KR101544673B1 - Weighing and mixing of the raw material solution for the automatic mixing system automatically performs. - Google Patents

Abstract

The present invention relates to an automatic mixing system for automatically weighting and mixing raw material solutions and, more specifically, to an automatic mixing system for automatically weighting and mixing raw material solutions, capable of obtaining product uniformity, enabling a program processing various tasks at one operation, and minimizing exposure of a researcher or a worker to harmful raw material solutions in the case of using raw material solutions to harmful to a human body, by enabling accurate weighing with a minimal robot system by applying a robot system to tasks that a worker used to perform directly and automating the robot system. The present invention provides the effects of obtaining uniform product quality by automating weighting and mixing tasks that a researcher used to perform manually; reducing expenses by saving labor cost and time; and minimizing exposure of the worker or the researcher to the harmful raw material solutions in the case of using the raw material solutions harmful to the human body. In addition, the present invention provides the effects of continuously producing identical products by accurately weighing materials with a fine measuring device, when inputting a product recipe to a controller; and enabling trials of various recipes.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic mixing system for automatic weighing and mixing of a raw material liquid.

The present invention relates to an automatic mixing system for automatically performing metering and mixing of a raw material liquid. More particularly, the present invention relates to an automatic mixing system for automatically metering and mixing a raw material liquid, Weighing and mixing of raw materials that can minimize the exposures of researchers or workers when it is necessary to use the raw material liquid which is harmful to the human body. To an automatic mixing system for automatically performing the automatic mixing operation.

Conventionally, a raw material liquid of a dye or a chemical material is mixed, and a researcher manually quantifies and mixes it according to a recipe.

Such a conventional method is performed by metering the researcher, so that even if the same recipe is referred to, the same product can not be produced.

Korean Patent Publication No. 10-2001-0098158 (November 11, 2001)

The automatic mixing system for automatically performing the metering and mixing of the raw material liquid of the present invention is intended to solve the problems caused in the related art as described above. By automating metering and mixing performed by a conventional researcher, And to reduce labor costs and time, thereby reducing costs.

Another purpose is to accurately measure the product recipe when it is input to the controller using a fine meter to continuously produce the same product.

Another goal is to try multiple recipes in multiple ways.

Another object of the present invention is to make it possible to measure and mix various kinds of undiluted raw materials by using only a minimum number of pumping parts and to make a pipette used for disposing at the time of weighing, To be able to do.

In order to solve the above problems, an automatic mixing system for automatically performing metering and mixing of a raw material liquid of the present invention includes a first container rack 100 having holes for storing a plurality of containers 110, and;

A lid storage unit 200 located above the first container rack and storing the lid 210 to prevent foreign matter from entering the finished product container after mixing is completed;

A first container agitating unit 300 having an agitator for mixing the metered mixture and located at one side of the first container rack and having a hole for storing a plurality of containers;

A mixed liquid meter (400) located at one side of the first container stirring part and measuring the mixed liquid;

A pipette rack 500 located at one side of the mixed liquid meter and storing a plurality of pipettes;

A pipette removing box 600 formed on one side of the pipette rack to discard the used pipette every time metering of one raw material is completed;

A second container rack 700 formed at one side of the pipetting box and forming a hole for storing a plurality of containers containing raw materials before mixing;

A third container rack 800 formed at one side of the second container rack and having a turbine impeller installed therein for mixing mixed liquid of 100ML or more and having holes for storing a plurality of large capacity containers;

A large-capacity mixed-liquid meter 900 positioned at one side of the third container rack for measuring a mixed liquid of 100ML or more;

A pumping unit 1000 formed at one side of the first container rack for performing pumping so as to enable metering and stirring;

And a robot arm stage 1100 which is located on the upper side of the work booth 1500 and moves to the three axes to measure and dispense the pipette used for disposing during the weighing and to input the pipette having been weighed into the pipette removing box The problems of the present invention can be solved.

According to the present invention, it is possible to reduce the cost by uniformizing the quality of the product, automating the metering and mixing performed by the conventional researchers manually, saving labor costs and time, and reducing the cost when the raw material solution harmful to the human body is used. Thereby minimizing the exposure of the semiconductor device.

