KR20220040239A - Apparatus and method for automatic sampling - Google Patents

Abstract

Disclosed are an apparatus and a method for automatic sampling, which has an improved control logic of greatly reducing the possibility that liquid is scattered and fumes occur and inhibiting the occurrence of bubbles when a sample is injected into a container to allow stable sampling to be performed, and a driving mechanism supporting the same. The apparatus for automatic sampling according to the present invention comprises: a main body unit having a sample chamber from which a sample is injected into a container; a grip unit disposed in the sample chamber to grip or loosen the container; an inversion and erection unit rotating the grip unit in a vertical direction to erect or invert the container; a sample injection unit supplying the sample to an inside of the container; and a control unit controlling operation of the inversion and erection unit, wherein the control unit controls the inversion and erection unit such that the container becomes inclined from a vertical line when the sample fallen from the sample injection unit into the container is collected.

Description

Auto-sampling apparatus and method

The present invention relates to an automatic sampling apparatus and method, and more particularly, to an automatic sampling apparatus and method capable of unmanned operation by completely automating a series of processes for collecting a chemical sample in a container.

In general, a chemical is an artificial material created by the chemical industry, and is used in various industrial fields such as the semiconductor industry and the pharmaceutical industry. For example, various types of chemicals are used in the semiconductor device production process, and the chemical purity lowers cause defects in the semiconductor device, which greatly affects the production yield.

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

For example, if the manual sampling process is described, the operator opens the cap from the container, puts it on the workbench, puts the cleaning liquid or the chemical to be sampled into the container before sampling, closes the cap, shakes it, and then opens the cap from the container to clean the cleaning solution. Discard and collect chemical samples in containers. After that, the cap is closed and the container filled with chemicals 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 reduced due to the contaminants remaining in the container. Residual contaminants can include many, including particles, organic carbon, oils, insolubles, and other unintended impurities. Therefore, immediately before sampling, it is required that the container and cap for holding the sample must be cleaned.

The above-mentioned manual sampling consumes a lot of manpower, and there is a high probability that the operator is directly exposed to chemicals, and the inside and outside of the container or inside and outside the cap or the collected chemical itself is contaminated by the carelessness of the operator, thereby reducing the reliability of the sample as well as reducing the reliability of the sample. , problems such as inhomogeneity of cleaning quality occur. Above all, if the residual material remaining in the container is toxic, it can be fatal to the human body if a safety accident occurs.

On the other hand, Korean Patent Publication No. 10-2056106, previously filed by the present applicant, discloses an automatic sampling device for collecting chemicals after washing by automatically inverting a container during a sampling operation. However, the conventional automatic sampling device has limitations as a semi-automated intermediate development stage device for full automation, and has various other problems to be improved.

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

In order to solve such conventional problems, in the present invention, an improved control logic capable of performing stable sampling by dramatically reducing the probability of liquid scattering or fumes occurring when a sample is injected into a container and suppressing the generation of air bubbles, and An auto-sampling apparatus and method having an improved driving mechanism that can support this are provided.

In addition, the present invention provides an auto-sampling device in which the position of the nozzle and the position of the liquid level sensor are optimized.

In addition, in the present invention, automatic sampling that can implement complete automation by transmitting and receiving various information related to containers and samples, replacing the old drug solution with the new drug solution, and performing a series of controls related to cleaning the container and cap without a separate operation by the operator An apparatus and method are provided.

Auto-sampling apparatus according to the present invention includes a body having a sample chamber into which a sample is injected into a container; a grip part provided in the sample chamber and gripping and releasing the container; a reversing and estimating unit for standing or inverting the container by rotating the grip unit in the vertical direction; a sample injection unit for supplying a sample to the inside of the container; and a control unit for controlling the operation of the reversing and sizing unit, wherein the control unit controls the reversing and sizing unit so that the vessel is inclined with respect to the vertical direction when collecting a sample falling from the sample injection unit into the vessel.

The sample injection unit is configured so that the falling sample is taken along the inclined surface of the inclined container.

The sample injection unit has a nozzle for supplying a sample at the top of the container, and the nozzle is eccentric to one side from the radial centerline of the container in a vertical state.

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 upper portion of the container and is eccentrically positioned to one side from the radial centerline of the container in a vertical state.

The inclination angle of the liquid level sensor from the vertical line is formed to be the same as the inclination angle of the vessel inclined by the control unit during sampling.

