked line. Image recognition is performed to detect the height of the marked line. Then, the control device controls the liquid level sensor elevating device based on the detection result of the image processing device to move the liquid level sensor to the height of the marked line. The detection accuracy when detecting the coincidence with the liquid level of the liquid inside is improved. Then, the syringe driving device is controlled by the control device to continuously drive the syringe above the marked container, and then the liquid level of the liquid in the marked container detected by the liquid level sensor is marked. Since the intermittent minute drive of the syringe is repeated until it is determined that the height of the line matches, the detection result of the liquid level sensor does not have a factor of deterioration in accuracy such as a time lag of detection signal determination as in the past. , The liquid level of the liquid coincides with the marked line with high accuracy, and the liquid volume setting work is performed with higher accuracy than before.

Further, the automatic volumetric device of the present invention is characterized in that the control device controls the syringe driving device to continuously drive the syringe by a predetermined discharge amount, and then intermittently microdrives the syringe. do.

Further, the automatic volume determination method of the present invention is characterized in that the syringe driving device is controlled by a control device to continuously drive the syringe by a predetermined discharge amount, and then intermittently minutely drive the syringe. do.

The control device controls the syringe drive device to continuously drive the syringe by a predetermined discharge amount, and then intermittently microdrives the syringe, so that the marked container is initially empty, or , When a liquid such as a test solution is accurately filled in a container with a marked line in a certain volume in advance, the liquid level of the liquid in the container with a marked line is easily set to a desired height, and then a syringe is used. Intermittent microdrive is performed.

Alternatively, in the automatic volume measuring device of the present invention, the control device controls the liquid level sensor elevating device based on the detection result of the image processing device to move the liquid level sensor to a position below the marked line by a predetermined distance. Then, the syringe drive device is controlled to continuously operate the syringe until the liquid level sensor detects that the liquid level of the liquid in the marked container has reached a position below the marked line by a predetermined distance. After that, the liquid level sensor elevating device is controlled to move the liquid level sensor to the height of the marked line, and then the syringe driving device is controlled to intermittently and minutely drive the syringe. And.

Further, in the automatic volume determination method of the present invention, the control device controls the liquid level sensor elevating device based on the detection result of the image processing device to move the liquid level sensor to a position below the marked line by a predetermined distance. Then, the syringe drive device is controlled to continuously operate the syringe until the liquid level sensor detects that the liquid level of the liquid in the marked container has reached a position below the marked line by a predetermined distance. After that, the liquid level sensor elevating device is controlled to move the liquid level sensor to the height of the marked line, and then the syringe driving device is controlled to intermittently and minutely drive the syringe. And.

If the volume of the liquid such as the test solution that has been placed in the marked container in advance is not constant, or if the sample powder or the like is contained in the marked container in advance, the syringe is continuously discharged by a predetermined amount. The liquid level in the marked container does not reach the desired height even when driven in a sensible manner. Based on the detection result of the image processing device, the liquid level sensor elevating device is controlled to move the liquid level sensor to a position below the marked line by a predetermined distance, and the liquid level sensor moves the liquid in the marked line container. Until it is detected that the liquid level has reached a position below the marked line by a predetermined distance, the syringe driving device is controlled to continuously drive the syringe, so that the liquid is placed in the marked line in advance. When the volume of the liquid such as the test solution is not constant, or when the sample powder or the like is contained in the marked container in advance, the liquid level of the liquid in the marked container is set to the desired height. After that, the liquid level sensor elevating device is controlled to move the liquid level sensor to the height of the marked line, and then the syringe driving device is controlled to perform intermittent minute driving of the syringe. Instead of moving the liquid level sensor, another liquid level sensor is placed at a position below the marked line by a predetermined distance so that the liquid level of the liquid in the marked container is below the marked line. It may be detected that the user has come to a lower position by a predetermined distance.

In any of the above, by optimizing the distance between the marked line and the liquid level in the marked container when initiating the intermittent microdrive of the syringe, the marked line and the liquid level of the liquid The number of times of repeating the process of detecting the coincidence with the above and the process of intermittently finely driving the syringe is reduced.

Further, in the automatic volume measuring device of the present invention, the control device controls the table driving device to drive the movable table, and the tip of the needle is marked so that the discharged liquid comes into contact with the inner wall of the marked container. After approaching the inner wall of the container with a wire, the syringe driving device is controlled to intermittently and minutely drive the syringe.

Further, in the automatic volume setting method of the present invention, the table driving device is controlled by the control device to drive the movable table, and the tip of the needle is marked so that the discharged liquid comes into contact with the inner wall of the marked container. After approaching the inner wall of the container with a wire, the syringe driving device is controlled to intermittently and minutely drive the syringe.

The control device controls the table drive device to drive the movable table, and after the tip of the needle is brought close to the inner wall of the marked container so that the discharged liquid comes into contact with the inner wall of the marked container, Since the syringe driving device is controlled to intermittently and minutely drive the syringe, a liquid amount smaller than one drop can be discharged so as to flow down along the inner wall of the marked container.

Further, in the automatic volume measuring device of the present invention, the tip of the needle is marked so that the discharged liquid is applied to the inner wall of the marked container while the syringe driving device continuously drives the syringe. It is characterized in that it is provided by bending toward the inner wall of the attached container.

Further, in the automatic volume setting method of the present invention, the tip of the needle is bent toward the inner wall of the marked container, and the liquid to be discharged is discharged while the syringe driving device continuously drives the syringe. It is characterized by hanging on the inner wall of a marked container.

The tip of the needle is bent toward the inner wall of the marked container, and while the syringe driving device continuously drives the syringe, the discharged liquid is applied to the inner wall of the marked container, so that the liquid is discharged. The liquid is flowed down along the inner wall of the marked container, and the continuously discharged liquid vigorously hits the liquid surface so that the liquid level does not foam.

Further, the automatic volume measuring device of the present invention is characterized in that the tip of the needle is bent in a direction different from the direction in which the liquid level sensor is located. Further, the automatic volume fixing method of the present invention is characterized in that the tip of the needle is bent in a direction different from the direction in which the liquid level sensor is located. Since the tip of the needle is bent in a direction different from the direction in which the liquid level sensor is located, the discharged liquid flows down along the inner wall in a direction different from the direction in which the liquid level sensor is located, and the liquid flows down. The surface sensor does not erroneously detect the liquid flowing down the inner wall as the liquid level.

Further, the automatic volume measuring device of the present invention is characterized by providing a liquid storage tool between the syringe and the needle, which stores the liquid sucked by the needle and prevents the liquid from entering the syringe. Further, the automatic volume determination method of the present invention is characterized in that a liquid storage tool for storing the liquid sucked by the needle and preventing the liquid from entering the syringe is provided between the syringe and the needle. Since the ingress of liquid into the syringe is blocked and only air enters the syringe, there is no need to clean the inside of the syringe or replace the syringe when changing the type of liquid.

