KR102521457B1 - Apparatus for automatic sampling - Google Patents

Abstract

Auto-sampling with an improved control logic that can drastically reduce the probability of liquid scattering or fume generation when a sample is injected into the container and suppress the generation of bubbles to perform stable sampling and an improved drive mechanism that can support it An apparatus and method are disclosed. The auto sampling device includes a main body having a sample chamber into which a sample is injected into a container; a grip part provided in the sample chamber to hold and release the container; a reversing and erecting unit for erecting or inverting the container by rotating the grip unit in a vertical direction; A sample injection unit for supplying a sample into the container; and a control unit controlling the operation of the reversing and sizing unit, wherein the control unit controls the reversing and sizing unit so that the vessel is tilted in a vertical direction when collecting a sample falling from the sample injecting unit into the vessel.

Description

Auto sampling device {APPARATUS FOR AUTOMATIC SAMPLING}

The present invention relates to an auto-sampling device and method, and more particularly, to an auto-sampling device and method capable of unmanned operation by completely automating a series of processes for taking a chemical sample into a container.

In general, a chemical is an artificial substance produced by the chemical industry, and is used in various industries such as the semiconductor industry and the pharmaceutical industry. For example, various types of chemicals are used in the semiconductor device production process, and a decrease in the purity of the chemical causes defects in the semiconductor device, greatly affecting the production yield.

Therefore, in order to confirm the characteristics of the chemical, such as concentration and composition, a certain amount of chemical (chemical solution) sample is taken in a container and then an analysis is performed. Sampling of these chemicals is performed manually or by means of a sampling device.

For example, to explain the manual sampling process, the operator opens the cap from the container, puts it on the workbench, puts the cleaning solution before sampling or the chemical to be sampled into the container, closes the cap, shakes it, and then opens the cap from the container again to wash the cleaning solution. Discard and take a chemical sample into a container. After that, the cap is closed and the chemical-filled container is collected from the workbench and transported to the chemical analysis site.

In this case, if the chemical is sampled without cleaning the container, the reliability of the sample is lowered due to contaminants remaining in the container. Residual contaminants can include particles, organic carbon, oil, insoluble matter, and other unintended impurities. Therefore, immediately before sampling, the container and cap to contain the sample are required to be cleaned.

The above-mentioned manual sampling consumes a lot of manpower and has a high probability that the worker is directly exposed to the chemical, and the reliability of the sample is lowered because the inside and outside of the container or the inside and outside of the cap or the sampled chemical itself is contaminated due to the carelessness of the worker. , problems such as inhomogeneity in cleaning quality occur. Above all, if the residual material remaining in the container is toxic, it can be fatal to the human body in the event of a safety accident.

On the other hand, Republic of Korea Patent Registration No. 10-2056106, previously filed by the present applicant, discloses an automatic sampling device that collects chemicals after washing by automatically inverting a container during sampling. However, the conventional automatic sampling device has limitations as a semi-automated mid-development device for complete automation, and has various other problems to be improved.

Republic of Korea Patent Registration No. 10-2056106 (2019.12.10)

In order to solve such conventional problems, in the present invention, when a sample is injected into a container, the probability of liquid scattering or fume generation is drastically lowered and bubble generation is suppressed to perform stable sampling An improved control logic and Provided is an auto sampling device and method having an improved driving mechanism that can support this.

In addition, the present invention provides an auto sampling device that optimizes the position of the nozzle and the position of the liquid level sensor.

In addition, in the present invention, transmission and reception of various information related to containers and samples, replacement of old drug solution with new drug solution, and a series of controls related to cleaning of containers and caps can be performed without operator's separate operation, so that complete automation can be realized. An apparatus and method are provided.

An auto sampling device according to the present invention includes a main body having a sample chamber into which a sample is injected into a container; a grip part provided in the sample chamber to hold and release the container; a reversing and erecting unit for erecting or inverting the container by rotating the grip unit in a vertical direction; A sample injection unit for supplying a sample into the container; and a control unit controlling the operation of the reversing and sizing unit, wherein the control unit controls the reversing and sizing unit so that the vessel is tilted in a vertical direction when collecting a sample falling from the sample injecting unit into the vessel.

The sample injection unit is made such that the falling sample is taken along an inclined surface of the inclined container.

The sample injection unit has a nozzle for supplying a sample at an upper portion of the container, and the nozzle is positioned eccentrically to one side from a radial centerline of the container in a vertical state of the container.

A liquid level sensor for sensing a liquid level of the sample injected into the container is further provided.

The liquid level sensor is disposed on the top of the container and is eccentric to one side from the center line in the radial direction of the container in a vertical state of the container.

An inclination angle of the liquid level sensor from the vertical line is formed equal to an inclination angle of the vessel tilted by the control unit during sampling.

An auto sampling device according to another aspect of the present invention includes a main body having a sample chamber into which a sample is injected into a container; a grip part provided in the sample chamber to hold and release the container; a reversing and erecting unit for erecting or inverting the container by rotating the grip unit in a vertical direction; A sample injection unit having a nozzle connected to the chemical pipe to supply a sample to the inside of the container; and a control unit for controlling the operation of the sample injection unit, wherein the control unit discharges the new drug solution to be sampled for a certain period of time through the chemical pipe and the nozzle to transfer the old drug solution remaining in the chemical pipe and the nozzle to the new drug solution. Replace with

and a fluid injection hole for cleaning before sampling by injecting liquid into the container and the cap, and the controller controls such that the liquid of the same type as the liquid to be sampled is injected for a predetermined time through the fluid injection hole.

The main body further includes a buffer chamber in which a container is waiting, reading information including a serial number of a container waiting in the buffer chamber, and writing sample information of a container for which sampling has been completed by the sample injection unit. ) and a wireless recognition unit (RFID) for storing, and control is performed by interlocking the control unit and the wireless recognition unit with sample information.