Auto-sampling apparatus according to another aspect of the present invention includes a body portion having a sample chamber into which a sample is injected into a container; a grip part provided in the sample chamber and gripping and releasing the container; a reversing and estimating unit for standing or inverting the container by rotating the grip unit in the vertical direction; a sample injection unit connected to a chemical pipe and having a nozzle for supplying 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 through the chemical pipe and the nozzle for a predetermined period of time to release the old drug solution, which is the previous sample remaining in the chemical pipe and the nozzle, as the new drug solution replace with

and a fluid injection port for cleaning before sampling by injecting a liquid into the container and the cap, and the control unit controls so that the same type of liquid as the liquid to be sampled is injected for a predetermined period of time through the fluid injection port.

The main body further includes a buffer chamber in which the container is waiting, reading information including the serial number of the container waiting in the buffer chamber, and writing sample information of the container in which sampling is completed by the sample injection part ) and a radio identification unit (RFID) to store, and the control unit and the radio identification unit are controlled by linking the sample information.

Auto-sampling method according to the present invention includes a body portion having a sample chamber into which a sample is injected into the container; a grip part provided in the sample chamber and gripping and releasing the container; a reversing and estimating unit for standing or inverting the container by rotating the grip unit in the vertical direction; a sample injection unit for supplying a sample to the inside of the container; and a control unit for controlling the operation of the inversion and sizing unit, the auto sampling method comprising: holding the container by the grip unit; rotating the grip part to control the container to be inclined in a vertical direction; and injecting the sample into the vessel.

The auto-sampling apparatus and method according to the present invention rotate the container inclined at a certain angle during sampling to lower the height between the drop start point of the sample and the sample drop destination point of the container. Stable and homogeneous sampling can be performed by dramatically lowering the temperature and suppressing the generation of air bubbles.

In addition, the auto-sampling apparatus according to the present invention can accurately and precisely sense the liquid level of the sample by optimizing the position of the nozzle and the position of the liquid level sensor to collect the amount of the sample without error.

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

In addition, as all processes except for the loading (charging) and unloading (collection) of the container are fully automated, the manpower of the operator is greatly reduced, and the completely sealed structure in the chamber allows the operator to work in a safe environment with simplified clothes. . In particular, it is possible to prevent errors in sample information by standardizing sampling, perfecting quality, reading container information by RFID, and writing sample results.

1 is a perspective view of an auto sampling apparatus according to an embodiment of the present invention;
2 is a front view of an auto sampling apparatus according to an embodiment of the present invention;
3 is a plan view of an auto-sampling apparatus according to an embodiment of the present invention;
4 and 5 are perspective views illustrating internal configurations of an auto sampling apparatus 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 unit according to an embodiment of the present invention,
11 is an exploded perspective view of a portion of a cap detachable part 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 is a view showing an inverting and erecting 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 illustrating a cleaning and drying unit according to an embodiment of the present invention;
16 is a view showing the rotation angle of the container at the time of sampling according to an embodiment of the present invention,
17 is a front view of a grip part according to an embodiment of the present invention;
18 to 23 are diagrams illustrating an operation process of an auto sampling apparatus 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 of FIG. 1 is the left-right direction, the y-axis direction is the front-back direction, and the z-axis direction is the up-down direction.

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

1 to 5 , the auto sampling apparatus 100 according to an embodiment of the present invention includes a main body 10 , an index unit 20 , a picker unit 30 , and a container transfer unit 40 . And, the grip part 35, the cap detachable part 50, the revolving part 60, the inversion and sizing part 65 are a composite module 300 consisting of one module, and the sample injection part 70 and , a washing and drying unit 80, and a control unit and a wireless recognition unit.

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

The transverse partition wall 101 extends in the transverse direction to partition the space in the vertical direction, and the vertical partition wall 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 bulkhead 101 and the longitudinal bulkhead 102, and by the shape of a circular rod or a circular tube of the power transmission means, and O-rings, etc. Each sealed space is formed by a sealing means. Chemicals, scattering liquids, fumes, etc. can cause deformation by corroding the parts and mechanical devices 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 the respective chambers will be described in detail later.

The main body 10 includes a case 103 having a substantially rectangular parallelepiped shape. The machine chamber 130 is located at an upper portion of the inner space of the case 103 , and a buffer chamber 110 is located at 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 the horizontal direction. A drain tank 104 for recovering a falling cleaning liquid or chemical and a drain chamber 107 installed with pipes are formed in the lower portions of the buffer chamber 110 and the sample chamber 120 , and the drain chamber 107 is formed at the lower portion of the device. A control chamber 105 in which equipment for control is installed is formed.