The automatic volume setting system of the present invention carries one of the above automatic volume setting devices, a stirring device for stirring the liquid in the marked container, and the marked container into the automatic volume setting device, and also marks the container. It is characterized by being equipped with a transfer robot that carries out the container with a wire from the automatic volume setting device and carries it into the stirring device. A system suitable for pretreatment of analysis by HPLC is provided, which automatically performs liquid volume determination, liquid agitation, and marked container transfer operations.

Further, in the automatic volume setting system of the present invention, the stirring device operates by detecting and pressing the pressing portion that closes and presses the mouth of the container with the marked line, the pressing portion elevating device that raises and lowers the pressing portion, and the pressure of the pressing portion. However, it is characterized by being provided with a vibrating device that agitates the liquid in the marked container by vibrating the marked container. Since the pressing portion closes and presses the mouth of the marked container, when the vibrating device vibrates the marked container to agitate the liquid in the marked container, the liquid from the marked container is pressed. Leakage is prevented. Then, since the vibrating device operates by detecting the pressure of the pressing portion, the stirring of the liquid in the marked container is automatically and quickly started.

Further, the automatic volumetric system of the present invention is a liquid level vortex detection sensor that detects that the liquid level of the liquid in the marked container swirls and reaches a predetermined height due to the vibration from the vibrating device. It is characterized by being equipped with. The liquid level vortex detection sensor detects that the liquid level in the marked container swirls and reaches a predetermined height, so that the liquid in the marked container is sufficiently agitated. Is confirmed.

According to the present invention, the liquid volume setting work can be performed with higher accuracy than before.

Further, the syringe drive device is controlled by the control device to continuously drive the syringe by a predetermined discharge amount, and then the syringe is intermittently micro-driven, so that the marked container is initially empty. In this case, or when a liquid such as a test solution is accurately filled in a marked container in a certain volume in advance, the liquid level of the liquid in the marked container can be easily set to a desired height. Therefore, the syringe can be minutely driven intermittently.

Alternatively, based on the detection result of the image processing device, the liquid level sensor elevating device is controlled to move the liquid level sensor to a position below the marked line by a predetermined distance, and the liquid level sensor is moved into the marked line container. Until it is detected that the liquid level of the liquid has reached a position below the marked line by a predetermined distance, the syringe driving device is controlled to continuously drive the syringe so that the liquid is placed in the container with the marked line in advance. When the volume of the liquid such as the test solution contained is not constant, or when the sample powder or the like is previously contained in the marked container, the liquid level of the liquid in the marked container is set to the desired height. After that, the liquid level sensor elevating device is controlled to move the liquid level sensor to the height of the marked line, and then the syringe driving device is controlled to intermittently finely drive the syringe. can. Instead of moving the liquid level sensor, another liquid level sensor is placed at a position below the marked line by a predetermined distance so that the liquid level of the liquid in the marked container is below the marked line. It may be detected that the user has come to a lower position by a predetermined distance.

In any case, by optimizing the distance between the marked line and the liquid level of the liquid in the marked container when starting the intermittent microdrive of the syringe, the marked line and the liquid level of the liquid It is possible to reduce the number of times the process of detecting the match and the process of intermittently finely driving the syringe are repeated.

Further, the control device controls the table drive device to drive the movable table, and the tip of the needle is brought close to the inner wall of the marked container so that the discharged liquid comes into contact with the inner wall of the marked container. After that, by controlling the syringe driving device to intermittently finely drive the syringe, a liquid amount smaller than one drop can be discharged so as to flow down along the inner wall of the marked container.

Further, the tip of the needle is bent toward the inner wall of the marked container, and the discharged liquid is applied to the inner wall of the marked container while the syringe driving device continuously drives the syringe. As a result, the discharged liquid can flow down along the inner wall of the marked container, and foaming of the liquid level can be prevented.

Further, by bending the tip of the needle in a direction different from the direction in which the liquid level sensor is located, the discharged liquid travels along the inner wall in a direction different from the direction in which the liquid level sensor is located. It is possible to prevent the liquid level sensor from erroneously detecting the liquid flowing down along the inner wall as the liquid level.

Further, by providing a liquid storage tool between the syringe and the needle to store the liquid sucked by the needle and prevent the liquid from entering the syringe, the liquid from entering the syringe is prevented from entering the syringe. Since only air enters the syringe, it is possible to save the trouble of cleaning the inside of the syringe or replacing the syringe when changing the type of liquid.

Further, according to the automatic volume determination system of the present invention, a system suitable for pretreatment of analysis by HPLC, which automatically performs a liquid volume determination operation, a liquid stirring operation, and a marked container transfer operation, is provided. can do.

Further, according to the automatic volume determination system of the present invention, the vibrating device of the stirrer gives vibration to the marked container by pressing the container with the marked line by closing the mouth of the container with the marked line by the pressing portion of the stirrer. When stirring the liquid in the marked container, it is possible to prevent the liquid from leaking from the marked container. Then, the vibrating device detects the pressure of the pressing portion and operates, so that the stirring of the liquid in the marked container can be automatically and quickly started.

Further, according to the automatic volume determination system of the present invention, the liquid level vortex detection sensor of the agitator detects that the liquid level of the liquid in the marked container swirls and reaches a predetermined height. It can be confirmed that the liquid in the marked container has been sufficiently agitated.

It is a figure which shows the schematic structure of the automatic volume shaping apparatus according to one Embodiment of this invention. It is a figure which shows the state which moved the liquid container directly under the syringe. It is a flowchart which shows an example of the volume-setting work by the transfer robot and the automatic volume-setting device of this embodiment. It is a figure which shows the state which the tip part of a needle is in the retracted position before descending. It is a figure which shows the state which the tip part of a needle is under the liquid surface of a liquid. It is a figure which shows the state which the tip part of a needle is in the retracted position before descending. It is a figure which shows the state which the tip | tip portion of a needle is in a discharge position. It is a figure which shows the state which the liquid is discharged from the tip part of a needle. It is a figure which shows the state which the liquid level of the liquid in a measuring flask approaches a marked line. It is a flowchart which shows another example of the liquid discharge operation. It is a figure which shows the schematic structure of the automatic volume-setting system by one Embodiment of this invention. It is a figure which shows the schematic structure of a stirrer. It is a figure which shows the state which the pressing part closes the mouth of a measuring flask and presses. It is a flowchart which shows an example of the pretreatment of the analysis by HPLC using the automatic volume-setting system by one Embodiment of this invention. It is a figure which shows an example of the syringe which attached the liquid storage tool.

