JPS6052668A - Automatic preparing apparatus of dye bath - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic dye solution preparation device, and in particular, dye mother liquor,
Regarding equipment that prepares various dye solutions from mother liquors such as auxiliary agents, as well as prepares mother liquors from various dyes and auxiliary raw materials, the process of preparing dye liquors, which was traditionally done manually in the recent dyeing industry, can now be done by microcomputer control. There have been various proposals for mobilization.

For example, in Japanese Patent Application Laid-Open No. 55-122068, a liquid path such as a pipe is provided between a raw material tank storing various dye solutions and a liquid preparation container, and a dispenser is placed in the middle of the liquid path. An automatic liquid preparation device is disclosed that is controlled by instructions from a microcomputer and supplies a desired amount of each raw material to a liquid preparation container.

Furthermore, Japanese Patent Application Laid-Open No. 56-159342 discloses a system in which changes in the weight of the stock solution supplied from the stock solution container through the outflow pipe to the receiving container are detected, and the pulp provided in the outflow pipe is controlled by a microcomputer. An automatic dye liquor mixing device is disclosed.

In addition, Japanese Patent Application Laid-Open No. 57-66171 discloses that a raw material tank and a receiving container are placed on a two-stage turntable,
An automatic dye bath adjustment device is disclosed in which a plurality of dispensers are fixedly arranged around a table as needed.

However, none of these conventional devices are related to dye preparation or solution preparation, and do not automate the process of preparing the stock solution or mother solution for use in solution preparation. Therefore, preparation of the stock solution or mother solution is done manually. Ta. Since mother liquor preparation is usually carried out by dissolving powdered dye or auxiliary raw materials in dilution water, it is difficult to provide piping structures for such powdered raw materials and it has not been possible to incorporate them into conventional automated equipment.

The present invention solves these problems by transporting a desired m-liquid container from the liquid preparation work position to the mother liquid preparation position to prepare a mother liquid of a predetermined concentration, and then returning the m-liquid container to the original liquid preparation position. Provided is an automatic dye solution preparation device that includes a mother liquor preparation device that is carried back to a working position.

Further, the present invention provides an automatic dye solution preparation and preparation device that can prepare a dye solution without substantially interrupting the preparation operation.

The present invention will be described in detail below with reference to preferred embodiments shown in the accompanying drawings.

1 and 2 are general views of an automatic dye solution preparation device according to an embodiment of the present invention. In the figure, the cells are used to prepare a dye mother liquor of a desired concentration (hereinafter collectively referred to as "dye mother liquor" or "mother liquor") using various raw materials such as dyes and auxiliary agents and dilution water such as water. Mother liquor preparation work department, CB)
(C) is a liquid preparation work unit for preparing a liquid by adding a predetermined amount of mother liquid from a desired mother liquid container to a desired receiving container; (C) is a pipette that is not used for liquid preparation and is cleaned during storage; This is a pipette pipe cleaning section for cleaning.

In the mother liquor preparation work part (A), 10-1, '10
-2, ......, 10-N is a raw material storage container that separately stores mother liquor raw materials (powder or liquid) such as dyes and auxiliary agents, and is located around the circular rotary table 1. They fit into the provided openings and are removably supported. The rotary table 11 is pivotally supported by a vertical shaft 19 and driven by a drive motor 12.
Rotationally driven by. Reference numeral 13 denotes a raw material input control device for inputting a set amount of raw material from the stock solution storage container into the mother liquor container at the mother liquor preparation position. Reference numeral 14 denotes an original meter H4 device consisting of, for example, a load cell scale, which measures the raw material put into the m-liquid container and generates a signal representing the depletion value.

Reference numeral 15 denotes a mother liquor container mounting table on which the m liquid container is placed when it is delivered to and from the liquid preparation work section (B), and for supplying dilution water to the m liquid container after raw materials have been added. be. 16 is m
This is a transfer device for transferring m-liquid containers between the liquid container mounting table 15 and the separate measuring device 14. 17 is a dilution water tank, and 18 is a dilution water supply control device, which supplies a predetermined amount of dilution water to the mother liquor container on the mounting table 15- through a conduit 20. Operating elements of mother liquor preparation working section (A) 12.13.14
, 16 and 18 are controlled by the liquid preparation control means of the control section 900 via lines 2, 22, 23, and 24, 25.