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

In addition, the main body 10 is provided with 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 rises, the buffer chamber 110 and the sample chamber 120 communicate with each other, and when the sliding door 11 descends, the buffer chamber 110 and the sample chamber 120 are closed.

The sliding door 11 is formed in a plate shape and slides by the power of the door lifting cylinder 12 . The door lifting cylinder 12 includes a door lifting rod 121 driven in the z-axis direction, and the sliding door 11 is coupled to the door lifting rod 121 . The door lifting cylinder 12 is coupled to the case 10 and fixed. The buffer chamber 110 and the sample chamber 120 are sealed by the sliding door 11 to form an independent space, thereby preventing the movement of chemicals, scattering liquid, fumes, etc. between chambers or to the outside of the chamber.

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 accommodated containers 15 by a predetermined angle in the horizontal direction to accommodate the containers 15 . ) to the desired position.

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 in a plurality of concavities on the outer circumferential surface. Six container seating grooves 211 are formed in the index plate 21 at intervals of 60°. The container seating groove 211 may be composed of two, four, or eight or more. In this case, when n container seating grooves 211 are provided, the interval between the container seating grooves is 360°/n. Concavities and convexities may be formed in the container seating groove 211 to prevent sliding with the container 15 and to allow the fluid to pass therethrough during washing/drying. The number of container seating grooves 211 may be appropriately increased or decreased according to the scale or sampling processing capability of the device. The index plate 21 is rotatably connected to the base 17 formed on the main body 10 in a horizontal direction. In this case, the horizontal direction means the transverse direction.

In addition, the index plate 21 is rotated in the rotation support hole 177 formed in the support wall 176 inside the buffer chamber 110 . The support wall 176 is formed to be spaced apart from the upper portion 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 . small and large 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 formed in a circular rod shape or a hollow circular tube shape.

The upper end of the index shaft 22 is connected to the index motor 23 , and 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 is 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 to rotate the index plate 21 by 60° by the controller.

Referring further to FIG. 7 , the picker unit 30 is disposed in the buffer chamber 110 to grip and release the container 15 . In addition, the picker unit 30 is reciprocally moved in the left and 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 the lower end bent in the x-axis direction, and the container 15 is fixed and gripped at the x-axis end. A dovetail 341 is formed on the upper portion of the vertical body 34 extending in the y-axis direction of the picker body 31 , and a pin 32 is formed on the upper end thereof.

Referring further to FIG. 8 , the container transfer unit 40 includes a swing arm 41 and a yoke guide 42 , and is connected to the transfer motor 45 and driven. 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 container transfer unit 40 moves the picker unit 30 to reciprocate the container 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 to rotate about 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 is formed on the other side in the longitudinal direction. The long hole 411 is formed to extend from one side in the longitudinal direction of the swing arm 41 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 and connected to the long hole 411 in the z-axis direction, and along the longitudinal direction of the long hole 411 . can be moved

The pivot shaft 412 is formed on the other side in the longitudinal direction of the swing arm 41 in the z-axis direction, and the upper end thereof is connected to the transport motor 45 . By rotation of the transfer motor 45 , the swing arm 41 is rotated about the pivot shaft 412 . The pivot shaft 412 passes through the transverse bulkhead 101 , and a 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 circular tube having a hollow inside, and thus has a circular cross-section.

The yoke guide 42 is slidably connected to the picker unit 30 to guide 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 in the longitudinal direction. In this case, the longitudinal direction of the yoke guide 42 is the x-axis direction. The guide hole 421 is formed to extend from one side in the longitudinal direction of the yoke guide 42 to the other side, and is formed to penetrate 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 upper portion of the yoke guide 42 . A shaft hole 422 penetrating the pivot shaft 412 is formed in the yoke guide 42 , and a rotating member is rotatably supported by the bracket 424 at the lower portion of the yoke guide 42 and is connected to the pivot shaft 412 . 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 part 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 stays is a space that requires constant cleaning, it is undesirable to apply an LM bearing structure in which oil is used, etc., and the picker part 30 An optimized driving structure in the buffer chamber 110 may be implemented by connecting the yoke guide 42 to the dovetail structure.

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

9 to 11 , the cap detachable part 50 is configured to separate and fasten the cap 16 from the container 15 , and 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 composite module 300 in the left and right directions. Threads are formed on the outer circumferential surface of the mouth (spout) on the upper part 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 separated from the container 15 when the cap 16 is rotated counterclockwise relative to the container 15 (counterclockwise rotation).