[Embodiment]
<Configuration of automatic volumetric device>
Hereinafter, the marked container will be described by taking a volumetric flask as an example. However, the marked container is not limited to the volumetric flask, but is used for liquids with a marked line such as a measuring cylinder, a metric glass, an Erlenmeyer flask, and a beaker. It may be a container. FIG. 1 is a diagram showing a schematic configuration of an automatic volume-setting device according to an embodiment of the present invention. The automatic volume measuring device 100 includes a rotary table 10, a liquid container support stand 11, a female flask support stand 12, a rotary table drive device 13, a syringe (injection cylinder) 20, a needle (injection needle) 21, a syringe lifting device 22, and a syringe drive. Device 23, liquid level sensor 24. It includes a liquid level sensor elevating device 25, a camera 30, an image processing device 40, and a control device 50. Of these, at least a rotary table 10, a liquid container support stand 11, a volumetric flask support stand 12, a rotary table drive device 13, a syringe 20, a needle 21, a syringe lifting device 22, a syringe drive device 23, and a liquid level sensor 24. The liquid level sensor elevating device 25 and the liquid level sensor elevating device 25 are housed in the storage 100a. The image processing device 40 and the control device 50 may be arranged outside the storage 100a. Further, in the present embodiment, the camera 30 is attached to the robot arm 141 of the transfer robot 140 whose main body is provided outside the storage 100a, and moves in and out of the storage 100a according to the movement of the robot arm 141. .. The storage 100a is provided with an opening 100b for loading and unloading the volumetric flask 2 by the robot arm 141 of the transport robot 140.

On the upper surface of the rotary table 10, a liquid container support stand 11 for supporting the liquid container 1 and a volumetric flask support base 12 for supporting the volumetric flask 2 are provided. The liquid container 1 contains the liquid 3 before the constant volume operation. The volumetric flask 2 contains a liquid for performing constant volume work. The rotary table 10 is mounted with the liquid container 1 and the volumetric flask 2 and rotates about a rotation axis in the vertical direction.

In the present embodiment, a beaker is used as the liquid container 1, but the liquid container containing the liquid before the constant volume operation is not limited to this. Further, in the present embodiment, only one liquid container support stand 11 is provided, but a plurality of liquid container support stands 11 may be provided. Further, a plurality of volumetric flask support bases 12 may be provided.

The liquid container 1 containing the liquid 3 is carried into the liquid container support base 11 manually or by a transfer robot 140 or a separately provided transfer device, and is attached to the liquid container support base 11. The empty liquid container 1 may be carried in and the liquid 3 may be supplied into the empty liquid container 1 by a supply device having a pump or the like (not shown).

The volumetric flask 2 is carried into the volumetric flask support base 12 by the transfer robot 140, attached to the volumetric flask support base 12, and collected from the volumetric flask support base 12 and carried out. The measuring flask 2 is provided with a marked line 2a. In the present embodiment, the volume of the volumetric flask 2 when the liquid level of the liquid contained in the volumetric flask 2 coincides with the marked line 2 is, for example, 50 ml or 100 ml. The upper surfaces of the liquid container support base 11 and the volumetric flask support base 12 are provided with recesses shown by broken lines for supporting and fixing the bottom of the liquid container 1 or the volumetric flask 2, respectively.

Above the rotary table 10, the syringe 20 is vertically supported by the syringe elevating device 22. A movable plunger (pusher) 20a is inserted inside the syringe 20, and a needle 21 is attached to the lower part of the syringe 20. The rotary table driving device 13 drives the rotary table 10 to move the liquid container 1 or the volumetric flask 2 directly below the syringe 20. FIG. 1 shows a state in which the volumetric flask 2 is moved directly below the syringe 20. Further, FIG. 2 is a diagram showing a state in which the liquid container 1 is moved directly below the syringe 20. The movement of the liquid container 1 and the volumetric flask 2 directly below the syringe 20 is not limited to the rotary table 10, and may be performed by a table or the like that moves in parallel to the front and back or left and right. Further, in the present embodiment, only one syringe 20 is provided, but a plurality of syringes 20 may be provided.

The syringe elevating device 22 lowers the syringe 20 while vertically supporting the syringe 20 with the syringe support portion 22b attached to the slider 22a that moves up and down, and moves the needle 21 into the liquid container 1 or the volumetric flask 2. Insert and raise the syringe 20 to retract the needle 21 to an empty retracted position above the liquid container 1 or volumetric flask 2. The syringe driving device 23 drives the syringe 20 by moving the plunger 20a in the syringe 20 up and down with the slider 23a, and causes the liquid 3 in the liquid container 1 to be sucked through the needle 21 and also sucked. The liquid is discharged from the needle 21 into the volumetric flask 2. The syringe lifting device 22 and the syringe driving device 23 are composed of, for example, an electric cylinder or the like in which a ball screw is driven by a servomotor and a slider attached to a movable portion of the ball screw is moved along a linear guide. ..

The liquid level sensor 24 is an optical sensor, and is composed of a laser light irradiation unit 24a and a laser light light receiving unit 24b. The laser light irradiation unit 24a irradiates the volumetric flask 2 with the laser light through the slit. The laser light receiving unit 24b receives the laser light emitted from the laser light irradiation unit 24a and transmitted through the volumetric flask 2 through the slit. Then, the laser light receiving unit 24b detects the liquid level of the liquid by blocking the laser light to be received by the liquid in the volumetric flask 2, and outputs a detection signal. The liquid level sensor elevating device 25 lowers the liquid level sensor 24 to move the liquid level sensor 24 to the height of the marked line 2a provided on the volumetric flask 2, or a predetermined distance from the marked line 2a. The liquid level sensor 24 is moved to a lower position, and the liquid level sensor 24 is raised to retract the liquid level sensor 24 to the retracted position. 1 and 2 show a state in which the liquid level sensor 24 is in the retracted position. The liquid level sensor elevating device 25 is composed of, for example, the above-mentioned electric cylinder or the like.

The camera 30 acquires an image of the marked line 2a provided on the volumetric flask 2 and outputs an image signal. The camera 30 is composed of, for example, a two-dimensional camera having a CCD image sensor or the like. In the present embodiment, the camera 30 is attached to the robot arm 141 of the transfer robot 140, and is moved up and down by the robot arm 141. However, instead of attaching the camera 30 to the robot arm 141, a moving mechanism for moving the camera 30 up and down may be separately provided in the storage 100a.

The image processing device 40 processes the image signal of the camera 30, performs image recognition of the marked line 2a, and detects the height of the marked line 2a. The control device 50 controls the table drive device 13, the syringe elevating device 22, the syringe drive device 23, and the liquid level sensor elevating device 25. At this time, the control device 50 controls the liquid level sensor elevating device 25 as described later based on the detection result of the image processing device 40, and based on the detection result of the liquid level sensor 24, as will be described later. Controls the syringe drive device 23.