FIG. 3 shows in detail an example of a specific configuration of the original sashimi storage container 2:÷ and the raw material input control device. In Fig. 3, the raw material storage container (for example, 1.0-M) has a raw material storage chamber 10α, a raw material quantitative storage chamber 1 (1/I) and a raw material discharge port 1 (IC), and has a raw material storage chamber 10α, a raw material quantitative storage chamber 1 (1/I), and a raw material discharge port 1 (IC). Opening/closing shutters 10C910f for partitioning are provided at the upper and lower ends of the chamber 10h.The raw material input control device 13 is connected to an upper shutter operating section 30 that is connected to the upper shutter 10e to open and close it, and is connected to the lower shutter 10f. The upper shutter operating section 30 is driven in the arrow (horizontal) direction in the figure by a drive motor 32, and closes the upper shutter 10e in the left double movement position. The upper shutter 10e is opened in the forward movement position on the right side to supply raw materials from the raw material storage chamber 10a into the raw material quantitative storage chamber 10A.The lower shutter The operation unit 31 is driven in the direction of the arrow by the drive motor 33, and in the left backward movement position, the lower shutter 10f is closed and the raw material quantitative storage chamber 10b and the raw material discharge port 10 are closed.
C and the lower shutter 10f in the forward movement position on the right side.
It is opened, and the raw material is dropped from the raw material quantitative storage chamber 10b through the raw material outlet 10C and put into the mother liquor container directly below. Third
In the figure, the lower shutter jOf is in the backward movement position, and the upper shutter 10e is in the forward movement position.

In the liquid preparation work section (B), a plurality of N liquid containers 40-1.4 each separately storing various types of mother liquids having different hues, concentrations, etc.
0-2. ......, 40-N is liquid preparation workbench 4
A plurality of receiving containers 42-1, 42-2, 42-1, 42-2, 42-1, 42-2, 42-1, 42-2, 42-1, 42-2, 42-1, 42-2, 42-2, 42-2, 42-2, 42-1, 42-2 are arranged in rows and columns, each having a unique address, on the top of the screen.
-N is stored and arranged at a unique address on a receiving container storage stand 43 made of, for example, a trolley, from which the container can be taken in and taken out. Each mother liquor container 40-1.40-2゜・・・・・・・・・4.0-
Under the liquid preparation workbench 41 corresponding to N, there are devices 44-1 and 44-2 for stirring or heating the mother liquor as necessary.
......, 44-N is provided. A sensor 45 is provided at the back of the receiving container storage stand 43 for detecting that the storage stand 43 has entered and been set at a predetermined position.

Reference numeral 50 denotes a robot hand device for transferring the mother liquor container between the liquid preparation work part (B) and the liquid preparation work part (5), and has a holder part 52 at the tip of an arm part 51 that can be extended and contracted in the vertical direction. have The robot hand device 50 is attached to the XY direction drive device (54 to 57) together with the dispenser device 60.

As shown in FIG. 2, the two moving industry inner shafts 56LZ,
The support base 57 that grips 56h is driven in the X direction -W 1f7
A sliding device i is driven in the X direction by a sliding device 54 and supports a robot hand device 50, a dispenser device 60, etc.
li 55 is the Y-direction movement axis (not shown) of the support base 57.
Slide the second. As a result, the robot hand device 50
can be moved to any position in the liquid preparation work section (5) and the liquid preparation work section (■3), and the dispenser device 60 can be used for liquid preparation work 'f++ (B) and pipetter storage and cleaning work. Department (C
) can be moved to any position.

Reference numerals 58a and 58111 are position sensors in the X direction and Y direction, respectively, which detect the current position of the robot hand device 5o or the dispenser device 60 and send detection signals to sensors (not shown).
It is sent to the control unit 100 via the line.

The pipettor storage and cleaning section (C) includes a plurality of pipetters 9 (]-1, 90-2, ...... with various capacities.
....

Multiple pipettor storage and cleaning unit 8 compatible with 90-N
0-1, 80-2.・・・・・・・・・、! 3O-N(
For convenience of explanation, only 80-] and 80-2 are shown). When a corresponding pipettor is selected for liquid preparation, each unit] delivers the pipettor to the dispenser device 60, and after use, takes the pipet from the dispenser device 6() and stores it. and wash it during storage.