In addition, when a product recipe is input to a controller, it is possible to continuously produce the same product by metering accurately using a minute meter and to provide diversity in which various recipes can be tried in multiple ways.

In addition, it is possible to meter and mix various kinds of undiluted raw materials by using only a minimum number of pumping parts, and it is possible to replace the robot arm stage itself whenever the raw material liquid is metered in the pipette used for disposing at the time of weighing To provide a fully automated system.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall perspective view of an automatic mixing system for automatically performing weighing and mixing of a raw material liquid according to the present invention, FIG. 2 is a front view, and FIG. 3 is a plan view.
4 is a control connection block diagram of a controller unit according to an embodiment of an automixing system for automatically performing weighing and mixing of a raw material liquid according to the present invention.
FIG. 5 is a block diagram of a controller unit according to an embodiment of an automatic mixing system for automatically performing weighing and mixing of a raw material liquid according to the present invention, and FIG. 6 is an overall mixing flowchart.

Hereinafter, an automatic mixing system for automatically performing weighing and mixing of a raw material liquid of the present invention will be described in detail with reference to the accompanying drawings.

The technical feature of the present invention is that the robot system is applied and automated in the past to enable accurate weighing with a minimum robot system, thereby ensuring the homogeneity of the produced product and performing various operations at once And it is possible to minimize the exposure of the researcher or the worker in the case of using the raw material liquid harmful to the human body.

1 is an overall perspective view of an automatic mixing system for automatically performing weighing and mixing of a raw material liquid according to the present invention, FIG. 2 is a front view, and FIG. 3 is a plan view.

As shown in Figs. 1 to 3,

A first container rack (100) forming an opening for storing a plurality of containers (110);

A lid storage unit 200 located above the first container rack and storing the lid 210 to prevent foreign matter from entering the finished product container after mixing is completed;

A first container agitating unit 300 having an agitator for mixing the metered mixture and located at one side of the first container rack and having a hole for storing a plurality of containers;

A mixed liquid meter (400) located at one side of the first container stirring part and measuring the mixed liquid;

A pipette rack 500 located at one side of the mixed liquid meter and storing a plurality of pipettes;

A pipette removing box 600 formed on one side of the pipette rack to discard the used pipette every time metering of one raw material is completed;

A second container rack 700 formed at one side of the pipetting box and forming a hole for storing a plurality of containers containing raw materials before mixing;

A third container rack 800 formed at one side of the second container rack and having a turbine impeller installed therein for mixing mixed liquid of 100ML or more and having holes for storing a plurality of large capacity containers;

A large-capacity mixed-liquid meter 900 positioned at one side of the third container rack for measuring a mixed liquid of 100ML or more;

A pumping unit 1000 formed at one side of the first container rack for performing pumping so as to enable metering and stirring;

And a robot arm stage 1100 located on the upper side of the work booth 1500 and moving along three axes and moving a pipette used for disposing during weighing and measuring and dispensing the pipette having been weighed to the pipette removing box do.

The first container rack 100 forms a hole for storing a plurality of containers 110, and is a rack for transferring finished and agitated finished products, and an empty container is stored before mixing.

The lid storage unit 200 is located on the upper side of the first container rack, and after the mixing is completed, the lid 210 is stored to prevent foreign substances from entering the finished product container.

The first container agitating part 300 is installed at one side of the first container rack and is provided with a stirrer for mixing the metered mixture, and holes for storing a plurality of containers are formed.

Empty containers are kept before work.

The construction and operation principle of the stirrer are general techniques, and a detailed description thereof will be omitted.

The mixed liquid meter 400 is installed at one side of the first container agitating part to measure the mixed liquid.

 The weighing machine weighs 0.01 grams on the balance, and the first step of the operation is to automatically adjust the zero point when the empty container is raised.

The pipette rack 500 is located at one side of the mixed liquid meter and stores a plurality of pipettes. The pipette rack 500 is disposable as an open type syringe used in conventional manual mixing.