The auto sampling method according to the present invention includes a main body having a sample chamber into which a sample is injected into a container; a grip part provided in the sample chamber to hold and release the container; a reversing and erecting unit for erecting or inverting the container by rotating the grip unit in a vertical direction; A sample injection unit for supplying a sample into the container; and a control unit for controlling the operation of the reversing and erecting units, comprising: gripping a container by a grip unit; controlling the container to tilt with respect to the vertical direction by rotating the grip part; and injecting the sample into the container.

The automatic sampling apparatus and method according to the present invention rotates the container at an angle at an angle during sampling to lower the height between the starting point of the sample drop and the sample drop end point of the container, thereby reducing the probability of liquid scattering or fume generation when the sample is injected into the container Stable and homogeneous sampling can be performed by drastically lowering and suppressing the generation of bubbles.

In addition, the auto sampling device according to the present invention optimizes the position of the nozzle and the position of the liquid level sensor, so that the liquid level of the sample can be accurately and precisely sensed and the sample amount can be sampled without error.

In addition, in the present invention, when the operator completes the loading of the container by using the RFID and the control unit, all operations can be performed unattended, and the sampling operation is performed by time setting or sampling operation by external signals such as ACQC and production facilities. It is a very useful invention that not only saves manpower because workers do not have to wait, but also prevents safety accidents.

In addition, by fully automating all processes except for the loading (loading) and unloading (pickup) of the container, the manpower of the operator is greatly reduced, and the fully sealed structure in the chamber allows the operator to work in a safe environment with simplified clothing. . In particular, errors in sample information can be prevented by standardizing sampling, perfecting quality, reading container information by RFID, and writing sample results.

1 is a perspective view of an auto sampling device according to an embodiment of the present invention;
2 is a front view of an auto sampling device according to an embodiment of the present invention;
3 is a plan view of an auto sampling device according to an embodiment of the present invention;
4 and 5 are perspective views showing internal configurations of an auto sampling device according to an embodiment of the present invention;
6 is a perspective view showing an index unit according to an embodiment of the present invention;
7 is a rear perspective view showing a picker unit according to an embodiment of the present invention;
8 is a perspective view showing a container transfer unit according to an embodiment of the present invention;
9 and 10 are perspective views showing a cap detachable part according to an embodiment of the present invention,
11 is an exploded perspective view of a portion of a cap detachable unit according to an embodiment of the present invention;
12 is a perspective view showing a composite module according to an embodiment of the present invention;
13 shows an inversion and erection unit according to an embodiment of the present invention,
14 is a cross-sectional view showing a grip part and a revolving block according to an embodiment of the present invention;
15 is a perspective view showing a washing and drying unit according to an embodiment of the present invention;
16 illustrates a rotational angle of a vessel during sampling according to an embodiment of the present invention;
17 is a front view of a grip unit according to an embodiment of the present invention;
18 to 23 explain the operation process of the auto sampling device according to an embodiment of the present invention.

Hereinafter, the technical configuration of the auto sampling apparatus and method will be described in detail according to the accompanying drawings. In the following description, the x-axis direction in FIG. 1 is the left-right direction, the y-axis direction is the front-back direction, and the z-axis direction is the up-and-down direction.

The auto sampling device 100 according to an embodiment of the present invention is used in a chemical manufacturing process, storage or transfer facility, and can be applied and used in various industrial fields. The chemical transfer facility is equipped with an ACQC (Automatic Clean Quick Coupler) that supplies chemicals supplied from the tank lorry to the storage tank. The auto sampling device 100 is configured to be used for various purposes including analysis by sampling chemicals from pipes distributed from the ACQC to the storage tank.

1 to 5, the auto sampling device 100 according to an embodiment of the present invention includes a body part 10, an index part 20, a picker part 30, and a container transfer part 40. And, the grip part 35, the cap detachable part 50, the revolving part 60, and the complex module 300 composed of one module, the sample injecting part 70 and , It includes a washing and drying unit 80, a control unit and a wireless recognition unit.

The body part 10 is installed in the buffer chamber 110 in which the container 15 stands by, the sample chamber 120 in which the sample is injected into the container 15, and the buffer chamber 110 and the sample chamber 120. It has a machine chamber 130 in which driving means for driving components are installed. The buffer chamber 110 and the sample chamber 120 are vertically partitioned from the machine chamber 130 by the transverse partition wall 101 . The buffer chamber 110 is partitioned left and right with respect to the sample chamber 120 by the longitudinal partition wall 102 .

The transverse bulkhead 101 extends in the transverse direction to partition the space in the vertical direction, and the longitudinal partition 102 extends in the longitudinal direction to partition the space in the left and right directions. The buffer chamber 110, the sample chamber 120, and the machine chamber 130 are formed by the transverse partition wall 101 and the longitudinal partition wall 102, by the round bar or round tube shape of the power transmission means, and by the O-ring, etc. Each sealed space is formed by the sealing means. Chemicals, flying liquids, fume, etc. can cause deformation by corroding the parts and machinery of each chamber, so the sealing performance between each chamber is a very important factor in improving the durability of the device and preventing external contamination. . A specific sealing structure between each chamber will be described in detail later.

The body part 10 has a case 103 having a substantially rectangular parallelepiped shape, and a machine chamber 130 is provided in the upper part of the inner space of the case 103, and a buffer chamber 110 is provided in the lower left side of the machine chamber 130. A sample chamber 120 is formed on the right side. That is, the buffer chamber 110 and the sample chamber 120 are arranged side by side in a horizontal direction. In the lower part of the buffer chamber 110 and the sample chamber 120, a drain tank 104 for recovering falling cleaning liquid or chemicals and a drain chamber 107 with pipes are formed, and in the lower part of the drain chamber 107, the equipment of the device is formed. A control chamber 105 in which facilities for control are installed is formed.

Pipes and valves for supplying various types of chemicals to the sample chamber 120 are installed on one side of the machine chamber 130 and the sample chamber 120 in the lateral direction of the internal space of the case 103, connected to the chemical line. A pipe chamber 106 is formed. The other side of the case 103 in the lateral direction is provided with an entry/exit door 115 for loading and unloading the container 15 . A window 122 made of a transparent material may be formed on the front surface of the case 103 to visually check internal states of the buffer chamber 110, the sample chamber 120, the drain tank 104, and the like. In addition, the front surface of the case 103 is provided with a touch screen 131 that displays various information of the device and enables control operations.