The washing operation of each unit is carried out by the washing control means of the control section 100: l1JIQTI. A cleaning water tank 81 is provided below the storage cleaning unit, and the cleaning water in the water tank 81 is updated as appropriate. 95-1, 95-2 detects that pipettor ≦10-1, 90-2 is received between the corresponding unit 8 (1-1, 80-2 and the dispenser device 60). It is a sensor, and a detection signal is sent to the control unit 100.

FIG. 4 shows a dispenser device 60 and a storage cleaning unit 80-1.
In FIG. 4, the configuration of the dispenser device 6 is shown in detail.
0 stationary phase 61 is attached to the Y-direction sliding device 55.

A drive motor 63 for raising and lowering the pipettor is placed on the fixed base of the soil tIS of 1N, -1 constant material (i).

The drive motor 63 is screwed into a vertical guide screw 64 and drives the sliding portion 62 in the vertical direction, which is guided by a vertical guide means (not shown). A pipettor holding part 68 is attached to the lower end of the sliding part 62, and its holding piece 68a holds a pipettor 90-N used for liquid preparation. Therefore, by driving the sliding part 62 downward or upward by the drive motor 63, the nozzle 90d of the pipetter 90-N can be lowered to a predetermined depth of the mother liquor container or receiving container, or raised to a height that does not hinder horizontal movement. It is possible to do so.

Reference numerals 69 and 70 indicate position sensors that are connected to, for example, a limit switch, and detect when the sliding portion 62 reaches the uppermost and lowermost positions, respectively, and send detection signals to the control portion 100 via lines 73 and 74. send to

A piston drive device 65 made of, for example, a pulse motor is attached to the upper fixed base of the sliding portion 62. Drive device 6
5 is screwed into a vertical guide screw 66 and drives a piston drive unit 67 in the vertical direction, which is guided by a vertical guide means (not shown). A piston joint part 77 having an electromagnet is provided at the lower end of the piston drive part 67, and a pipettor 90
-N is connected to the piston head 90C by magnetic attraction. The upward movement of the piston drive unit 1fls 67 pulls up the piston 90h and sucks the mother liquid into the cylinder 90α, and the downward movement of the piston drive unit 67 causes the piston 90/I
Press down to drain the liquid from the shilling 90a. 71
．． Reference numeral 72 denotes a position sensor consisting of, for example, a limit switch, which detects when the piston drive unit 67 reaches the uppermost and lowermost positions, respectively, and sends a detection signal to the control unit 100 via lines 78 and 79. A holding piece operating device 68/l is attached to the pipetter holding portion 68 to open and close the holding piece 68a so as to grasp or release the pipettor. Actuation part 63.65°77.6 of dispenser device 60
8h is controlled by a signal from the control section 100.

The pipettor storage and cleaning unit 80-1 consists of the same components as the dispensing device 60 except for the pipettor holding part. As shown in Figure 4, the pipettor holding piece (
38rt is 1 (
! ! It is configured to grip the cylinder portion that is not held, so that when transferring the pipettor, the two protective pieces 68a,
88a can be pipetted or released without interfering with each other.

Further, the pipetter holding portion 88 includes a holding piece operating device 87 and a holding piece operating device 87 made of, for example, a plunger mechanism.
8h is installed, and the drive device 87 is in the pipettor storage position (
The position indicated by the dotted line in Figure 4) and the pipetter transfer position (the position indicated by the dotted line in
The holding piece operating device 8Bb drives the holding piece 88a forward or backward between the position indicated by the solid line in the figure.
Holding piece 8 so that a can grasp and release the storage pipettor.
Open and close 8a. Note that when transferring the pipettor, the sensor 95 attached to the holding part 88 of the unit 80-1
-1 comes into contact with the front end of the holding piece 68a of the pipettor device 60, thereby detecting that the pipettor has been delivered;
A confirmation signal or a delivery signal is sent to the control unit 1 via line 91.
Send to 00. Also, as will be understood, unit 80-
The lifting and lowering and screw-on movements of the pipettor 90-1 in step 1 are performed to draw washing water into the cylinder 90fZ and then to dispense it to wash pipetting parts such as the cylinder 90a and the nozzle 90d.

FIG. 5 shows the hardware system of the control section 100. The system elements are interconnected with each other via a medium-heat bus 102. Central processing product (CP LJ) 104 is ROM
Perform calculations related to J8 liquid preparation and liquid preparation, and control the operation of each part of the device and the entire device according to various calculation programs installed in 2006. RAMP (18 is S song data of raw material storage container, mother liquor container, and receiving container, type of raw stone and 9 hues.