<Operation of automatic volume measuring device>
FIG. 3 is a flowchart showing an example of the volume-setting work by the transfer robot and the automatic volume-setting device of the present embodiment. FIG. 3 shows a process after the liquid container 1 containing the liquid 3 before performing the constant volume operation is carried into the liquid container support base 11 and attached to the liquid container support base 11.

(1. Carrying in volumetric flask)
First, the rotary table drive device 13 drives the rotary table 10 under the control of the control device 50 to move the volumetric flask support base 12 to a transport position when loading and unloading the volumetric flask 2 (step 101). .. The transport position is a position where the rotary table 10 is rotated within a range of several tens of degrees to 180 degrees from the state where the volumetric flask 2 shown in FIG. 1 is directly under the syringe 20. Subsequently, the transfer robot 140 uses the robot arm 141 to carry the volumetric flask 2 into the volumetric flask support base 12 at the transfer position and attach it to the volumetric flask support base 12 (step 102).

Next, the camera 30 acquires an image of the marked line 2a of the volumetric flask 2 and outputs an image signal, and the image processing device 40 processes the image signal of the camera 30 to obtain the image of the marked line 2a of the volumetric flask 2. Image recognition is performed to detect the height of the marked line 2a (step 103). In the present embodiment, the camera 30 is attached to the robot arm 141 of the transfer robot 140 that carries the volumetric flask 2, and the process of step 103 is performed without delay. Even when the volumetric flask 2 is repeatedly subjected to the volumetric volume operation using a plurality of volumetric flasks 2 having the same capacity, the height of the marked line 2a varies from product to product in the glass volumetric flask 2, so that the volumetric flask 2 is different. This process is required every time you use.

(2. Liquid suction work)
Next, the rotary table driving device 13 drives the rotary table 10 under the control of the control device 50, and moves the liquid container 1 directly below the syringe 20 as shown in FIG. 2 (step 104). Subsequently, the syringe elevating device 22 lowers the syringe 20 under the control of the control device 50 to insert the needle 21 into the liquid container 1, and the tip of the needle 21 is the liquid of the liquid 3 in the liquid container 1. Make sure it comes below you (step 105). FIG. 4 is a diagram showing a state in which the tip end portion 21a of the needle 21 is in the retracted position before descending. Further, FIG. 5 is a diagram showing a state in which the tip portion 21a of the needle 21 is below the liquid level 3a of the liquid 3.

In FIG. 3, the syringe driving device 23 then drives the syringe 20 under the control of the control device 50 to suck the liquid 3 in the liquid container 1 through the needle 21 (step 106). When the suction of the liquid is completed, the syringe elevating device 22 raises the syringe 20 under the control of the control device 50, and places the tip portion 21a of the needle 21 in the retracted position as shown in FIG. 4 (step 107).

(3. Liquid discharge work)
In FIG. 3, the rotary table driving device 13 then drives the rotary table 10 under the control of the control device 50 to move the volumetric flask 2 directly below the syringe 20 as shown in FIG. 1 (step 108). ). Subsequently, the liquid level sensor elevating device 25 lowers the liquid level sensor 24 from the retracted position based on the height of the marked line 2a of the volumetric flask 2 detected in step 103 under the control of the control device 50. Move to the height of the marked line 2a of the volumetric flask 2 (step 109).

Next, the syringe elevating device 22 lowers the syringe 20 under the control of the control device 50, inserts the needle 21 into the volumetric flask 2, and the tip portion 21a of the needle 21 discharges the liquid. To come to (step 110). FIG. 6 is a diagram showing a state in which the tip end portion 21a of the needle 21 is in the retracted position before descending. Further, FIG. 7 is a diagram showing a state in which the tip end portion 21a of the needle 21 is in the discharge position. In FIG. 7, the discharge position of the tip portion 21a of the needle 21 is set above the marked line 2a so that the needle 21 is not immersed in the liquid discharged into the volumetric flask 2.

In FIG. 3, the control device 50 then controls the syringe drive device 23 to continuously drive the syringe 20 until the amount of movement of the plunger 20a reaches a predetermined value. By this control, the syringe driving device 23 continuously drives the syringe 20 by a predetermined discharge amount, and continuously discharges the sucked liquid from the needle 21 into the volumetric flask 2 (step 111). The control device 50 determines the amount of movement of the plunger 20a by the syringe driving device 23 so that the volume of the liquid in the volumetric flask 2 is smaller than the volume of the volumetric flask 2 by a desired amount. After continuously driving the syringe 20 by a predetermined discharge amount, the control device 50 controls the syringe driving device 23 to stop the driving of the syringe 20.

FIG. 8 is a diagram showing a state in which the liquid is discharged from the tip portion 21a of the needle 21. In FIG. 8, the tip portion 21a of the needle 21 is a volumetric flask 2 so that the discharged liquid 3 is applied to the inner wall 2b of the volumetric flask 2 while the syringe driving device 23 continuously drives the syringe 20. It is provided by bending toward the inner wall 2b. As a result, the discharged liquid 3 flows down along the inner wall 2b of the volumetric flask 2, and the continuously discharged liquid 3 vigorously hits the liquid surface 3a so that the liquid surface 3a does not foam.

Further, the tip portion 21a of the needle 21 is provided so as to be bent in a direction different from the direction in which the liquid level sensor 24 is located. As a result, the discharged liquid does not flow down along the inner wall in a direction different from the direction in which the liquid level sensor 24 is located, and the liquid level sensor 24 does not erroneously detect the liquid flowing down along the inner wall as the liquid level.

FIG. 9 is a diagram showing a state in which the liquid level 3a of the liquid 3 in the volumetric flask 2 approaches the marked line 2a. When the volumetric flask 2 is initially empty, or when a liquid such as a test solution is accurately filled in the volumetric flask 2 in a certain volume in advance, the process of step 111 in FIG. 3 causes the volumetric flask 2 to be filled. The liquid level 3a of the liquid 3 reaches a position below the marked line 2a by a predetermined distance. The amount of movement of the plunger 20a of the syringe 20 driven in step 111 is set so that the predetermined distance is, for example, about 10 mm.

