JPH0949845A - Robot system for measuring suspensibility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically measure the suspensibility of an agricultural chemical neutralizer with accuracy which is equivalent or higher than that attained by manual measurement by constituting a robot system of a powder sample collecting unit to which various kinds of devices are added, a discharge unit, etc. SOLUTION: The overturning of a cylinder is prevented at the time of injecting a sample and weighing the sample by fitting three resin bars to the even balance 06 and precision balance 07 of a powder sample collecting unit and, when the throwing-in amount of the sample approaches a set value, the vibration of a powder throwing-in unit 05 is reduced so as to accurately throw in the sample by the set amount. Then a hard water supplying unit 08 injects hard water into the cylinder two times by 50ml and 200ml so that the sample can be uniformly suspended in the cylinder. The sample solution in the cylinder is mixed by shaking by means of an overturning and rotating machine 09 after the sample solution is kept in a constant temperature bath 10 and the sample is dissolved 13 in the solution after different internal standard material solutions are added. Then 10ml is dispensed 14 from the sample solution and the collected sample solution is filtrated through the filter-size injection tube of a filtrating machine 15. The filtrated solution is poured in an HPLC 16 and the suspensibility of the sample is measured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot system for measuring susceptibility, which is important for regular analysis of wettable powders for agricultural chemicals.

[0002]

2. Description of the Related Art The method of measuring susceptibility is strictly defined by the International Council for the Analysis of Agricultural Chemicals (CIPAC), the Official Agricultural Chemicals Inspection Law (Agricultural Public Law), etc., and measurement by a robot has not been performed at all.

[0003]

Means for Solving the Problems The inventors of the present invention have diligently studied the suspension measuring method and the operability of a robot, and have improved various devices and studied the operation procedure. We have completed a suspension measurement robot system with an accuracy equal to or higher than that of a robot.

That is, the present invention is: (1) powder sampling unit (2) hard water supply unit (3) tumbling rotary machine (4) constant temperature tank (5) discharge unit (6) internal standard substance solution supply unit (7) Preparative unit (8) Dissolver (9) Filter (10) Sample injector (11) Automatic analyzer A pendant measuring robot system having the above 11 devices.

The powder sampling unit is (1) 250 ml
Cylinder rack, (2) Test tube rack for samples, (3)
It consists of a powder feeding unit, (4) precision balance, and (5) precision balance. The hard water supply unit is (1) hard water supply device,
(2) Consists of a hard water storage device. The discharge unit includes (1) a discharge device with a nozzle and (2) a discharge nozzle cleaning device.

The operation procedure of the present invention is shown below by taking the CIPAC method as an example. Preparation Put the cylinder upright on the cylinder rack 04. Place the test tube containing the sample in the test tube rack 03. A syringe with a filter is set in the filter 15. Robot operation: 1. Accurately weigh the cylinder with a precision balance 07 and place it on the balance balance 06. 2. Set the test tube containing the sample in the powder feeding unit 05, put the sample into the cylinder to the set amount, and then return the test tube to the rack 03. 3. Accurately weigh the cylinder with a precision balance 07 and return it to the cylinder rack. 4. Repeat steps 1 to 3 for each sample. 5. First discard of the calibration curve solution into the liquid chromatograph (HPLC) 16. 6. Hard water supply unit 08 supplies 50m of hard water to the cylinder.
Put in 1 and shake gently. 7. Hard water is supplied to the cylinder with the hard water supply unit 08.
Add 1 ml and immerse in a constant temperature bath 10, cap stocker 1
Remove the cap from 7, and put the cap on the cylinder. 8. Repeat steps 6 to 7 four times in total. 9. After allowing to stand for 13 minutes, take out the cylinder from the constant temperature bath 10, shake it with the tumbling rotary machine 09 for 1 minute, return to the constant temperature bath 10, and let stand still. 10. 9. Repeat operation 4 times in total. 11. Second injection of calibration curve solution into HPLC16. 12. After 30 minutes of standing, remove the cap of the cylinder and take it out from the constant temperature bath 10. 13. Withdraw 225 ml with the discharge unit 11 and return it to the cylinder rack 04. 14. Repeat steps 12 to 13 a total of 4 times. 15. Injection of calibration curve solution into HPLC16. 16. Cylinder internal standard solution supply unit 12
Add a fixed amount (75 ml in the case of acetonitrile) of the water-soluble solvent containing the internal label, and dissolve by ultrasonic wave in the dissolver 13,
Stir by robot motion. 17. In the preparative unit 14, add 10 ml of liquid in the cylinder.
And return the cylinder to rack 04. 18. Hold the filter-equipped syringe of the filter 15, put 10 ml of 17. into the syringe with the preparative unit 14 and return to the filter 15. Filter and inject the filtrate into HPLC16. 19. Repeat steps 16 to 18 four times in total. 20. Repeat steps 6 to 19 until the sample is finished (excluding 11.).