A total of 35 pipettes can be stored in the pipette rack at a time. When all the pipettes are exhausted, they are replaced with spare pipette racks at the bottom.

The pipette removing box 600 is formed at one side of the pipette rack to remove a used pipette every time one of the raw materials is metered.

The second container rack 700 is formed at one side of the pipette removing box to form a hole for storing a plurality of containers containing raw materials before mixing.

The raw material before mixing is stored, and the operator or researcher places the raw material liquid here before execution.

The third container rack 800 is formed at one side of the second container rack, and has a turbine impeller installed therein for mixing a mixed solution of 100ML or more, and has holes for storing a plurality of containers.

The Turbine Impeller is installed, and the mixed liquid is mixed at the upper part and used for mixing a large volume mixture of 100 ml or more.

Meanwhile, the large-capacity mixed-liquid meter 900 is installed on one side of the third container rack to measure mixed liquid of 100ML or more, and the pumping unit 1000 is formed on one side of the first container rack, The pumping is performed.

Since the operation and configuration of the pumping unit are already known, a detailed description will be omitted.

On the other hand, the robot arm stage 1100 is located on the upper side of the work booth 1500, moves in three axes, measures a pipette used for disposing during weighing and measures the weighed pipette, .

The robotic arm stage for moving the finished product container and measuring the raw material by mounting the pipette moves in three directions from the top to the X, Y and Z axes and can be programmed according to the recipe.

The robot arm stage can be programmed up to 20 tasks at a time by linking with the controller section.

The present invention can roughly be divided into a total of four parts according to function, including a rack for storing raw material liquid, a scale for weighing, a rack for pipette exchange, and a rack for storing and mixing products.

In addition, the pipette rack can store up to 35 new pipettes per rack, and each time a different material is to be weighed, the robot arm stage is automatically replaced with a clean new pipette after it has been disposed of in the pipette drawer.

If all 35 pipettes are exhausted, they are automatically replaced with a new pipette rack located at the bottom of the equipment.

A total of 70 new pipettes are stored at one time.

A mixed solution of 100 ml capacity is metered and transferred in 0.01 g unit to the mixed liquid metering position provided at the back of the pipette rack, and the various raw materials are precisely mixed and completed.

The completed mixed liquid is transferred to the left side and placed on the first container agitation portion.

The operating time of the agitator is also determined according to the recipe.

Thereafter, a container lid for preventing foreign matter from entering is carried and transferred.

4 is a control connection block diagram of a controller unit according to an embodiment of an automatic mixing system for automatically performing weighing and mixing of raw material liquid of the present invention.

4, the controller unit 1200 controls the turbine impeller (not shown), the robot arm stage, and the pumping unit, which are installed in the first vessel agitating unit, the third vessel rack, and the like from the mixed liquid meter and the large- The measured value is obtained.

On the other hand, a new pipette rack is formed on the lower side of the work booth according to a further configuration, and an automatic replacement means for automatically exchanging pipette racks exhausted on the upper side can be configured.

That is, when all the pipettes included in the pipette rack are used, the automatic exchange means can be automatically replaced without the need for manual replacement. do.

The robot arm stage 1100 includes a holder portion 1150 for gripping and moving the container,

And a pipette fixing part 1170 for fixing the pipette.

As shown in the drawing, a holder part having a shape for holding a container is formed on the lower side, and a pipette fixing part for fixing the pipette to one side is constituted.

On the other hand, in the controller unit, information on what color is formed when the solutions constituting the mixed liquid are stirred can be stored in the mixed liquid color database.

At this time, the color sensing means (not shown) may compare the standard color stored in the mixed color and the mixed color when the mixed liquid is stirred, and provide an alarm signal when the colors do not match.

In general, the chemical substances are used as a reference value for judging whether or not the color information is stored in advance because the difference in color and the like, which is realized even in a small amount, is large according to the mixing ratio.

When the alarm signal is informed to the researcher or the operator, it provides a convenient advantage to understand the cause in advance.

FIG. 5 is a block diagram of a controller unit according to an embodiment of an automatic mixing system for automatically performing weighing and mixing of a raw material liquid according to the present invention, and FIG. 6 is a whole mixing flowchart.