The cap detachable unit 50 includes a holding module 51 , a holding cylinder 52 , a detachable rotary tube 53 , a detachable motor 54 , and an elevating motor 55 .

The grip module 51 includes a grip body 514 , a finger 511 , and a lifting unit 515 . The grip body 514 is coupled to the detachable rotary tube 53 by binding the lower portion of the detachable rotary tube (53). A fastener 519 for inserting and fixing the detachable rotation tube 53 is formed at the upper end of the gripping body 514, and three finger grooves 518 are formed radially along the side surface. The finger groove 518 inserts the slide rib 513 of the finger 511 slidably in an oblique direction, so that the fingers 511 are concave and spread apart.

Three fingers 511 are provided, and one side (inner side) has a streamline shape corresponding to the outer circumferential surface of the cap 16 so that one side (inner side) is in close contact with the outer circumferential surface of the cap 16 of the container 15 . A plurality of projections 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. A slide protrusion 517 slidably connected to the diagonal groove 516 of the elevating unit 515 is formed on the slide rib 513 .

The lower end of the holding cylinder rod 521 is coupled to the lifting unit 515 at the center of rotation. The body of the lifting unit 515 has a shape in which three parts are radially extended to correspond to the position of the finger groove 518 formed in the grip body 514 . An oblique groove 516 is formed in each of the three extended bodies in an oblique direction, and a finger 511 is assembled. Therefore, when the lifting unit 515 is raised together with the gripping cylinder rod 521, the fingers 511 are guided to the diagonal groove 516 and retracted along the finger groove 518 of the gripping body 514, and the cap 16 ) is grasped. Conversely, when the lifting unit 515 is lowered together with the gripping cylinder rod 521, the fingers 511 are guided to the diagonal groove 516 and spread along the finger groove 518 of the gripping body 514, and the cap 16 ) is released.

The gripping cylinder 52 is a means for providing the gripping module 51 with power for gripping and releasing the cap 16 , and is coupled to the support block 56 . The gripping cylinder 52 is provided with a gripping cylinder rod 521 slidingly driven in the vertical direction. The lower end of the gripping cylinder rod 521 penetrates the transverse bulkhead 101 inside the detachable rotation tube 53 and is coupled to the upper end of the lifting unit 515 of the gripping module 51 . Accordingly, when the gripping cylinder 52 is driven, the gripping cylinder rod 521 is drawn in or withdrawn from the gripping cylinder 52 so that 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 has a hollow circular tube shape. In this case, the gripping cylinder rod 521 passes through the inside of the detachable rotation tube 53 to connect the gripping cylinder 52 and the lifting unit 515 of the gripping module 51 . The lower portion of the detachable rotary tube 53 is coupled to the gripping body 514 of the gripping module 51 , and the upper portion is rotatably connected to the support block 56 . Through this configuration, the gripping cylinder rod 521 is freely movable up and down inside the detachable rotary tube 53 and the detachable rotary tube 53 is rotatable about its own axis.

In addition, the detachable rotary tube 53 passes through the transverse bulkhead 101 , and a bearing 57 is coupled to the through hole so that the detachable rotary tube 53 is rotatably supported by the bearing 57 . A driven gear 531 is coupled to the upper portion 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 rotation shaft of the detachable 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 drive gear 541 and the driven gear 531 are rotated by the rotation of the detachable motor 54 , and the detachable rotary tube 53 and the gripping module 51 are integrally rotated. When the detachable motor 54 is rotated in one direction, the holding module 51 is rotated in one direction to separate the cap 16 from the container 15, and when the detachable motor 54 is rotated in the other direction, the holding module 51 is 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 holding module 51 is raised and lowered at the same time as rotation.

The elevating motor 55 is a means for providing elevating 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 main body 10 or is 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 surface corresponding to which the moving block 583 elevates. A driving pulley 585 is coupled to the rotation shaft of the lifting motor 55 , and the driving 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 is formed extending in a vertical direction from the support block 56 , and is coupled to the support block 56 or is integrally formed.