Information regarding concentration, remaining amount, etc., f! J liquid preparation work department prisoner.

Liquid preparation work department ([3) Oh. L pipettor storage cleaning section (C)
Information about the process of C1,) IJ ], 04
Stores calculation data, etc. The input device 110 includes, for example, a keyboard device, and inputs various information to be stored in the RAMP08. Reference numeral 112 is an interface for connecting to another main computer (not shown) via a communication line as necessary. 114 is a control interface unit for the operating mechanism of the mother liquor preparation work unit (Δ);
1G is a control interface for the operating mechanism of the dispenser device 60, and 118 is a control interface for the operating mechanism of the pipettor storage and cleaning device 8o. 120 is an interface for an external storage device.

Flowcharts of various control programs according to the present invention are not shown in FIGS. 6 to 10. Next, the operation of the automatic dye preparation liquid preparation apparatus shown in FIGS. 1 to 5 will be explained with reference to these flowcharts.

In input processing 1 (Fig. 6), information regarding the mother liquor and mother liquor preparation is inputted from the input device MJ10 according to the number (address) of the detergent container, and information regarding the raw material and dilution water according to the number (location) of the raw material storage container. RAM1.08
(Steps ■ to ■) When the Q input operation is completed, estimate the required amount of raw materials and dilution water for each mother liquor container, and load the raw materials and dilution water stored in the raw material storage container and dilution water tank. If there is a shortage, an alarm will be issued (steps ~ O). When each raw material and dilution water are sufficiently stored, mother liquor preparation will begin. In input processing 2, the receiving container number (address) will be issued. ), and the information regarding each pipettor is input in order from the pipettor number 110 and loaded into the RAM 106 (steps ① to ①).

When the input operation is completed, step 1) calculates the amount of liquid to be collected and the amount of preparation for each receiving container, and calculates the amount of mother liquid stored in each mother liquid container and the amount of mother liquid required for preparation. If there is a shortage of m and liquid (K), then start preparing the mother liquor (A). m Liquid Preparation 119 Operation - θ) Ending is carried out at an appropriate time.

IU liquid level 11! In the work (FIG. 7), first, the robot hand device 50 moves to the desired position of the RJ liquid container 40-Ml (step 2). This movement is performed using the fiγ location (address) information of each I8 liquid container and the X-Y position sensor 58 (Z, 5
8/I according to the current position information from I
This is performed by controlling the operation of the rIII device 54 and the Y-direction sliding device 55. When the movement is complete, arm 1 ku 5
1 is set downward! The grip portion 52 is extended to hold the mother liquor container 4.
(Gripping the mother liquor container 40-M, the rear arm 51 rises to its original position and lifts the mother liquor container 40-M. Next, the robot hand device 50 grips the mother liquor container 40-M and - Due to the operation of the Y-direction drive device (54 to 57), the arm 5i1551 moves to above the mother liquor container mounting table J5, and the arm 5i1551 descends by a predetermined amount to place the mother liquor container 40-M on the mounting table 15, and the grip part 52 releases the mother liquor container 40-M (step O).

After being released, the robot hand device 50 returns to a predetermined position and stops. Next, the transfer device 16 is activated to transfer the mother liquor container 4 to the mother liquor container 4.
0-M is held and transferred onto the raw material measuring device]4 (step O). Measuring device after mother liquor container 40-M is placed】4
Zero adjustment is performed, and preparations are made to measure the amount of raw material input (step ■).

Here, the rotary table 11 is rotated so that the container 10-M, which stores the raw materials necessary for preparing the mother liquor, is placed at the raw material input position, that is, above the measuring device 14 (step @, @
). Upper and lower shutters J of raw material storage container 10-M
Oe and 1. Of is connected to the upper and lower shutter operating sections 30.3 of the raw material input control device 14. At this time, the upper and lower shutters 10g and 1-Of are each in a closed state, and a set amount of raw material is stored in the raw material foothold storage chamber 10h.

First, the lower shack operating section 31 is activated and moves to the forward movement position, and the lower shutter 10f is opened (step 2). In addition to this, 6L is stored in the raw material quantitative storage chamber 10/).
The raw material is dropped through the raw material υ1 outlet 10C, and the m
liquid container 40-M.

In order to discharge the raw material sufficiently, for example, means (not shown) for applying appropriate vibration to the lower shutter 101 etc. may be provided as an auxiliary means.