In addition, the main body 10 includes a sliding door 11 that communicates or closes between the buffer chamber 110 and the sample chamber 120 . The sliding door 11 is slidably installed in an opening formed in the longitudinal partition wall 102 in the vertical direction, and the opening is a passage connecting the buffer chamber 110 and the sample chamber 120 . When the sliding door 11 is raised, communication between the buffer chamber 110 and the sample chamber 120 is established, and when the sliding door 11 is lowered, the buffer chamber 110 and the sample chamber 120 are closed.

The sliding door 11 is formed in a plate shape and is operated by sliding by the power of the door lifting cylinder 12 . The door lift cylinder 12 includes a door lift rod 121 driven in the z-axis direction, and the sliding door 11 is coupled to the door lift rod 121 . The door lift cylinder 12 is coupled to and fixed to the case 10 . The buffer chamber 110 and the sample chamber 120 are sealed by the sliding door 11 to form independent spaces, thereby preventing chemicals, flying liquids, fumes, etc. from moving between the chambers or to the outside of the chambers.

Referring further to FIG. 6 , the index unit 20 is configured to accommodate a plurality of containers 15 in the buffer chamber 110, and rotates the received containers 15 at a predetermined angle in the horizontal direction so that the containers 15 ) to the desired location.

The index unit 20 includes an index plate 21 installed in the buffer chamber 110 . The index plate 21 is formed in a circular plate shape, and a plurality of container seating grooves 211 for accommodating the container 15 are radially formed on the outer circumferential surface. Six container seating grooves 211 are formed on the index plate 21 at 60° intervals. The container seating groove 211 may be composed of two or four or eight or more, and in this case, when the container seating groove 211 is provided with n, the interval between the container seating grooves is 360°/n. Concavo-convex may be formed in the container seating groove 211 to prevent slipping with the container 15 and to allow the corresponding fluid to pass through well during washing/drying. The number of container seating grooves 211 may be appropriately increased or decreased depending on the scale or sampling processing capacity of the device. The index plate 21 is rotatably connected to the base 17 formed on the main body 10 in the horizontal direction. In this case, the horizontal direction means the transverse direction.

In addition, the index plate 21 is rotated in a rotation support hole 177 formed in the support wall 176 inside the buffer chamber 110 . The support wall 176 is spaced apart from the upper part of the base 17, and the diameter of the rotation support hole 177 is greater than the diameter of the index plate 21 so that the index plate 21 rotates smoothly in the rotation support hole 177. It is formed very finely. The lower end of the index shaft 22 having a circular cross section is coupled to the center of the index plate 21 . The index shaft 22 is a power transmission means for transmitting rotational power to the index plate 21, and is made of a circular rod shape or a circular tube shape with a hollow inside.

The upper end of the index shaft 22 is connected to the index motor 23, so that the index shaft 22 and the index plate 21 are integrally rotated by the rotation of the index motor 23. The index motor 23 is coupled to the transverse bulkhead 101 and disposed in the machine chamber 130 . The index shaft 22 passes through the transverse bulkhead 101 and the bearing 24 is coupled to the through hole so that the index shaft 22 is rotatably supported by the bearing 24 . An O-ring is coupled between the bearing 24 and the through hole of the transverse bulkhead. The index motor 23 may be controlled by the control unit to rotate the index plate 21 by 60°.

Referring further to FIG. 7 , the picker unit 30 is disposed in the buffer chamber 110 to hold and release the container 15 . In addition, the picker unit 30 is reciprocally moved in the left-right direction (x-axis direction) by the container transfer unit 40 . The picker unit 30 includes a picker body 31, a pin 32, and a vacuum pad 33. The picker body 31 is formed in a "b" shape with a lower end bent in the x-axis direction, and the container 15 is fixed to and gripped at the end of the x-axis. A dovetail 341 is formed on the top of the vertical body 34 extending in the y-axis direction of the picker body 31 and a pin 32 is formed on the top.

Referring further to FIG. 8 , the container transfer unit 40 includes a swing arm 41 and a yoke guide 42 and is connected to and driven by a transfer motor 45 . The transfer motor 45 is disposed in the machine chamber 130 and coupled to the main body 10, and provides rotational power to the container transfer unit 40. The vessel transfer unit 40 moves the picker unit 30 to reciprocate the vessel 15 between the buffer chamber 110 and the sample chamber 120 . The swing arm 41 and the yoke guide 42 are disposed in the buffer chamber 110 .

The swing arm 41 is connected to the transfer motor 45, rotates around the motor shaft, and is connected to the picker unit 30. That is, the swing arm 41 has a long hole 411 formed on one side in the longitudinal direction and a pivot shaft 412 formed on the other side. The long hole 411 extends from one side of the swing arm 41 in the longitudinal direction toward the central portion. The long hole 411 penetrates the swing arm 41 in the z-axis direction, and the pin 32 of the picker unit 30 is inserted into and connected to the long hole 411 in the z-axis direction along the longitudinal direction of the long hole 411. can be moved

The pivot shaft 412 is formed in the z-axis direction on the other side of the swing arm 41 in the longitudinal direction, and the upper end is connected to the transfer motor 45 . The swing arm 41 is rotated about the pivot shaft 412 by the rotation of the transfer motor 45 . The pivot shaft 412 passes through the transverse bulkhead 101 , and the bearing 46 is coupled to the through hole so that the pivot shaft 412 is rotatably supported by the bearing 46 . An O-ring is provided between the bearing 46 and the through hole of the transverse bulkhead 101. The pivot shaft 412 is a power transmission means for transmitting rotational power to the swing arm 41, and is composed of a circular rod or a hollow circular tube to have a circular cross section.