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 is formed extending 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 a separate support. The slider 562 is slidably connected in the vertical direction along the LM guide 563 . The support block 56 is coupled to the cable guide 59 on the opposite surface of the surface formed on the vertical wall 561 . The cable guide 59 moves flexibly so that power can be smoothly supplied when the support block 56 is lifted 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 . A seating groove 352 recessed in a shape corresponding to the outer circumferential surface of the container 15 is formed on one surface of the gripper body 351 facing the container 15 . A vacuum line 353 as a flow path for adsorbing the container 15 with the vacuum pad 354 is formed inside the gripper body 351 . That is, through the vacuum pad 354 and the vacuum line 353 , the grip part 35 vacuum-adsorbs the container 15 . 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 meshed with the timing belt is formed on the outer peripheral surface of the shaft 36 .

The revolving unit 60 rotates the grip unit 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 tube 62 , and a revolving motor 63 . The revolving block 61 rotatably couples the shaft 36 to the axis of the shaft. The revolving tube 62 is coupled to the revolving block 61 and extends upward. The revolving motor 63 provides power to rotate the revolving tube 62 about 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, the revolving block 61 has a hole for rotation into which the shaft 36 of the grip part 35 is rotatably inserted. The hole for rotation is formed to penetrate both sides of the revolving block 61 in the insertion direction (length 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 at 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 . Bearings 613 are respectively disposed at the rear and front of the gear 366 of the shaft 36 in the longitudinal direction. The outer peripheral 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 peripheral 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 tube 62 is formed in a hollow tube shape and extends in the vertical direction. The lower portion of the revolving tube 62 is coupled to the revolving block 61, the upper portion of the revolving tube 62 passes through the transverse bulkhead 101, and the bearing 621 is coupled to the through hole so that the revolving tube 62 is It is rotatably supported by the bearing 621 . A driven pulley 622 is provided in the machine chamber 130 that is an upper portion 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 to each other.

The revolving motor 63 is provided in the machine chamber 130 that is the upper part of the transverse bulkhead 101 , and a speed reducer 635 is provided on the motor shaft of the revolving motor 63 , and a screw 636 is fastened to the bracket to secure the transverse bulkhead. It is coupled to the top of 101. A driving pulley 631 is coupled to the rotation shaft of the revolving motor 63 , and the driving 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 tube 62 and the revolving block 61 are rotated together in the horizontal direction around the axis of the revolving tube.

The inverting and standing unit 65 rotates the grip unit 35 in the vertical direction, thereby standing or inverting the container 15 or rotating it obliquely at a desired angle. The reversing and standing unit 65 includes a timing belt 66 , a belt support body 67 , and a belt driving cylinder 68 . The timing belt 66 is wound around the outer peripheral surface of the shaft 36 to rotate the shaft 36 about the axis of the shaft. The belt driving 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 to be independently rotatable inside the revolving tube 62 . That is, the upper portion of the timing belt 66 is rotatably connected within the belt support body 67 , and the lower portion of the timing belt 66 is meshed with the gear 366 formed on the outer circumferential surface of the shaft 36 . The belt support 67 is disposed in the machine chamber 130 and is coupled to the upper portion of the support plate 671 formed integrally or coupled to the upper portion of the driven pulley 622 .

A timing pulley 673 having a gear formed thereon is provided rotatably around a pulley shaft 674 at the upper inner side of the belt support 67 , and the timing belt 66 is engaged with the timing pulley 673 . The timing pulley 673 is spaced 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 to allow the timing belt 66 to pass therethrough.

The belt driving 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 based on the timing pulley 673 . Each belt driving cylinder 68 is provided with a belt driving rod 681 that is moved forward and backward by the belt driving cylinder 68 and lifted, and the belt driving rod 681 has a gear meshed with the timing belt 66 is formed. It has a belt grip (683).

The belt grip 683 is lifted integrally with the belt driving rod 681 . In this case, the moving direction of the belt driving rod 681 should be formed in a direction perpendicular to the axial direction of the pulley shaft 674 . The belt driving rod 681 is guided by sliding along the guide bar 682 , and the guide bar 682 is fixed to the support plate 671 to extend 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 driving rod 681 and the belt grip 683 of the belt driving cylinder 68 on one side are bound to the timing belt 66 in a state in which they are moved backward toward the upper side, and the belt driving of the belt driving cylinder 68 on the other side is driven by the belt. The rod 681 and the belt grip 683 are bound to the timing belt 66 in a state in which they are moved backward toward the lower portion. In this state, the belt driving rod 681 and the belt grip 683 of the belt driving cylinder 68 on one side are driven forward toward the lower side, and the belt driving rod 681 and the belt grip of the belt driving cylinder 68 on the other side. When 683 is driven backward toward the top, the timing belt 66 is rotated counterclockwise.