In FIG. 3, next, the control device 50 determines from the detection signal of the liquid level sensor 24 whether or not the marked line 2a and the liquid level 3a of the liquid 3 in the volumetric flask 2 coincide with each other (step 112). When it is determined in step 112 that the marked line 2a and the liquid level 3a of the liquid 3 do not match, the control device 50 controls the syringe driving device 23 to intermittently and minutely drive the syringe 20. By this control, the syringe driving device 23 intermittently minutely drives the syringe 20 to discharge the sucked liquid from the needle 21 into the volumetric flask 2 in a small amount one drop at a time (step 113). At this time, when high accuracy is required, the control device 50 controls the rotary table drive device 13 to slightly rotate the rotary table 10, and the needle is such that the discharged liquid comes into contact with the inner wall 2b of the volumetric flask 2. After the tip portion 21a of 21 is brought close to the inner wall 2b of the volumetric flask 2, the syringe driving device 23 is controlled to discharge a smaller amount of liquid than one drop so as to flow down along the inner wall 2b of the volumetric flask 2. Let me. Then, returning to step 112, the control device 50 determines from the detection signal of the liquid level sensor 24 whether or not the marked line 2a and the liquid level 3a of the liquid 3 in the volumetric flask 2 match (step 112). If it is determined in step 112 that the marked line 2a and the liquid level 3a of the liquid 3 do not match, the processing of step 112 and the processing of step 113 are repeated.

The control device 50 controls the syringe driving device 23 to continuously drive the syringe 20 by a predetermined discharge amount (step 111), and then intermittently microdrives the syringe 20 (step 113). When the flask 2 is initially empty, or when a liquid such as a test solution is accurately filled in the volumetric flask 2 in a certain volume in advance, the liquid level 3a of the liquid 3 in the volumetric flask 2 can be easily adjusted. The syringe 20 is intermittently micro-driven after being set to a desired height.

When it is determined in step 112 that the marked line 2a and the liquid level 3a of the liquid 3 in the volumetric flask 2 coincide with each other, the control device 50 controls the syringe driving device 23 to stop the minute driving of the syringe 20. Then, in order to prevent the liquid from falling from the tip of the needle 21 thereafter, the syringe 20 is driven to suck air into the tip of the needle 21 (step 114). The drop of the liquid after stopping the driving of the syringe 20 may or may not occur depending on the viscosity of the liquid, and when the highly viscous liquid does not cause the liquid to overdrop, the process of step 114 unnecessary.

(3'. Other example of liquid discharge work)
FIG. 10 is a flowchart showing another example of the liquid discharge operation. In this example, the process of discharging the liquid surrounded by the broken line in FIG. 3 is replaced with the process shown in FIG. In FIG. 10, the same processes as those in FIG. 3 are assigned the same step numbers.

In FIG. 10, first, the rotary table driving device 13 drives the rotary table 10 under the control of the control device 50, and moves the volumetric flask 2 directly below the syringe 20 as shown in FIG. 1 (step 108). .. Subsequently, the liquid level sensor elevating device 25 lowers the liquid level sensor 24 from the retracted position based on the height of the marked line 2a of the volumetric flask 2 detected in step 103 under the control of the control device 50. The volumetric flask 2 is moved to a position below the marked line 2a by a predetermined distance (step 201). The predetermined distance is, for example, about 10 mm. Next, the syringe elevating device 22 lowers the syringe 20 under the control of the control device 50, inserts the needle 21 into the volumetric flask 2, and the tip portion 21a of the needle 21 discharges the liquid. To come to (step 110).

Next, the control device 50 controls the syringe driving device 23 to continuously drive the syringe 20. By this control, the syringe driving device 23 continuously drives the syringe 20 to continuously discharge the sucked liquid from the needle 21 into the volumetric flask 2 (step 202). Then, when the liquid level 3a of the liquid 3 in the volumetric flask 2 reaches a position below the marked line 2a by a predetermined distance, the liquid level sensor 24 tells the liquid level sensor 24 that the liquid level 3a of the liquid 3 is a predetermined distance from the marked line 2a. Only detect that it has come to the lower position. From the detection signal of the liquid level sensor 24, the control device 50 determines whether or not the liquid level sensor 24 has detected that the liquid level 3a of the liquid 3 has come to a position below the marked line 2a by a predetermined distance. (Step 203). If it is determined in step 203 that the liquid level sensor 24 has not detected that the liquid level 3a of the liquid 3 has come to a position below the marked line 2a by a predetermined distance, the process returns to step 202.

In step 203, when the liquid level sensor 24 determines that the liquid level 3a of the liquid 3 has come to a position below the marked line 2a by a predetermined distance, the control device 50 determines that the syringe driving device 23 is moved. Controlled to stop driving the syringe 20. By this control, the syringe driving device 23 stops driving the syringe 20 (step 204). By the above processing, the liquid level 3a of the liquid 3 in the volumetric flask 2 is positioned below the marked line 2a of the volumetric flask 2 by a predetermined distance. Subsequently, the liquid level sensor elevating device 25 sets the liquid level sensor 24 to the marked line 2a of the volumetric flask 2 based on the height of the marked line 2a of the volumetric flask 2 detected in step 103 under the control of the control device 50. It is raised from a lower position by a more predetermined distance and moved to the height of the marked line 2a of the volumetric flask 2 (step 205). The subsequent processing is the same as the processing of the discharge operation shown in FIG.

If the volume of the liquid such as the test solution previously placed in the volumetric flask 2 is not constant, or if the sample powder or the like is previously contained in the volumetric flask 2, the syringe 20 is specified in step 111 of FIG. The liquid level 3a of the liquid 3 in the volumetric flask 2 does not reach a desired height even if it is continuously driven by the discharge amount of. On the other hand, in the process shown in FIG. 10, the liquid level sensor elevating device 25 is controlled based on the detection result of the image processing device 40 to move the liquid level sensor 24 to a position below the marked line 2a by a predetermined distance. (Step 201), the liquid level sensor 24 detects that the liquid level 3a of the liquid 3 in the measuring flask 2 has come to a position below the marked line 2a by a predetermined distance (step 203). Since the driving device 23 is controlled to continuously drive the syringe 20 (step 202), if the volume of the liquid such as the test solution previously placed in the measuring flask 2 is not constant, or in the measuring flask 2 in advance. When a sample powder or the like is contained in the liquid level sensor 24, the liquid level 3a of the liquid 3 in the measuring flask 2 is set to a desired height, and then the liquid level sensor elevating device 25 is controlled to control the liquid level sensor 24. Is moved to the height of the marked line 2a (step 205), and then the syringe driving device 23 is controlled to perform intermittent minute driving (step 113) of the syringe 20. Instead of moving the liquid level sensor 24, another liquid level sensor is placed at a position below the marked line 2a by a predetermined distance so that the liquid level 3a of the liquid 3 in the volumetric flask 2 is raised. It may be detected that the position is below the marked line 2a by a predetermined distance.

In either of the treatments shown in FIG. 3 or the treatment shown in FIG. 10, the marked line 2a and the liquid level 3a of the liquid 3 in the volumetric flask 2 when the intermittent microdrive of the syringe 20 is started. By optimizing the distance, the number of times the process of detecting the coincidence between the marked line 2a and the liquid level 3a of the liquid 3 (step 112) and the process of intermittently finely driving the syringe 20 (step 113) are repeated. , Can be reduced.