The yoke guide 42 is slidably connected to the picker unit 30 and guides the linear motion of the picker unit 30 . That is, the yoke guide 42 has a substantially rectangular parallelepiped shape and is coupled to and fixed to the body portion 10 . A guide hole 421 is formed in the yoke guide 42 along the longitudinal direction. In this case, the longitudinal direction of the yoke guide 42 is the x-axis direction. The guide hole 421 extends from one side to the other side of the yoke guide 42 in the longitudinal direction and is formed to pass through the yoke guide 42 in the vertical direction. The pin 32 of the picker unit 30 passes through the guide hole 421 and is connected to the long hole 411 of the swing arm 41 at the top of the yoke guide 42 . A shaft hole 422 passing through the pivot shaft 412 is formed in the yoke guide 42, and a rotating member is connected to the pivot shaft 412 while being rotated and supported by the bracket 424 at the bottom of the yoke guide 42. do. A wireless recognition unit including an RFID header 86 is mounted on the rotating member.

The dovetail 341 of the picker unit 30 is slidably connected to the groove 423 formed in the yoke guide. That is, the picker unit 30 is slidably connected to the lower end of the yoke guide 42 in the x-axis direction. Since the buffer chamber 110, in which the container 15 to be sampled and the container 15 that has been sampled stay, is a space that requires constant cleaning, it is not desirable to apply an LM bearing structure in which oil is used, and the picker unit 30 An optimized driving structure in the buffer chamber 110 can be implemented by connecting the dovetail structure between the and the yoke guide 42 .

In this way, the container transfer unit 40 is configured to convert the rotational motion of the transfer motor 45 into linear motion by having the swing arm 41 and the yoke guide 42 . When the transfer motor 45 is rotated in one direction, the swing arm 41 is rotated in one direction, and the pin 32 connected to the long hole 411 of the swing arm 41 is moved along the long hole 411 to move the picker unit ( 30) moves to the right along the guide hole 421 of the yoke guide 42. Conversely, when the transfer motor 45 rotates in the other direction, the swing arm 41 rotates in the other direction, and the pin 32 connected to the long hole 411 of the swing arm 41 moves along the long hole 411. As the picker unit 30 moves to the left along the guide hole 421 of the yoke guide 42.

Referring to FIGS. 9 to 11 , the cap detachable part 50 separates and fastens the cap 16 from the container 15 and is configured to move up and down while holding the cap 16 . The cap detachable part 50 is disposed on the opposite side of the buffer chamber 110 with respect to the complex module 300 in the left and right directions. Screw threads are formed on the outer circumferential surface of the mouth (snout) at the top of the container 15 and the inner circumferential surface of the cap 16, respectively, and when the cap 16 is rotated forward (clockwise rotation) with respect to the container 15, the cap 16 ) is fastened to the container 15 and the cap 16 is rotated counterclockwise relative to the container 15 (counterclockwise rotation), the cap 16 is separated from the container 15.

The cap detachable unit 50 includes a gripping module 51, a gripping cylinder 52, a detachable rotary pipe 53, a detachable motor 54, and a lifting motor 55.

The gripping module 51 includes a gripping body 514, fingers 511, and a lift unit 515. The gripping body 514 binds the lower portion of the detachable and detachable tube 53 and is coupled to the detachable and detachable tube 53 . A fastener 519 for inserting and fixing the detachable rotary tube 53 is formed at the upper end of the gripping body 514, and three finger grooves 518 are formed radially along the side. The finger groove 518 inserts the slide rib 513 of the finger 511 slidably in an oblique direction, so that the fingers 511 are folded and widened.

Three fingers 511 are provided, and one side (inner surface) is formed in a streamlined shape corresponding to the outer circumferential surface of the cap 16 so that it is in close contact with the outer circumferential surface of the cap 16 of the container 15. A plurality of protrusions 512 are formed on the inner surface of the finger 511 to prevent slipping by increasing friction with the cap 16 when the finger 511 rotates. At the upper end of the finger 511, a slide rib 513 inserted into the finger groove 518 of the gripping body 514 is integrally formed toward the inside. The slide rib 513 is formed with a slide protrusion 517 that is slidably connected to the oblique groove 516 of the lifting unit 515 .

The lower end of the gripping cylinder rod 521 is coupled to the center of rotation of the lifting unit 515. The body of the lifting unit 515 has a shape in which three parts are radially extended so as to correspond to the positions of the finger grooves 518 formed in the gripping body 514 . Oblique grooves 516 are formed in an oblique direction on each of the three extended bodies, and fingers 511 are assembled. Therefore, when the lifting unit 515 rises together with the gripping cylinder rod 521, the fingers 511 are guided to the oblique grooves 516 and are folded along the finger grooves 518 of the gripping body 514, and the cap 16 ) to hold. Conversely, when the lifting unit 515 descends together with the gripping cylinder rod 521, the fingers 511 are guided to the slanted grooves 516 and spread along the finger grooves 518 of the gripping body 514, and the cap 16 ) to release the grip.

The gripping cylinder 52 is a means for providing power to the gripping module 51 to grip and release the cap 16, and is coupled to the support block 56. The gripping cylinder 52 includes a gripping cylinder rod 521 sliding in the vertical direction. The lower end of the gripping cylinder rod 521 is coupled to the upper end of the lift unit 515 of the gripping module 51 through the transverse bulkhead 101 inside the detachable rotary pipe 53. Therefore, when the gripping cylinder 52 is driven, the gripping cylinder rod 521 is drawn in or pulled out of the gripping cylinder 52, and the lifting unit 515 is moved in the vertical direction.

The detachable rotation tube 53 is a means for transmitting rotational power to the gripping module 51 and is formed in a circular tube shape with a hollow inside. In this case, the gripping cylinder rod 521 passes through the inside of the detachable rotary pipe 53 and connects the gripping cylinder 52 and the lift unit 515 of the gripping module 51. The lower part of the detachable rotary pipe 53 is coupled to the gripping body 514 of the gripping module 51, and the upper part is rotatably connected to the support block 56. Through this configuration, the gripping cylinder rod 521 can freely move up and down inside the detachable rotary tube 53, and the detachable rotary tube 53 itself can rotate around an axis.