However, even if this is done, it is extremely difficult to drop and introduce a predetermined amount of raw material, especially powder raw material #1.

For example, when preparing 500 g of a 1% concentration mother liquor of a certain dye, the internal volume of the raw material A; 1 constant M storage chamber is 500 g of the dye raw material.
Even if the setting is equivalent to 9, it is rare that exactly 5 g of raw material is input, for example, 4.6 y. However, in the present invention, the measuring device 14 calculates the amount of dilution water for the amount of water to be added based on the measured value of the actual amount of water (-1) and the predetermined N liquid concentration value. The data is calculated and a predetermined amount of dilution water is added in accordance with the dilution water amount data.The amount of dilution water supplied is substantially precisely controlled by a conventional liquid supply control device 18.

The amount of raw material charged from the raw material storage container 10-M to the mother liquor container 40-M is measured by the measuring device 14 (step O), and it is determined that the amount of raw material inputted from the raw material storage container 10-M to the mother liquor container 40-M is equal to or greater than a specified amount (for example, 4.5, 9). If so, the lower shutter operating section 31 moves to the return position and closes the lower shutter 10f (step @, @
). Next, the upper shank operating section 30 is activated and moves to the forward movement position, and the upper shutter 10C is opened (step O).
. As a result, the raw material in the raw material storage chamber 10a falls and fills the raw material quantitative storage chamber Ob. At this time, in order to store a fixed quantity of raw materials, vibrations similar to those described above may be applied. Thereafter, the upper shutter operating section 30 moves to the backward movement position and closes the upper shutter 10e (step @), ending the raw material inputting operation. The raw material quantitative storage chamber 10h stores the raw material to be introduced next time and waits for the next instruction.

After the raw materials have been introduced and weighed, the mother liquor container 40-M is transferred onto the mounting table 15 by the transfer device 16 (step @,
@). Here, a signal representing dilution water amount data is sent from the control unit 100 to the dilution water supply control device 18 via a line 25 (21), and in accordance with this signal, the control device supplies dilution water from a predetermined needle via the conduit 20. Inject into mother liquor container 40-M (step O). After injecting the dilution water, the robot controller 50 moves the X-Y direction driving device (
54 to 57), the arm portion 51 moves down to a predetermined amount and the grip portion 52 holds the mother liquor container 40.
- Grasp M, and then arm part 5 returns to the 2nd position.
Move to the predetermined position (address) of the liquid preparation work section (B) and return the mother liquor container 40-M to its original position (step @m, (iiiJ
).

The desired mother liquor is prepared as described above, but if a lower concentration mother liquor is required from such a solution, a predetermined amount of mother liquor is sucked from the mother liquor container using the dispenser device 60. Then, the m liquid container is transferred onto the mounting table 15 by the robot hand device 50 in the same manner as described above, and here a predetermined amount of dilution water is poured by the dilution water supply control device 18. and then return the mother liquor container to the predetermined position in the liquid preparation work section (1'3) using the robot hand device 50 in the same manner as described above (2).
2) Yes.

Next, to explain the liquid preparation work with reference to FIGS. 8A and B, first, the optimum preparation method for each collection or liquid preparation is determined based on information such as the viscosity and desired amount of the raw material to be sampled and the pipettor information (step ■). Once the optimal pipettor has been determined, it is checked to see if it has been cleaned, and if not, it waits until it has been cleaned. As will be described later, the used pipettor is replaced with another pipettor for the next liquid preparation, stored in the corresponding storage and cleaning unit, and is cleaned simultaneously with the liquid preparation operation by the other pipettor. therefore,
In practice, the optimal pipettor has been cleaned or at least is being cleaned. In addition, a used pipettor may be most suitable for the next liquid preparation operation, so a plurality of frequently used pipetters may be provided. If the optimal pipettor has been cleaned, the detection switch or sensor 45 checks whether the receiving container storage stand 43 is properly placed, and if it is not placed in the correct position, a charge is issued (step O2). ■
). If the receiving container storage stand 43 is placed normally,
All other mechanical and electrical conditions are returned to their initial state. At this time, the dispensing tea bag N60 moves to the origin position of the X-Y operation plane, for example, to a predetermined position at the upper left in FIG.

The pipettor device 60 then moves to the storage cleaning unit where the optimal pipettor is stored. This movement is performed according to the stop position information of the dispenser device 60 set in advance for each unit and the current position 16 information from the X-Y position sensors 58a and 58/l. This is performed by controlling the operation of the operating device 55 (steps @, @).