In order to improve the measurement accuracy of the robot system of the present invention, the following improvements have been made. (1) In the powder sampling unit, three lightweight resin rods for preventing the cylinder from falling are attached to the upper balance as shown in FIG. 2 in order to collect the sample quickly and accurately up to the set amount. (2) A similar resin rod was attached to the precision balance, the entire precision balance was covered with a windshield, and an opening / closing device was provided on the top. (3) By vibrating the powder feeding unit,
The vibration was reduced when the amount was close to the set amount, and the set amount of the sample was put into the cylinder. (4) The hard water supply device in the hard water supply unit was configured to inject the hard water separately into 50 ml and 200 ml so as to uniformly suspend. (5) A small thermostat is provided in the hard water storage device so that only the required amount of hard water is kept at a constant temperature to suppress the generation of algae in the water storage device and reduce the number of washings. (6) Tumble as shown in Fig. 3 (1) Motor (2) Large and small two gears (3) Crank connecting the motor and gear (4) A device to invert the cylinder according to the movement of the small gear As shown in Fig. 3- (1), the motor starts to rotate at a constant speed, and the cylinder is upright and the cylinder is upside-down in Fig. 3- (3). It can be reversed without giving a shock, and conversely 3- (2) and 3-
The motor and the gears are arranged so that the horizontal movement of the crank becomes large when the cylinder in (4) becomes horizontal, so that the cylinder tipping movement can be performed smoothly. (7) The internal standard substance solution supply unit was made to be able to supply four different internal standard substance solutions so that many kinds of pesticides could be analyzed. (8) A syringe-shaped holding device with a rotary filter that can set as many samples as possible was provided in the filter to prevent contamination of other samples. (9) Damage of the syringe was avoided by filtering the sample in the syringe with air pressure. In addition, the following improvements have been made,
It is now possible to perform analysis with an accuracy equal to or higher than that performed by humans. (10) The cylinder cap has been devised with respect to the packing material and shape, and it is possible to prevent leakage during a fall by simply placing it and pressing it with a spring and air pressure. (11) 25m from the upper end of the cylinder as shown in FIG.
By using a cylinder with a constant length up to the liquid level of l, the tip of the suction nozzle of the discharge device surely sucks up to the liquid level of 25 ml, and since it does not descend below the liquid level of 25 ml, It was made possible to leave exactly 25 ml. Further, the suction nozzle is made up of a plurality of thin nozzles, and the bubbles peculiar to the suspension measurement are also sucked at the same time, and when 25 ml is left, the deterioration of the measurement accuracy due to the bubbles is prevented. (12) As shown in FIG. 5A, the upper plate of the 250 ml cylinder rack was made thicker and the chamfer angle of the hole was made larger. As a result, it is possible to prevent an erroneous operation due to a slight angle deviation when the robot has a cylinder as shown in FIG. (13) By performing four continuous steps from the hard water injection step to the discharge, the stationary time of two times was effectively used, and the analysis time was shortened.