In addition, the detachable rotary pipe 53 passes through the transverse bulkhead 101, and the bearing 57 is coupled to the through hole so that the detachable rotary pipe 53 is rotatably supported by the bearing 57. A driven gear 531 is coupled to the top of the detachable rotation tube 53. The driven gear 531 is meshed with the driving gear 541, and the driving gear 541 is coupled to the rotational shaft of the detachment motor 54. The detachable motor 54 is a means for providing rotational power to the gripping module 51 and is coupled to the support block 56 .

The rotation of the detachment motor 54 rotates the driving gear 541 and the driven gear 531, so that the detachment rotation tube 53 and the gripping module 51 rotate integrally. When the detachable motor 54 rotates in one direction, the gripping module 51 is rotated in one direction to separate the cap 16 from the container 15, and when the detachable motor 54 rotates in the other direction, the gripping module 51 It is rotated in the other direction to fasten the cap 16 to the container 15. In this case, the lifting motor 55 operates simultaneously with the operation of the detachment motor 54, so that the gripping module 51 rotates and moves up and down simultaneously.

The lifting motor 55 is a means for providing lifting power to the gripping module 51 and is coupled to the fixed frame 58 . The fixing frame 58 is coupled to the inner wall of the body portion 10 or integrally formed. A fixing block 581 is coupled to one side of the fixing frame 58, and a screw shaft 582 is rotatably connected to the fixing block 581. A driven pulley 584 is coupled to the upper portion of the screw shaft 582 based on the fixed block 581, and a moving block 583 is screwed to the lower portion of the screw shaft 582 based on the fixed block 581. .

That is, the screw shaft 582 is freely rotatably supported with respect to the fixed block 581 through a bearing or the like, and a screw thread is formed on a corresponding surface on which the moving block 583 moves up and down. A drive pulley 585 is coupled to the rotating shaft of the lift motor 55, and the drive pulley 585 and the driven pulley 584 are connected by a timing belt 586. The moving block 583 is coupled to the vertical wall 561 of the support block 56. The vertical wall 561 extends in the vertical direction from the support block 56, and is coupled to or integrally formed with the support block 56.

A slider 562 is coupled to the vertical wall 561, and an LM guide 563 is coupled to the transverse bulkhead 101. The LM guide 563 extends in the vertical direction and is firmly fixed to the upper end of the transverse bulkhead 101 and the inner wall of the case 103 by separate supporters. The slider 562 is slidably connected in the vertical direction along the LM guide 563. The cable guide 59 is coupled to the opposite side of the support block 56 to the side formed on the vertical wall 561. The cable guide 59 moves flexibly so that power can be supplied smoothly when the support block 56 is moved up and down by the lifting motor 55.

12 to 14 , the grip part 35 is disposed in the sample chamber 120 to grip and release the container 15 . The grip part 35 includes a gripper body 351 and a vacuum pad 354. On one surface of the gripper body 351 facing the container 15, a seating groove 352 recessed in a shape corresponding to the outer circumferential surface of the container 15 is formed. Inside the gripper body 351, a vacuum line 353, which is a flow path for adsorbing the container 15 with the vacuum pad 354, is formed. That is, the grip part 35 vacuums the container 15 through the vacuum pad 354 and the vacuum line 353 . A shaft 36 formed in a horizontal direction is provided at an end of the grip part 35 on the opposite side of the vacuum pad 354 . A gear 366 engaged with the timing belt is formed on an outer circumferential surface of the shaft 36 .

The revolving part 60 rotates the grip part 35 in the horizontal direction to move the container 15 to the sample injection position. The revolving unit 60 includes a revolving block 61, a revolving pipe 62, and a revolving motor 63. The revolving block 61 rotatably couples the shaft 36 around the axis of the shaft. The revolving pipe 62 is coupled to the revolving block 61 and extends upward. The revolving motor 63 provides power to rotate the revolving tube 62 around the axis of the revolving tube.

The revolving block 61 is disposed in the sample chamber 120 and is rotatably supported by the base 17 . The shaft 36 is rotatably connected to the revolving block 61 about an axis. That is, a hole for rotation into which the shaft 36 of the grip part 35 is rotatably inserted is formed in the revolving block 61 . The hole for rotation is formed through both sides of the revolving block 61 in the insertion direction (longitudinal direction) of the shaft 36. When the shaft 36 is assembled to the revolving block 61, the gear 366 formed on the outer circumferential surface of the shaft 36 is located in the center of the rotation hole in the longitudinal direction.

In addition, a pair of bearings 613 are provided in the rotation hole of the revolving block 61. The bearings 613 are disposed at the rear and front of the gear 366 of the shaft 36 in the longitudinal direction, respectively. The outer circumferential surface of the shaft 36 is rotatably supported with respect to the revolving block 61 by a bearing 613. An O-ring 642 is provided between the outer circumferential surface of the shaft 36 and the revolving block 61. A coupling groove for coupling the lower end of the revolving tube 62 is formed at the upper end of the revolving block 61, and an O-ring 641 for sealing with the revolving tube 62 is provided in the coupling groove.

The revolving pipe 62 is formed in a hollow tubular shape and extends in the vertical direction. The lower part of the revolving pipe 62 is coupled to the revolving block 61, the upper part of the revolving pipe 62 passes through the transverse bulkhead 101, and the bearing 621 is coupled to the through hole so that the revolving pipe 62 It is rotatably supported by the bearing 621. A driven pulley 622 is provided in the machine chamber 130, which is an upper part of the transverse bulkhead 101, and the driven pulley 622 is coupled to the revolving pipe 62. In this case, an O-ring 628 is provided between the bearing 621 and the through-hole of the transverse bulkhead 101, so that the sample chamber 120 and the machine chamber 130 are completely sealed from each other.

The revolving motor 63 is provided in the machine chamber 130, which is an upper part of the transverse bulkhead 101, and a reducer 635 is provided on the motor shaft of the revolving motor 63, and a screw 636 is fastened to the bracket to It is coupled to the top of (101). A drive pulley 631 is coupled to the rotating shaft of the revolving motor 63, and the drive pulley 631 and the driven pulley 622 are connected by a belt 632. When the revolving motor 63 is rotated, the driving pulley 631 and the driven pulley 622 are rotated so that the revolving pipe 62 and the revolving block 61 are rotated together in the horizontal direction around the axis of the revolving pipe.