Once the movement is complete, the unit (e.g. 80-1.)
The holding piece driving device 87 of the pipetter 90-1 is operated to push out the holding piece 88a to a predetermined position, that is, to the position where the pipetter 90-1 is fitted into the holding piece (i8nK) of the pipetter device 60. Compatibility of the transfer is confirmed or detected by the sensor 95-1, and at this time, a transfer signal indicating that the pipetter 90-1 has been transferred to the unit pipettor 80-1 and the pipettor device 60 is sent to the CPU via the interface section 118. Sent on 1.04. When the pipettor 90-1 is attached to the dispenser device 60, the holding piece operating device Bib is activated to release the pipetter from the holding piece 88a of the unit l-80-1, and the holding piece driving device 87 is reversely rotated. Then, the holding piece 88a is returned to its original position. In this way, the transfer of the pipettor from the storage cleaning unit to the dispenser device is completed (steps @), @).

When the transfer of the pipettor is completed, the dispenser device 60 moves to the desired position of the mother liquor container (steps ①, ①). This movement is performed in a manner similar to step Q, (2) described above. When the movement is completed, the pipetter 90 is moved by controlling the operation of the drive motor 63 to drive the sliding part 62 downward.
-1 is lowered by a certain amount. Sensor 70 at the position for lower end detection
When the completion of the lowering is detected (step O), the piston drive unit 65 is next operated and controlled.
7 and lower the electromagnet joint 77 to the piston head 90C.
(Step O). Next, the piston drive unit 63 and the piston 90b are moved by the stroke corresponding to the liquid preparation bone.
is raised to suck a predetermined amount of mother liquor into the cylinder 90a (step 09O). When dispensing liquid from multiple extremities into multiple receiving containers, it is efficient to inhale the total amount at once and then dispense and distribute a predetermined amount into each receiving container. be.

When the injection of the mother liquor is completed, the drive motor 63 is reversed to return the sliding portion 62 (therefore, the pipetter 9O-1) to its original position (step 0).

This upward return is confirmed by the upper end position sensor 71 (step O).

Next, the dispenser device 60 is moved to a position on the desired receiving container (steps @, @). This movement is performed in a manner similar to step O9O or step O1○ described above.

When the dispenser device 60 reaches the desired receiving container, the pulse motor of the piston drive device 65 is reversed to lower the piston drive section 67 and the piston 90b by a stroke corresponding to the dispensed amount, and the piston in the cylinder 90C is lowered. Pour out a predetermined amount of mother liquor into the receiving container (steps ○, ■)
. When distributing the same mother liquor to multiple receiving containers, the dispenser device 60 is sequentially moved onto each receiving container and the above dispensing operation is repeated (steps O, O).

When the mother liquor pouring operation is completed, the dispenser device iJ 60 moves to a predetermined position (pipetta delivery position) in front of the storage/cleaning unit 80-] (step @, Q).

At this point, the connection between the joint portion 77 and the piston head 90C is released, and the piston drive portion 67 returns to its uppermost position (step O). Next, the holding piece driving device 87 and the holding piece operating device 88/I of Units) 80-1 are activated to push out the holding piece 88a to the delivery position and receive the pipetter 90-1. Return to the original position while holding -1. In this way, the used pipettor 90- is transferred from the pipettor device 60 to the unit 80-1.
1 delivery is performed (steps ■, O), and this delivery event is detected by the sensor 95-1 and sent to the CPU 104. With the above operations, preparation of one mother liquor is completed. Preparation of the next mother liquor starts again in step O. Another pipettor 90-T is selected and the corresponding unit) 80-L
The liquid is then transferred to the dispenser device 60, where suction and dispensing operations similar to those described above are performed. On the other hand, the used pipettor 90-1 is cleaned in unit go-i by a cleaning work program to be described later. Therefore, two consecutive liquid preparation operations are performed for all the mother liquids required for each receiving container, while changing the pipettor.

FIG. 9 shows a flowchart of the cleaning work program.