[0008]

INDUSTRIAL APPLICABILITY The present invention has made various improvements to the measurement of the suspension rate, which was difficult to perform automatic analysis due to the complicated procedure, and has an analysis accuracy of 0.5% or less, which is equivalent to or better than that performed by humans. The present invention provides a suspension rate measuring robot system capable of Further, the system of the present invention can be applied not only to the CIPAC method, but also to the agricultural public law by appropriately changing the hardness of water, the method of sampling the suspension in the cylinder, the temperature and time of the constant temperature bath, and the like. It can also be used for the susceptibility measurement defined by the organization. A liquid chromatograph is usually used as the automatic analyzer, but a gas chromatograph, an ion chromatograph and a titrator can also be used. Further, it is also applicable to a method of extracting with a non-water-soluble solvent instead of adding a water-soluble solvent (using the tumbling rotary machine again).

[Brief description of drawings]

FIG. 1 is a layout diagram of a suspension rate measuring robot system.

FIG. 2 is a schematic view of a precision balance equipped with a lightweight resin rod for preventing the cylinder from falling.

FIG. 3 is a layout diagram of a motor, a large / small gear, and a crank on the back side of the overturn rotating machine.

FIG. 4: 2 modified to leave exactly 25 ml of liquid
Schematic of a 50 ml cylinder.

FIG. 5: 250 ml cylinder rack.

[Explanation of symbols]

 01 Computer for control 02 Analytical robot 03 Test tube rack with sample 04 250 ml cylinder rack 05 Powder loading unit 06 Precision balance 07 Precision balance 08 Hard water supply unit 09 Inversion rotator 10 Constant temperature bath 11 Discharge unit 12 Internal standard substance solution supply unit 13 Dissolver 14 Preparative Unit 15 Filter 16 Liquid Chromatograph 17 Cap Stocker 18 Sample Injector

Claims (15)

[Claims] (1) Powder sampling unit (2) Hard water supply unit (3) Inverting rotary machine (4) Constant temperature chamber (5) Discharge unit (6) Internal standard substance solution supply unit (7) Preparative unit (8) Dissolver (9) Filtration machine (10) Sample injector (11) Automatic analyzer A pendency measuring robot system having the above 11 devices. 2. The powder sampling unit according to claim 1, wherein the powder sampling unit has (1) 250 ml cylinder rack (2) sample test tube rack (3) powder loading unit (4) precision balance (5) precision balance. Robot system. 3. The robot system according to claim 1 or 2, wherein three fine resin rods for preventing the cylinder from falling are attached to the precision balance and / or the precision balance. 4. The windshield covers the entire precision balance.
Alternatively, the robot system according to claim 2. 5. The robot system according to claim 1, wherein the powder feeding unit has a device for feeding a sample to a cylinder up to a set amount by vibration. 6. The robot system according to claim 1, wherein the hard water supply unit has (1) a hard water supply device, (2) a hard water storage device, and (3) a small thermostatic device. 7. A hard water supply device supplies 50 ml of hard water and 200
The robot system according to claim 1 or 6, which is a device for injecting the solution in a divided amount in ml. 8. The robot system according to claim 1 or 6, wherein the hard water storage device is provided with a small thermostatic device so that only a required amount of hard water is thermostatted. 9. The tipping rotary machine has (1) a motor, (2) two large and small gears, (3) a crank connecting a motor and a large gear, and (4) a device for tipping a cylinder according to the movement of a small gear. 1. The robot system according to 1. 10. The robot system according to claim 1, wherein the motor and the gear are arranged so that the left and right movements of the crank are fast when the cylinder is in the horizontal direction and are slow when the cylinder is in the vertical direction. . 11. The robot system according to claim 1, wherein the discharge unit is provided with a cleaning mechanism for the discharge nozzle. 12. The robot system according to claim 1, wherein the internal standard substance solution supply unit can supply four kinds of internal standard substance solutions. 13. The robot system according to claim 1, further comprising a rotary filter-equipped syringe barrel holding device capable of setting the number of samples in the filter. 14. A device for filtering a sample in a syringe with a filter by air pressure is provided.
The described robot system. 15. The robot system according to claim 1, wherein the automatic analyzer is liquid chromatography.