The reversing and regulating unit 65 rotates the grip unit 35 in an up and down direction to erect or invert the container 15 or tilt it at a desired angle. The reversing and straightening unit 65 includes a timing belt 66, a belt support 67, and a belt driving cylinder 68. The timing belt 66 is wound around the outer circumferential surface of the shaft 36 to rotate the shaft 36 around the axis of the shaft. The belt drive cylinder 68 provides power to rotate the timing belt 66.

The timing belt 66, as a power transmission means, penetrates the inside of the revolving tube 62 of the revolving unit 60 in the vertical direction and is configured to independently rotate inside the revolving tube 62. That is, the upper part of the timing belt 66 is rotatably connected in the belt support 67, and the lower part of the timing belt 66 is engaged with the gear 366 formed on the outer circumferential surface of the shaft 36. The belt support body 67 is disposed in the machine chamber 130 and coupled to the upper portion of the driven pulley 622 or coupled to the upper portion of the support plate 671 formed integrally therewith.

A timing pulley 673 having a gear formed thereon is provided rotatably about a pulley shaft 674 at an upper inner side of the belt support 67 , and a timing belt 66 is engaged with the timing pulley 673 . The timing pulley 673 is spaced apart from the shaft 36 and is rotatable on an axis parallel to the axis of the shaft. The timing belt 66 connects the timing pulley 673 and the shaft 91. A through hole 672 is formed in the support plate 671 so that the timing belt 66 passes therethrough.

The belt drive cylinder 68 is coupled to the belt support 67, and a pair is provided on both sides of the timing pulley 673. A pair of belt driving cylinders 68 are disposed to face each other with respect to the timing pulley 673. Each belt drive cylinder 68 has a belt drive rod 681 that is moved forward and backward by the belt drive cylinder 68 and is elevated, and the belt drive rod 681 has a gear meshed with the timing belt 66. It has a belt grip 683.

The belt grip 683 is lifted together with the belt drive rod 681 integrally. In this case, the moving direction of the belt drive rod 681 should be formed in a direction orthogonal to the axial direction of the pulley shaft 674. The belt drive rod 681 is slidingly guided along the guide bar 682, and the guide bar 682 is fixed to the support plate 671 and extends in the vertical direction. That is, the outer surface of the timing belt 66 is in contact with the smooth surface of the belt driving rod 681, and the inner surface of the timing belt 66 is meshed with the gear of the belt grip 683.

The belt drive rod 681 and the belt grip 683 of the belt drive cylinder 68 on one side are bound to the timing belt 66 in a backward state toward the top, and the belt drive of the belt drive cylinder 68 on the other side The rod 681 and the belt grip 683 are coupled to the timing belt 66 in a backward downward state. In this state, the belt drive rod 681 and the belt grip 683 of the belt drive cylinder 68 on one side are driven forward downward, and the belt drive rod 681 and the belt grip of the belt drive cylinder 68 on the other side are driven forward. When 683 is driven backward toward the top, the timing belt 66 is rotated counterclockwise.

Through this configuration, the belt drive cylinder 68 on one side pulls the timing belt 66 on the left side with respect to the timing pulley 673, and the belt drive cylinder 68 on the other side pulls the timing belt 66 on the right side with respect to the timing pulley 673. It can produce the effect of pushing the timing belt 66 in. Accordingly, tension applied to the timing belt 66 can be alleviated, rotation of the timing belt 66 can be more precisely and stably controlled, and reliability can be improved.

In summary, the revolving unit 60 and the reversing and erecting unit 65 are composed of one complex module 300 . That is, the timing belt 66 is wound between the shaft 36 located in the sample chamber 120 and the timing pulley 673 located in the machine chamber 130, and the transverse bulkhead 101 inside the revolving pipe 62 penetrates Through this configuration, the rotation of the revolving tube 62 and the rotation of the timing belt 66 can be implemented through one complex module 300, so that the vessel 15 rotates to the selected sampling position and the cap detaching position. A series of operations such as revolving the furnace, inversion and upright rotation for internal cleaning and sampling, and inclined rotation at a desired angle can be simultaneously achieved with one complex module 300 .

The sample injection unit 70 supplies a sample into the container 15 and is disposed above the container 15 . The sample injection unit 70 includes a plurality of nozzles 71, and each nozzle 71 is spaced apart from each other by a predetermined angle around the revolving tube 62 of the revolving unit 60. In this embodiment, as shown in FIG. 3, nozzles are disposed at six locations, respectively. The nozzles 71 are installed in the sample chamber 120 by the nozzle support 72. A sample pipe 73 connected to the chemical line is connected to each nozzle 71 so that chemicals from different sources can be sampled with independent sample pipes 73 and nozzles 71 .

Meanwhile, an opening 171 is formed in the base 17 along a revolving rotational path of the container 15 connecting each sample injection position. Fluid injection ports 172 and 173 for cleaning the inside of the cap 16 and the inside of the container 15 are formed at the bottom of the opening 171 . The synaptic injection ports 172 and 173 inject the synovial fluid upward toward the inside of the cap 16 and the inside of the container 15 inverted by 180°. When the container 15 is cleaned through this upward spraying structure, the sprayed liquid is discharged to the lower side at the same time as cleaning, so there is no need to perform a separate process for discharging the sprayed liquid. In this case, the same liquid means a sample to be sampled. For example, when the chemical to be sampled in the container 15 is sulfuric acid, the cleaning liquid injection ports 172 and 173 spray sulfuric acid. The copper liquid nozzle 172 located at the lower part of the gripping module 51 of the cap detachable part 50 cleans the inside of the cap 16, and the copper liquid nozzle 173 located at each sample injection position cleans the inside of the container 15. do.