(4. Volumetric flask unloading work)
In FIG. 3, the syringe elevating device 22 then raises the syringe 20 under the control of the control device 50 and places the tip 21a of the needle 21 in the retracted position as shown in FIG. 6 (step 115). Subsequently, the liquid level sensor elevating device 25 raises the liquid level sensor 24 under the control of the control device 50 and puts the liquid level sensor 24 in the retracted position (step 116). The process of step 115 and the process of step 116 may be performed in parallel. Next, the rotary table drive device 13 drives the rotary table 10 under the control of the control device 50 to move the volumetric flask support base 12 to the transport position (step 117). Then, the transfer robot 140 uses the robot arm 141 to collect the volumetric flask 2 from the volumetric flask support base 12 at the transfer position and carry it out (step 118).
As described above, one volume setting work is completed, and the volume setting work described above is repeated as necessary.

<Configuration of automatic volume system>
FIG. 11 is a diagram showing a schematic configuration of an automatic volumetric system according to an embodiment of the present invention. The automatic volume setting system of the present embodiment includes an automatic volume setting device 100, a stirring device 120, a sealing device 130, and a transfer robot 140. In the automatic volume measuring device 100 of FIG. 11, only the rotary table 10 is shown, and the drawing of other devices such as the syringe 20 is omitted. Similarly, in the stirring device 120 of FIG. 11, only the vibrating device 60 described later is shown, and the drawing of other devices such as the pressing portion 70 described later is omitted.

First, the transfer robot 140 carries one of the plurality of volumetric flasks 2 arranged in the foreground on the left side into the automatic volume measuring device 100. The automatic volume measuring device 100 uses the volumetric flask 2 carried in to perform the liquid volume setting work described above. When the liquid sizing work by the automatic sizing device 100 is completed, the transfer robot 140 carries out the volumetric flask 2 from the automatic sizing device 100 and carries it into the stirring device 120. The stirring device 120 stirs the liquid in the volumetric flask 2 as described later.

When the stirring operation by the stirring device 120 is completed, the transfer robot 140 carries out the measuring flask 2 from the stirring device 120, and the liquid in the measuring flask 2 is taken out of the plurality of beakers 4 arranged in front of the right side. Transfer to one of. Then, the transfer robot 140 uses an instrument such as a pipette (not shown) to transfer the liquid in the beaker 4 to one of the plurality of vials 5 arranged in front of the sealing device 130 by a certain volume. inject. The transfer robot 140 repeats the operation of injecting the liquid into the vial 5 as many times as pre-programmed. The sealing device 130 attaches the lid 6 to the vial bottle 5 in which the liquid is injected by the lid closing machine 131, closes the lid 6, and seals the vial bottle 5.

By the automatic volumetric system of the present embodiment, the volumetric flask 2 transfer operation, the liquid volumetric volume operation, the liquid stirring operation, the liquid injection operation into the vial bottle 5, and the sealing of the liquid-injected vial bottle 5 are performed. A system suitable for pretreatment of analysis by HPLC is provided, which performs the work automatically.

FIG. 12 is a diagram showing a schematic configuration of the stirring device. The stirring device 120 includes a vibrating device 60, a support column 61, a pressing portion 70, a pressing rubber 71, a pressing portion elevating device 72, and a liquid level vortex detection sensor 80.

The vibrating table 60a on the upper surface of the vibrating device 60 is provided with a plurality of columns 61, and the transfer robot 140 attaches the carried-in volumetric flask 2 between the plurality of columns 61. In the sky above the vibrating device 60, the pressing portion 70 is supported by the pressing portion elevating device 72. The pressing portion 70 is provided with a pressing rubber 71 for closing and pressing the mouth of the volumetric flask 2. The pressing portion 70 is attached to the slider 72a of the pressing portion elevating device 72, and when the pressing portion elevating device 72 lowers the slider 72a, the pressing rubber 71 of the pressing portion 70 closes the mouth of the volumetric flask 2. Press. The pressing unit elevating device 72 is composed of, for example, the above-mentioned electric cylinder or the like.

FIG. 13 is a diagram showing a state in which the pressing portion 70 closes the mouth of the volumetric flask 2 and presses the flask 2. When the pressing portion 70 closes the mouth of the measuring flask 2 and presses the flask, the vibrating device 60 detects the pressure of the pressing portion 70 and operates, vibrates the measuring flask 2 by the vibrating table 60a, and causes the inside of the measuring flask 2 to vibrate. Stir the liquid.

Since the pressing portion 70 closes and presses the mouth of the volumetric flask 2, when the vibrating device 60 gives vibration to the volumetric flask 2 to stir the liquid in the volumetric flask 2, the liquid leaks from the volumetric flask 2. Is prevented. Then, since the vibrating device 60 operates by detecting the pressure of the pressing portion 70, the stirring of the liquid in the volumetric flask 2 is automatically and quickly started.

A liquid level vortex detection sensor 80 is attached to the pressing portion 70. When the pressing unit 70 closes the mouth of the volumetric flask 2 by driving the pressing unit elevating device 72, the liquid level so that the liquid level vortex detection sensor 80 comes to a position higher than the marked line 2a of the volumetric flask 2 by a predetermined distance. The mounting height of the vortex detection sensor 80 to the pressing portion 70 is set. When the vibrating device 60 vibrates the volumetric flask 2 and stirs the liquid in the volumetric flask 2, the liquid level of the liquid in the volumetric flask 2 swirls, and the liquid level of the liquid is higher than the height of the marked line 2a. Come to the position. The liquid level vortex detection sensor 80 detects that the liquid level of the liquid in the volumetric flask 2 has swirled and reached a predetermined height.

By detecting that the liquid level of the liquid in the volumetric flask 2 has swirled and reached a predetermined height by the liquid level vortex detection sensor 80, the liquid in the volumetric flask 2 has been sufficiently agitated. It is confirmed.

<Example of pretreatment for analysis by HPLC>
FIG. 14 is a flowchart showing an example of pretreatment for analysis by HPLC using the automatic volumetric system according to the embodiment of the present invention. In the analysis by HPLC, water, an aqueous solution of various salts in water, an organic solvent such as methanol, acetonitrile, hexane, or the like is used as a diluting liquid as a mobile phase (eluent).

In FIG. 14, first, the transfer robot 140 of FIG. 11 dispenses a predetermined amount of the test solution to be analyzed into the volumetric flask 2 using an instrument such as a pipette (step 301). Next, the automatic volume setting device 100 of FIG. 11 performs a volume setting operation of diluting the test solution in the volumetric flask 2 with the liquid 3 which is a diluent (step 302). Subsequently, the stirring device 120 of FIG. 11 stirs the diluted test solution in the volumetric flask 2 (step 303). Next, the transfer robot 140 transfers the diluted and stirred test solution from the volumetric flask 2 to the beaker 4, and injects the test solution in the beaker 4 into the vial bottle 5 (step 304). Then, the sealing device 130 of FIG. 11 attaches the lid 6 to the vial bottle 5, closes the lid 6, and seals the vial bottle 5 (step 305). After performing the above pretreatment, the test solution in the vial 5 is analyzed by HPLC.