When the used σ] pipettor 90-1 is delivered to the corresponding unit 80-1, cleaning work begins. The drive motor 83 operates to lower the sliding part 82 to the lowest position, and the pipettor 90-
1 nozzle 9odt into the cleaning water in the water tank 81. After that, the piston drive device 84 operates to drive the piston. ++ Lower the s89 to the lowest end, and connect the joint 9J to the piston head 90C (steps O~
O). As a result, the piston 90b is pushed to the lowest end, and the mother liquor remaining in the cylinder 90 (L) is discharged into the cleaning water tank 81.Then, the pulse motor of the piston drive device 84 is reversed, and the piston drive unit 89 Then, the pistons 90b are raised to their respective uppermost positions and the cleaning water is sucked into the cylinder 90C (step @,
@). Next, the pulse motor of the piston drive device 84 rotates forward to lower the piston drive unit 89 and the piston 90/) to the lowest end, so that the cleaning water in the cylinder 90C is completely discharged (Steps @, @) . By repeating such suction and discharge of cleaning water an appropriate number of times (step O), sufficient cleaning processing is performed on the cylinder 90C and nozzle 90d of the pipetter 90-1.

When cleaning is completed, the connection between the piston drive section 89 and the pipettor piston is released, and the piston drive section 89 is raised to the uppermost position (steps O to O). At the next temperature, the sliding portion 82 is raised and returned to the uppermost position to complete the cleaning operation (step 01O). Note that if the washing water adhering to the pipetter does not affect the precision of liquid preparation, it may be dried and removed by blowing warm air using an appropriate means.

The operating procedures for input processing, DJ liquid W11 manufacturing work, liquid preparation work, and cleaning work have been described above, and next, the main and sub-ml that controls and manages these will be explained.

The main control consists of an operating system, which functions to execute input processing, 1υ liquid preparation work, liquid preparation work, and cleaning work mutually independently and concurrently. That is, while a certain liquid container is transferred to the mother liquid preparation work section and the liquid preparation work is performed, the main control is executed concurrently with the preparation of other mother liquids by the dispenser device, and furthermore, the necessary Each control program is controlled and managed so that cleaning processing for a used pipettor and input processing for preparing a new solution or additional mother liquor can be executed according to the requirements.

When one event occurs in each process or operation, for example, the transfer of a raw material storage container due to the rotation of the rotary table 1, a command for the transfer is sent to the related interface section, the completion of transfer is detected by an interrupt, and the next operation is performed. Enter the step. As a result, the CPU moves to the rotary table 11
can engage in other processing during the rotational movement of. In this way, the main control allows liquid preparation, preparation, cleaning, and input work/processing to be performed simultaneously in a time-sharing manner.

FIG. 9 is a flowchart 1 showing an example of the main control program. It is checked whether each task (work or process) is being executed (step○l(ml○,■
). If a task is currently being executed or is waiting for a certain event to end, a similar check is performed on other tasks. If it is in the running state, the execution of the work (process) continues (steps ○, ■, $, ■)). If an event occurs during execution, such as movement of the rotary table i or movement of the dispenser drive unit, a corresponding command is given to the related Intern Ace unit, and the work program is placed in the waiting state for the end of the event. state and move on to the state lateral distortion of other tasks (step 0. ■, ○).

■). Furthermore, even if no event occurs during execution, an interrupt is generated after a certain period of time to check the status of other tasks. In this case, the interrupted work program is put on hold and continues execution the next time it reaches its own state. In this way, the four tasks of liquid preparation work, one-to-one liquid preparation work, cleaning work, and input processing are efficiently managed in a time-sharing manner. Note that the input task shown in Figure 9 is for the next liquid preparation or m-wave preparation, and is not necessarily performed simultaneously with liquid preparation work, mother liquor preparation work, and L/W cleaning work. It is also possible to prepare liquids using one fixed pipettor, and therefore the pipettor storage and cleaning section (C) and related control program can also be omitted. However, it would be better to have a plurality of replaceable pipetters as in the dual embodiment, and use the pipettor most suitable for each liquid preparation.
The cleaning operation does not substantially interrupt other operations (advantageously).

As mentioned above, the automatic dye liquid preparation and preparation apparatus according to the present invention is capable of preparing PJ liquid at the same time as the liquid preparation operation.