Referring further to FIG. 15 , the washing and drying unit 80 includes a nozzle mechanism 81 , a cover cylinder 82 and a washing unit cylinder 83 . The nozzle mechanism 81 selectively sprays the cleaning liquid and air to the outer surfaces of the container 15 and the cap 16 . The cover tube 82 is configured to cover at least a portion of the outer space of the container 15 . The nozzle mechanism 81 is coupled to and fixed to the cover cylinder 82 . The upper end of the cover cylinder 82 is coupled to the rod of the washing cylinder 83, so that the nozzle mechanism 81 and the cover cylinder 82 are lifted and driven together.

The sampled vessel 15 is rotated and moved by the index unit 20, and the moved sampled vessel 15 is located below the washing and drying unit 80. First, the cleaning and drying unit 80 performs cleaning by spraying a cleaning liquid such as deionized water to the outside of the container 15 and the cap 16 in which sampling is completed located in the buffer chamber 110 . After cleaning, the cleaning and drying unit 80 sprays air to the outside of the container 15 and the cap 16 to perform drying.

The control unit includes the index unit 20, the picker unit 30, the grip unit 35, the container transfer unit 40, and the complex module 300 to perform all operations unattended after the operator loads the container 15. , Controls the operation of driving means such as the cap detachable unit 50 and the washing and drying unit 80. In addition, the control unit is configured to perform sampling by time setting or by external signals such as ACQC and production facilities.

The wireless recognition unit (RFID) is provided with an RFID tag and an RFID header 86, and reads information including the serial number of the container 15 waiting in the buffer chamber 110, and in the sample chamber 120. After sampling is completed by the sample injection unit 70 , sample information of the container 15 transported to the buffer chamber 110 is written and stored.

Referring to FIGS. 16 and 17 , the control unit controls the operation of the reversing and rectifying unit 65 to rotate the vessel 15 obliquely with respect to a vertical line when taking samples by the nozzle 71 . Therefore, the height (h) between the sample drop start point of the nozzle 71 and the sample drop end point of the container 15 can be reduced. That is, the control unit controls the rotation of the timing belt 66 so that the container 15 is tilted in the vertical direction when the sample falling from the nozzle 71 is collected in the container 15. In addition, the sample injection unit 70 is provided with a nozzle 71 for supplying a sample at the top of the container 15, but the nozzle 71 extends from the radial center line of the container 15 to one side in a vertical state. eccentrically located

Due to this configuration, the sample liquid falling from the nozzle 71 moves downward along the inner slope of the container 15 by gravity. By this control, compared to the method of sampling with the vessel standing vertically, stable and homogeneous sampling can be performed by reducing the probability of liquid scattering or fumes occurring when the sample is injected into the vessel and suppressing the generation of bubbles. .

The revolving block 61 of the revolving unit 60 includes a liquid level sensor 619. The liquid level sensor 619 senses and detects the liquid level of the sample collected in the container. The liquid level sensor 619 is disposed above the container 15 and is disposed on a diagonal line inclined at a certain angle (a) with respect to the vertical line of the axis of the cylinder 91 for precise liquid level sensing. That is, the liquid level sensor 619 is eccentrically positioned to one side so as to be inclined at a predetermined angle (a) from the center line of the container 15 in a vertical state. In addition, an inclination angle (a) of the liquid level sensor 619 from the vertical line is formed equal to the inclination angle of the container 15 tilted by the control unit during sampling.

Of course, it is also possible to perform sampling in a state in which the container 15 is erected vertically without tilting during sampling. If sampling is performed by tilting the vessel 15, the tilt angle a of the vessel may be formed at 10° to 50° from the vertical line. Preferably, the inclination angle (a) of the container is formed at 30°. If the angle is less than 10 °, the container becomes almost vertical, and the effect obtained by tilting the sample is reduced, and if the angle is greater than 50 °, the sample cannot be smoothly injected into the container.

In this way, by optimizing the position of the nozzle 71 and the position of the liquid level sensor 619, the liquid level of the sample can be sensed accurately and precisely, and the amount of the sample can be taken without error.

In addition, the control unit discharges the new drug solution to be sampled for a certain period of time through the chemical pipe and the nozzle 71 to perform control to replace the old drug solution remaining in the chemical pipe and nozzle with the new drug solution. In addition, the control unit controls the same type of liquid as the liquid to be sampled to be sprayed for a predetermined time through the same liquid injection ports 172 and 173. In addition, the control unit interlocks the sample information with the wireless recognition unit (RFID).

On the other hand, the auto sampling method according to the present invention includes the steps of loading a container into a buffer chamber, reading RFID tag information of a container cap to be sampled from an RFID header, transferring a container from the buffer chamber to the sample chamber, Separating the cap from the container, injecting the sample into the container, fastening the cap to the container, transferring the sampled container from the sample chamber to the buffer chamber, and placing the RFID header on the sampled container cap. writing sample information on the RFID tag of the container, cleaning and drying the outside of the container, and unloading the container.

In this case, after transferring the container from the buffer chamber to the sample chamber, the grip unit performs a step of gripping the container. In addition, in the step of injecting the sample into the container, the step of injecting the sample into the container is performed after performing the step of controlling the container to tilt with respect to the vertical direction by rotating the grip part in the vertical direction.

Through RFID and the control unit, when the operator completes the loading of the container, all operations can be performed unattended, and sampling is performed by time setting or sampling by external signals such as ACQC and production facilities. No need to wait.

Referring to FIGS. 18 to 23 , the operation of the auto sampling device according to an embodiment of the present invention will be described in order.

Containers 15 are loaded into the buffer chamber and the index unit 20 is rotated so that up to six containers can be put into the buffer chamber. When the container 15 is loaded, the RFID reads and confirms the serial number of the container. At this time, the control unit flows the new drug solution to be sampled through the chemical solution pipe for a predetermined time, replaces the old drug solution remaining in the chemical solution pipe with the new drug solution, and checks whether or not the chemical solution is introduced through a sensor. In addition, the old chemical solution is replaced with the new drug solution in the sample pipe for a predetermined time.