The example described with reference to FIG. 14 is an example of pretreatment for analysis by HPLC. It can be applied to the volumetric work of liquids. Further, by using a volumetric flask having a desired capacity and exchanging the volumetric flask support base 12 according to the size of the volumetric flask, it is possible to perform the liquid constant volume operation in a desired volume.

<Attachment of liquid storage tool to syringe>
FIG. 15 is a diagram showing an example of a syringe equipped with a liquid storage tool. In this example, the liquid storage tool 20a is mounted between the syringe 20 and the needle 21. The liquid storage tool 20a serves to store the liquid sucked by the needle 21 and prevent the liquid from entering the syringe 20. When the syringe 20 equipped with the liquid storage tool 20a of this example is used in place of the syringe 20 shown in FIG. 1 or 2, the liquid storage tool 20a prevents the liquid from entering the syringe 20 and causes the syringe. Since only air enters the 20th, it is not necessary to clean the inside of the syringe 20 or replace the syringe 20 when changing the type of liquid. The liquid storage tool 20a may be replaced when the type of liquid to be sucked is changed, and it is not necessary to replace the liquid storage tool 20a every time the liquid of the same type is sucked once.

[Effect of Embodiment]
According to the embodiment described above, the following effects are obtained.
(1) The constant volume operation of the liquid 3 can be performed with higher accuracy than before.

(2) Further, the control device 50 controls the syringe driving device 23 to continuously drive the syringe 20 by a predetermined discharge amount, and then intermittently minutely drives the syringe 20 to drive the volumetric flask 2. Is initially empty, or when a liquid such as a test solution is accurately filled in the volumetric flask 2 in a certain volume, the liquid level 3a of the liquid 3 in the volumetric flask 2 is easily desired. The syringe 20 can be intermittently micro-driven after the height is set to.

(2') Alternatively, based on the detection result of the image processing device 40, the liquid level sensor elevating device 25 is controlled to move the liquid level sensor 24 to a position below the marked line 2a by a predetermined distance, and the liquid level sensor 24 is moved. Until the 24 detects that the liquid level 3a of the liquid 3 in the measuring flask 2 has come to a position below the marked line 2a by a predetermined distance, the syringe driving device 23 is controlled to continuously operate the syringe 20. When the volume of the liquid such as the test solution previously placed in the measuring flask 2 is not constant, or when the sample powder or the like is previously contained in the measuring flask 2, the inside of the measuring flask 2 After setting the liquid level 3a of the liquid 3 to a desired height, the liquid level sensor elevating device 25 is then controlled to move the liquid level sensor 24 to the height of the marked line, and then the syringe driving device 23. Can be controlled to intermittently microdrive the syringe 20.

In either case (2) or (2') above, the distance between the marked line 2a and the liquid level 3a of the liquid 3 in the volumetric flask 2 when starting the intermittent microdrive of the syringe 20 is optimized. By doing so, the number of times of repeating the process of detecting the coincidence between the marked line 2a and the liquid level 3a of the liquid 3 (step 112) and the process of intermittently finely driving the syringe 20 (step 113) is reduced. Can be done.

(3) Further, the control device 50 controls the table drive device 13 to drive the movable table 10, and the tip 21a of the needle 21 is placed in the volumetric flask so that the discharged liquid comes into contact with the inner wall 2b of the volumetric flask 2. After approaching the inner wall 2b of 2, the syringe driving device 23 is controlled to intermittently finely drive the syringe 20, so that a smaller amount of liquid than one drop is transmitted through the inner wall 2b of the volumetric flask 2. It can be discharged so as to flow down.

(4) Further, the tip portion 21a of the needle 21 is provided by bending toward the inner wall 2b of the volumetric flask 2, and while the syringe driving device 23 continuously drives the syringe 20, the liquid 3 to be discharged is femaled. By applying the liquid 3 to the inner wall 2b of the flask 2, the discharged liquid 3 flows down along the inner wall 2b of the volumetric flask 2 and foaming of the liquid surface 3a of the liquid 3 can be prevented.

(5) Further, by bending the tip portion 21a of the needle 21 toward a direction different from the direction in which the liquid level sensor 24 is located, the discharged liquid is in the direction in which the liquid level sensor 24 is located. It is possible to prevent the liquid level sensor 24 from erroneously detecting the liquid that flows down along the inner wall in different directions and flows down along the inner wall 2b as the liquid level.

(6) Further, by providing a liquid storage tool between the syringe 20 and the needle 21 to store the liquid sucked by the needle 21 and prevent the liquid from entering the syringe 20, the liquid can be stored in the syringe 20. Since the invasion is blocked and only air enters the syringe 20, it is possible to save the trouble of cleaning the inside of the syringe 20 or replacing the syringe 20 when changing the type of liquid.

(7) Further, according to the automatic volumetric volume system of the present embodiment, the volumetric flask 2 transfer operation, the liquid volume determination operation, the liquid stirring operation, the liquid injection operation into the vial bottle 5, and the liquid injection operation. It is possible to provide a system suitable for pretreatment of analysis by HPLC, which automatically performs the sealing operation of the vial bottle 5.

(8) Further, according to the automatic volumetric system of the present embodiment, the vibrating device 60 of the stirring device 120 is pressed by closing the mouth of the volumetric flask 2 with the pressing portion 70 of the stirring device 120. When the flask 2 is vibrated to stir the liquid in the volumetric flask 2, leakage of the liquid from the volumetric flask 2 can be prevented. Then, the vibrating device 60 detects the pressure of the pressing portion 70 and operates, so that the stirring of the liquid in the volumetric flask 2 can be automatically and quickly started.

(9) Further, according to the automatic volumetric system of the present embodiment, the liquid level of the liquid in the volumetric flask 2 is swirled by the liquid level vortex detection sensor 80 of the stirring device 120 and reaches a predetermined height. By detecting, it can be confirmed that the liquid in the volumetric flask 2 has been sufficiently agitated.