As shown in Fig. 5, the controller unit 1200,

An origin position setting unit 1210 for sending a movement signal for moving the robot arm stage to the pipette origin position,

A container dispensing section 1220 for moving the robot arm stage to a position where the first container rack 100 is located and then transferring the empty container to a position of the mixed liquid meter 400,

A zero point setting signal transmitter 1230 for sending a zero point setting signal to the mixed liquid meter 400,

A pipette fastening signal processing unit 1240 for transferring the pipette fastening signal after the robot arm stage is transferred to the upper side of the pipette rack,

A raw material suction signal processing unit 1250 for transferring an operation signal to the pumping unit to transfer the raw material to the pipette after the robot arm stage is transferred to the upper side of the second container rack,

A raw material injection signal processing unit 1260 for transferring the robot arm stage to the upper side of the mixed liquid meter and then providing an injection signal to the pumping unit for injecting the raw material contained in the pipette into the container,

A weighing value comparing unit 1270 for obtaining a weighing value measured by the mixed liquid meter and comparing it with a reference value,

A pipette removal signal processing unit 1280 for transferring a release signal for releasing the pipette after transferring the robot arm stage to the upper side of the pipette removal case,

A stirring part feed signal processing part 1290 for sending a signal for feeding the container placed in the mixed liquid meter to the first container stirring part 300 to the robot arm stage,

A stirring signal processing unit 1300 for sending a stirring signal to the first container stirring unit,

And a finished product for transmitting a signal for transferring the stirred container to the first container rack on the robot arm stage is configured to include a transmission signal processing unit 1310.

The initial origin position setting unit 1210 transmits a movement signal for moving the robot arm stage to the pipette origin position, and the container dispensing unit 1220 moves the robot arm stage to the position where the first container rack 100 is located , The empty container is picked up and transferred to the position of the mixed liquid meter 400 (S100).

Then, the zero point setting signal transmitting unit 1230 sends a zero point setting signal to the mixed liquid meter 400 (S110).

Thereafter, the pipette clamping signal processing unit 1240 feeds the pipette clamping signal (S120) after transferring the robot arm stage to the upper side of the pipette rack.

Then, the raw material suction signal processing unit 1250 feeds an operation signal to the pumping unit (S130) to suck the raw material after the robot arm stage is transferred to the upper side of the second container rack, and then sucks the raw material into the pipette.

Then, the raw material injection signal processing unit 1260 transfers the robot arm stage to the upper side of the mixed liquid meter, and then provides an injection signal to the pumping unit for injecting the raw material contained in the pipette into the container (S140).

Then, the metering value comparing unit 1270 obtains the metering value (S150) metered by the mixed liquid metering unit and compares the measured value with the reference value.

If the weighing values do not coincide with each other, it is repeated until S130 to S150 coincide.

To this end, the memory unit may be configured to store reference value information.

When the pipette removal signal processing unit 1280 coincides with the pipette removal signal processing unit 1280, the pipette removal signal processing unit 1280 sends out a signal for transferring the robot arm stage to the pipette removal upper side, and then sends a release signal for releasing the pipette (S160).

Thereafter, the stirring part feed signal processing part 1290 sends out a signal for feeding the container placed in the mixed liquid meter to the first container stirring part 300 to the robot arm stage (S170), and the stirring signal processing part 1300 A stirring signal is transmitted to the vessel stirring section to perform stirring (S180).

Thereafter, a signal is sent from the transmission processing unit 1310 to the robot arm stage to transfer the container, which has been stirred, to the first container rack (S190), and the completed product is stored.

Generally, the positioning sensors for confirming the position of the robot arm stage are constituted, and the technique of performing accurate position control by checking the position of the position by the controller is a known technology, and thus a detailed description will be omitted.

By providing a uniform quality of the product through the construction and operation of the system as described above, it is possible to reduce labor costs and time to save costs, and to minimize exposure of a researcher or a worker when using raw material liquid harmful to the human body do.