Thereafter, the sliding door is opened, the picker unit 30 holds the container 15 by vacuum suction, and the container moves forward toward the sample chamber by the container transfer unit and is handed over to the grip unit 35 . After completion of handover, the picker unit moves backward and the sliding door is closed. The cap detachable part 50 separates the cap 16 from the container 15 by rising while the gripping module rotates after the gripping module descends and grips the cap 16 . The complex module 300 revolves the cap-separated container to the selected sampling position.

Thereafter, the container is inverted by 180° by the inversion and erection unit of the complex module 300 to be in an inverted state. At the same time, the gripping module is lowered by the cap detachable part 50 and the cap is moved to the cleaning position. The inside of the container is cleaned with the same chemical solution as the sample chemical solution for a specified period of time. The cap is washed with the same chemical solution as the sample chemical solution for a specified period of time.

Thereafter, the container is rotated to a position tilted by 30 ° as the complex module 300 is inverted by 150 ° by the inversion and erection unit. Inject the sample into the container and collect it up to the liquid level sensor position. When the collection is completed, the container is established and the cap detachable unit 50 raises the cap. The container is moved to the cap detachable position by being revolved, and after the cap is fastened to the container by the cap detachable unit 50, the gripping module rises.

Then, after the sliding door is opened, the picker unit 30 moves forward to the sample chamber, grips the container, and moves backward. After that, the sliding door is closed and the RFID writes sample information such as chemical name, sample time, equipment name, and number of times of use on the container. Thereafter, the container 15 is moved to an external cleaning position by rotating the index unit 20, and the outside of the container and cap is cleaned with a cleaning liquid and dried with air through the cleaning and drying unit.

In this way, after the 1st sampling is completed, the entire process is operated unattended while waiting for the 2nd to 6th signals. Subsequent sampling processes are repeatedly performed in the same manner as the first sampling process. After completing the sampling of all loaded containers, the containers are unloaded (collected) according to the operator's schedule.

So far, the auto sampling device according to the present invention has been described with reference to the embodiments shown in the drawings, but this is only exemplary, and anyone skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true scope of technical protection should be determined by the technical spirit of the appended claims.

100: auto sampling device
10: main body 11: sliding door
12: door lift cylinder 15: container
16: cap 17: base
101 transverse bulkhead 102 longitudinal bulkhead
20: index unit 21: index plate
22: index shaft 23: index motor
24: bearing 211: container seating groove
30: picker part 31: body
32: pin 33: vacuum pad
35: grip part 354: vacuum pad
36: shaft
40: container transfer unit 41: swing arm
42: yoke guide 45: transfer motor
46: bearing 411: long hole
412: pivot axis 421: guide hole
50: cap detachable part 51: gripping module
52: gripping cylinder 53: detachable rotation tube
54: detachable motor 55: lifting motor
56: support block 57: bearing
58: fixed frame 59: cable guide
60: revolving part 61: revolving block
62: revolving pipe 63: revolving motor
65: reversing and straightening unit 66: timing belt
67: belt support 68: belt drive cylinder
70: sample injection unit 80: washing and drying unit
300: composite module

Claims (10)

A main body having a sample chamber into which a sample is injected into the container; a grip part provided in the sample chamber to hold and release the container; a reversing and erecting unit for erecting or inverting the container by rotating the grip unit in a vertical direction; A sample injection unit for supplying a sample into the container; And a control unit for controlling the operation of the reversing and straightening unit,
A shaft extending in a horizontal direction is coupled to an end of the grip part; The inverting and erecting parts are connected to the outer circumferential surface of the shaft, so that the shaft and the grip part are integrally rotated around the axis of the shaft,
The control unit controls the inversion and erection unit so that the vessel is tilted in the vertical direction when collecting the sample falling from the sample injection unit into the vessel,
The controller discharges the new drug solution to be sampled for a certain period of time through the chemical pipe and nozzle to replace the old drug solution remaining in the chemical pipe and nozzle with the new drug solution;
It includes a liquid nozzle for cleaning before sampling by spraying liquid into the container and cap,
The control unit controls the injection of the same type of liquid as the liquid to be sampled for a predetermined time through the same liquid injection hole. According to claim 1,
The sample injection unit is an auto-sampling device configured so that the falling sample is taken along the inclined surface of the inclined container. According to claim 1,
The sample injection unit has a nozzle for supplying a sample at the top of the container,
The nozzle is an auto sampling device that is located eccentrically to one side from the radial center line of the container in a vertical state of the container. According to claim 1,
An auto sampling device further comprising a liquid level sensor for sensing a liquid level of a sample injected into the container. According to claim 4,
The liquid level sensor is disposed on the top of the container and is located eccentrically to one side from the radial center line of the container in a vertical state of the container. According to claim 5,
An auto sampling device wherein an inclination angle of the liquid level sensor from the vertical line is formed equal to an inclination angle of the vessel tilted by the control unit during sampling. delete delete A main body having a sample chamber into which a sample is injected into the container; a grip part provided in the sample chamber to hold and release the container; a reversing and erecting unit for erecting or inverting the container by rotating the grip unit in a vertical direction; A sample injection unit for supplying a sample into the container; And a control unit for controlling the operation of the reversing and straightening unit,
A shaft extending in a horizontal direction is coupled to an end of the grip part; The inverting and erecting parts are connected to the outer circumferential surface of the shaft, so that the shaft and the grip part are integrally rotated around the axis of the shaft,
The control unit controls the inversion and erection unit so that the vessel is tilted in the vertical direction when collecting the sample falling from the sample injection unit into the vessel,
The controller discharges the new drug solution to be sampled for a certain period of time through the chemical pipe and nozzle to replace the old drug solution remaining in the chemical pipe and nozzle with the new drug solution;
The main body further includes a buffer chamber in which a container is waiting,
A wireless recognition unit (RFID) for reading information including the serial number of the vessel waiting in the buffer chamber and writing and storing sample information of the vessel for which sampling has been completed by the sample injection unit,
The control unit and the wireless recognition unit are auto-sampling devices in which control is performed by interlocking sample information. delete

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