[Brief explanation of drawings]

Figures 1 and 2 are general views of an automatic dye liquid preparation device according to an embodiment of the present invention, in which Figure 1 is a side view, Figure 2 is a top view, and Figure 3 is an M size feeding control. FIG. 4 is a perspective view showing a specific configuration example of the device; FIG. 4 is a perspective view showing the configuration of the pipettor storage and cleaning unit; FIG. 5 is the hardware that constitutes the control unit in FIGS. 1 and 2. System block diagram; Figure 6 is a flowchart of the input processing program; Figure 7 is a flowchart of the mother liquor preparation work program; Figures 8A and B are flowcharts of the liquid preparation work program; Figure 9 is a flowchart of the cleaning work program; FIG. 10 is a flowchart of the main control program. 1.0-1.10-M... Raw material storage container, ]J
...Rotary table, 12...Drive motor, 13...
・Raw material input control device, 14...Raw material measuring device, engineering 5.
... Gradient container mounting stand, 16... Transfer device, 17...
Dilution water tank, 18... Dilution water supply control device, 20.
... Conduit, 21-25... Line, 50... Robot hand device, 51... Arm part, 52... Gripping part, 60... Dispenser, 4.0-1.40- M...Mother liquid container, 100...Control unit. Agent: Patent attorney Kyozo Yuasa (4 others) JP-A-Sho GO-52668 (15)

Claims (5)

[Claims] (1) A plurality of liquid volumes each placed at a predetermined liquid preparation work position and separately storing various mother liquids used for liquid preparation; An IU liquid container gripping and transfer means for transporting the IU liquid container from the liquid working position to a predetermined mother liquid preparation position and returning the Iυ liquid container to the liquid preparation working position after preparing the mother liquid, and a plurality of raw material storages each storing raw materials for the mother liquid separately. A raw material storage container holding and transferring means for holding the container and transferring the desired raw material storage container to the mother liquor preparation position, and a means for charging a set amount of raw material from the desired raw material storage container to the desired mother liquor container at the mother liquor preparation position. means for controlling the amount of raw material put into the mother liquor container, means for generating a signal representing a count value by weighing the raw material put into the mother liquor container, and means for receiving the measured value signal and comparing the il quantity value and a predetermined mother liquor concentration. means for calculating data on the number of dilution water for input raw materials based on the IW value; and means for supplying a predetermined amount of dilution water to the mother liquor container according to the data for the dilution solution. Liquid preparation device. (2) The mother liquor preparation position consists of a first preparation position for charging raw materials and a second preparation position for supplying a diluent, and a mother liquor container is connected between these first and second preparation positions. The dye solution automatic preparation device Nu according to claim 1, which is provided with means for transferring. (3) Aspirate a predetermined amount of mother liquor from a desired mother liquor container out of a plurality of mother liquor containers each placed at a predetermined solution preparation work position and store various liquids separately, and place each one at a predetermined solution preparation work position. Pour out a predetermined amount of the liquid into the desired receiving container on the west side of the plurality of receiving containers arranged, and use the mobile dispenser device to grasp the desired mother liquid container for preparing the liquid. Holds a plurality of raw material storage containers in which raw materials for mother liquor are individually stored, such as a mother liquor container gripping and transferring means for transporting the mother liquor container from a liquid work position to a predetermined mother liquor preparation position and returning the mother liquor container to the mother liquor preparation position after preparing the mother liquor. a raw material storage container holding and transferring means for transferring a desired raw material storage container to a mother liquor preparation position; and a raw material input control for charging a set amount of raw material from a desired raw material storage container to a desired mother liquor container at the mother liquor preparation position. means for measuring the raw material charged into the mother liquor container and generating a signal representing the measured value; and means for receiving the measured signal and diluting the raw material supplied based on the measured value and a predetermined mother liquor concentration value. A mother liquor preparation device comprising means for calculating water volume data and means for supplying a predetermined amount of dilution water to the mother liquor container according to the dilution volume data; , a main control means for controlling a dispenser device and a mother liquor preparation device so as to perform these operations in a time-sharing manner; and an automatic dye liquor preparation and preparation device. (4) The dispenser device and the mother liquor container gripping and transferring means are supported on a common support part side and have a common X-Y direction driving means. Automatic dye solution preparation device. (5) The pipettor device removably attaches one pipettor selected from among a plurality of pipetters to perform sucking and dispensing operations of the mother liquor, and protects the pipettor that is not used for liquid preparation. A pipettor storage and cleaning device is provided which cleans the used pipettor in response to receiving the used pipettor from the pipettor device, and the main control means controls liquid preparation operation, LU liquid preparation operation and pipetter cleaning operation. The dispensing equipment (f'=:, -
The automatic dye liquid preparation device W1” according to claim U①, which controls the liquid preparation device “d” and the pipetter storage and cleaning device.