In addition, when a product recipe is input to a controller, it is possible to continuously produce the same product by metering accurately using a minute meter and to provide diversity in which various recipes can be tried in multiple ways.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is to be understood, therefore, that the embodiments described above are to be considered in all respects as illustrative and not restrictive.

100: first container rack
200: lid storage part
300: first container agitating part
400: mixed liquid meter
500: pipette rack
600: Pipette removed
700: second container rack
800: Third container rack
900: Large capacity mixed liquid meter
1000:
1100: Robot arm stage
1200:

Claims (3)

An automatic mixing system for automatically performing weighing and mixing of a raw material liquid,
A first container rack (100) forming an opening for storing a plurality of containers (110);
A lid storage unit 200 located above the first container rack and storing the lid 210 to prevent foreign matter from entering the finished product container after mixing is completed;
A first container agitating unit 300 having an agitator for mixing the metered mixture and located at one side of the first container rack and having a hole for storing a plurality of containers;
A mixed liquid meter (400) located at one side of the first container stirring part and measuring the mixed liquid;
A pipette rack 500 located at one side of the mixed liquid meter and storing a plurality of pipettes;
A pipette removing box 600 formed on one side of the pipette rack to discard the used pipette every time metering of one raw material is completed;
A second container rack 700 formed at one side of the pipetting box and forming a hole for storing a plurality of containers containing raw materials before mixing;
A third container rack 800 formed at one side of the second container rack and having a turbine impeller installed therein for mixing mixed liquid of 100ML or more and having holes for storing a plurality of large capacity containers;
A large-capacity mixed-liquid meter 900 positioned at one side of the third container rack for measuring a mixed liquid of 100ML or more;
A pumping unit 1000 formed at one side of the first container rack for performing pumping so as to enable metering and stirring;
And a robot arm stage (1100) located on the upper side of the work booth (1500) for moving the pipette moving in three axes, measuring and moving the pipette used for disposing in the weighing,

A controller 1200 for controlling the first container agitating part, the turbine impeller, the robot arm stage, and the pumping part, and obtaining the metered value from the mixed liquid meter and the large capacity mixed liquid meter;
A new pipette rack is formed on the lower side of the work booth, and automatic exchange means for automatically exchanging pipette racks exhausted on the upper side;
And color sensing means for comparing the standard color stored in the mixed color liquid tank with the mixed color liquid to provide an alarm signal when the mixed color liquid does not match,

The robot arm stage (1100)
A holder part 1150 for gripping and moving the container,
And a pipette fixing part (1170) for fixing the pipette,

The controller unit 1200,
An origin position setting unit 1210 for sending a movement signal for moving the robot arm stage to the pipette origin position,
A container dispensing section 1220 for moving the robot arm stage to a position where the first container rack 100 is located and then transferring the empty container to a position of the mixed liquid meter 400,
A zero point setting signal transmitter 1230 for sending a zero point setting signal to the mixed liquid meter 400,
A pipette fastening signal processing unit 1240 for transferring the pipette fastening signal after the robot arm stage is transferred to the upper side of the pipette rack,
A raw material suction signal processing unit 1250 for transferring an operation signal to the pumping unit to transfer the raw material to the pipette after the robot arm stage is transferred to the upper side of the second container rack,
A raw material injection signal processing unit 1260 for transferring the robot arm stage to the upper side of the mixed liquid meter and then providing an injection signal to the pumping unit for injecting the raw material contained in the pipette into the container,
A weighing value comparing unit 1270 for obtaining a weighing value measured by the mixed liquid meter and comparing it with a reference value,
A pipette removal signal processing unit 1280 for transferring a release signal for releasing the pipette after transferring the robot arm stage to the upper side of the pipette removal case,
A stirring part feed signal processing part 1290 for sending a signal for feeding the container placed in the mixed liquid meter to the first container stirring part 300 to the robot arm stage,
A stirring signal processing unit 1300 for sending a stirring signal to the first container stirring unit,
Characterized in that a finished product for transmitting a signal for transferring the stirred container to the first container rack is provided to the robotic arm stage, and a transmission signal processing unit (1310) for processing the raw material liquid. system.

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