1 Liquid container (beaker)
2 (volumetric flask)
2a Marked line 2b Inner wall 3 Liquid 3a Liquid level 4 Beaker 5 Vial bottle 6 Lid 10 Rotating table 11 Liquid container support 12 Female flask support 13 Rotating table drive 20 Syringe 20a Liquid storage tool 21 Needle 21a Tip 22 Syringe lifting device 23 Syringe drive device 24 Liquid level sensor 24a Laser light irradiation unit 24b Laser light receiver 25 Liquid level sensor lifting device 30 Camera 40 Image processing device 50 Control device 60 Vibration device 61 Strut 70 Pressing section 71 Pressing rubber 72 Pressing section lifting device 80 Liquid level vortex detection sensor 100 Automatic volumetric device 100a Storage room 100b Opening 120 Stirring device 130 Sealing device 140 Transfer robot 141 Robot arm

Claims (17)

A movable table equipped with a marked container and a liquid container containing liquid,
An image acquisition device that acquires an image of a marked line provided in the container with a marked line and outputs an image signal, and an image acquisition device.
An image processing device that processes the image signal of the image acquisition device, performs image recognition of the marked line, and detects the height of the marked line.
A syringe with a needle attached and
A table driving device that drives the movable table to move the liquid container or the marked container to the lower side of the syringe.
A syringe elevating device that vertically supports the syringe, elevates and elevates the syringe, and inserts the needle into the liquid container or the marked container.
A syringe driving device that drives the syringe to suck the liquid in the liquid container and discharges the sucked liquid into the marked container.
A liquid level sensor that detects the liquid level of the liquid in the marked container, and
A liquid level sensor elevating device that elevates and elevates the liquid level sensor,
The table drive device, the syringe elevating device, the syringe drive device, and a control device for controlling the liquid level sensor elevating device are provided.
Based on the detection result of the image processing device, the control device controls the liquid level sensor elevating device, moves the liquid level sensor to the height of the marked line, and controls the syringe driving device. After the syringe is continuously driven above the marked container, it is determined that the liquid level of the liquid in the marked container detected by the liquid level sensor coincides with the height of the marked line. An automatic volume measuring device characterized in that the intermittent minute drive of the syringe is repeated until. The control device according to claim 1, wherein the control device controls the syringe driving device to continuously drive the syringe by a predetermined discharge amount, and then intermittently microdrives the syringe. Automatic volume device. The control device is
Based on the detection result of the image processing device, the liquid level sensor elevating device is controlled to move the liquid level sensor to a position below the marked line by a predetermined distance.
Until the liquid level sensor detects that the liquid level of the liquid in the marked container has reached a position below the marked line by a predetermined distance, the syringe driving device is controlled to control the syringe. Is continuously driven,
After that, the liquid level sensor elevating device is controlled to move the liquid level sensor to the height of the marked line, and then the syringe driving device is controlled to intermittently and minutely drive the syringe. The automatic volumetric device according to claim 1. The control device controls the table driving device to drive the movable table, and the tip of the needle is set to the inner wall of the marked container so that the discharged liquid comes into contact with the inner wall of the marked container. The automatic volumetric device according to claim 2 or 3, wherein the syringe driving device is controlled to intermittently microdrive the syringe after approaching the device. The tip of the needle is directed toward the inner wall of the marked container so that the discharged liquid is applied to the inner wall of the marked container while the syringe driving device continuously drives the syringe. The automatic containerizing device according to any one of claims 1 to 4, wherein the container is bent and provided. The automatic volume measuring device according to claim 5, wherein the tip of the needle is bent in a direction different from the direction in which the liquid level sensor is located. Any of claims 1 to 6, wherein a liquid storage tool for storing the liquid sucked by the needle and preventing the liquid from entering the syringe is provided between the syringe and the needle. The automatic volumetric device according to the first paragraph. The image acquisition device acquires an image of the marked line provided on the marked line container mounted on the movable table, outputs an image signal, and outputs the image signal.
The image processing device processes the image signal of the image acquisition device, performs image recognition of the marked line, detects the height of the marked line, and detects the height of the marked line.
The table drive device drives the movable table on which the marked container and the liquid container containing the liquid are mounted, and moves the liquid container or the marked container below the syringe to which the needle is attached. ,
The syringe is vertically supported by the syringe lifting device, the syringe is lifted and lowered, and the needle is inserted into the liquid container or the marked container.
The syringe is driven by the syringe driving device to suck the liquid in the liquid container, and the sucked liquid is discharged into the marked container.
The liquid level sensor elevating device raises and lowers the liquid level sensor that detects the liquid level of the liquid in the marked container.
Based on the detection result of the image processing device, the control device controls the liquid level sensor elevating device to move the liquid level sensor to the height of the marked line, and controls the syringe driving device to control the syringe driving device. After continuously driving the syringe above the marked container, until it is determined that the liquid level of the liquid in the marked container detected by the liquid level sensor matches the height of the marked line. , An automatic volumetric method characterized by repeating intermittent minute driving of the syringe. The eighth aspect of the present invention, wherein the syringe driving device is controlled by the control device to continuously drive the syringe by a predetermined discharge amount, and then intermittently minutely drive the syringe. Automatic volume method. By the control device
Based on the detection result of the image processing device, the liquid level sensor elevating device is controlled to move the liquid level sensor to a position below the marked line by a predetermined distance.
Until the liquid level sensor detects that the liquid level of the liquid in the marked container has reached a position below the marked line by a predetermined distance, the syringe driving device is controlled to control the syringe. Is continuously driven,
After that, the liquid level sensor elevating device is controlled to move the liquid level sensor to the height of the marked line, and then the syringe driving device is controlled to intermittently and minutely drive the syringe. The automatic volumetric method according to claim 8, wherein the method is characterized. The control device controls the table driving device to drive the movable table, and the tip of the needle is brought into contact with the inner wall of the marked container so that the discharged liquid comes into contact with the inner wall of the marked container. The automatic containerization method according to claim 9, wherein the syringe driving device is controlled to intermittently microdrive the syringe after approaching the container. The tip of the needle is bent toward the inner wall of the marked container, and the liquid to be discharged is discharged to the inner wall of the marked container while the syringe driving device continuously drives the syringe. The automatic containerization method according to any one of claims 8 to 11, wherein the method is applied to a container. The automatic volume determination method according to claim 12, wherein the tip of the needle is bent in a direction different from the direction in which the liquid level sensor is located. 7. The automatic volumetric method described in item 1. The automatic volume fixing device according to any one of claims 1 to 7.
A stirrer that stirs the liquid in the marked container and
The robot is provided with a transfer robot that carries the container with a marked line into the automatic filling device, and also carries out the container with a marked line from the automatic filling device and carries it into the stirring device. Constant volume system. The stirring device includes a pressing portion that closes and presses the mouth of the marked container, and
A pressing unit elevating device that elevates and elevates the pressing unit, and
13. Automatic volume system. The stirring device is further provided with a liquid level vortex detection sensor that detects that the liquid level of the liquid in the marked container swirls and reaches a predetermined height due to the vibration from the vibrating device. The automatic filling system according to claim 16.

Images