Through this configuration, the belt driving cylinder 68 on one side pulls the timing belt 66 from the left side based on the timing pulley 673, and the belt driving cylinder 68 on the other side is on the right side with respect to the timing pulley 673. It is possible to produce the effect of pushing the timing belt 66 in the. Accordingly, it is possible to relieve tension received by the timing belt 66 , control the rotation of the timing belt 66 more precisely and stably, and improve reliability.

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 is located inside the revolving tube 62. goes through 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, revolving to the selected sampling position of the container 15, the cap detachment position A series of operations such as furnace revolving, inversion and standing 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 to the interior of 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 with respect to the revolving tube 62 of the revolving unit 60 . In this embodiment, as shown in FIG. 3 , the nozzles are respectively arranged in six places. The nozzles 71 are installed in the sample chamber 120 by the nozzle support 72 . A sample pipe 73 connected to a chemical line is connected to each nozzle 71 , so that chemicals from different sources can be sampled through an independent sample pipe 73 and a nozzle 71 .

On the other hand, in the base 17, an opening 171 is formed along the revolving rotation path of the container 15 that connects each sample injection position. At the lower portion of the opening 171 , the fluid injection holes 172 and 173 for cleaning the inside of the cap 16 and the inside of the container 15 are formed. The fluid injection ports 172 and 173 eject the fluid upward toward the inside of the cap 16 and the inside of the container 15 inverted by 180°. Through this upward injection structure, the injection liquid is discharged to the lower portion at the same time as cleaning when the container 15 is cleaned, so that there is no need to perform a separate process for discharging the injection liquid. In this case, the same means a sample to be sampled. For example, when the chemical to be sampled in the container 15 is sulfuric acid, the cleaning liquid nozzles 172 and 173 spray sulfuric acid. The fluid injection port 172 located under the grip module 51 of the cap detachable part 50 cleans the inside of the cap 16, and the fluid injection port 173 located at each sample injection position cleans the inside of the container 15. do.

Referring further to FIG. 15 , the cleaning and drying unit 80 includes a nozzle mechanism 81 , a cover barrel 82 , and a cleaning unit cylinder 83 . The nozzle mechanism 81 selectively sprays the cleaning liquid and air onto the outer surfaces of the container 15 and the cap 16 . The cover barrel 82 is configured to at least partially surround the outer space of the container 15 . The nozzle mechanism (81) is fixed to the cover cylinder (82). The upper end of the cover cylinder 82 is coupled to the rod of the cleaning unit cylinder 83 , and the nozzle mechanism 81 and the cover cylinder 82 are driven up and down together.

The sampled container 15 is rotated and moved by the index unit 20 , and the moved sampled container 15 is located below the cleaning and drying unit 80 . First, the cleaning and drying unit 80 performs cleaning by spraying a cleaning solution, such as de-ionized water, to the outside of the sampled container 15 and the cap 16 located in the buffer chamber 110 . After cleaning, the cleaning and drying unit 80 performs drying by spraying air to the outside of the container 15 and the cap 16 .

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

The radio identification 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, the sample information of the container 15 transferred back to the buffer chamber 110 is written and stored.

16 and 17 , the control unit controls the operation of the reversing and sizing unit 65 to rotate the container 15 obliquely with respect to a vertical line when sampling by the nozzle 71 . Accordingly, the height h between the sample dropping 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 inclined with respect to the vertical direction when collecting the sample falling from the nozzle 71 to the container 15 . In addition, the sample injection unit 70 is provided with a nozzle 71 for supplying a sample on the upper portion of the container 15, the nozzle 71 is in a state in which the container 15 is vertical to one side from the radial centerline of the container. eccentrically positioned.

Due to this configuration, the sample solution falling from the nozzle 71 moves downward on the inner inclined surface of the container 15 by gravity. By this control, compared to the method of sampling by standing up the container vertically, it is possible to perform stable and homogeneous sampling by reducing the probability of liquid scattering or fumes occurring when the sample is injected into the container, and suppressing the generation of air bubbles. .

The revolving block 61 of the revolving unit 60 includes a liquid level sensor 619 . The liquid level sensor 619 detects by sensing the liquid level of the sample collected in the container. The liquid level sensor 619 is disposed on the upper portion of 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 located eccentrically to one side so that the container 15 is inclined at a predetermined angle (a) from the center line of the container 15 in a vertical state. In addition, the inclination angle (a) of the liquid level sensor 619 from the vertical line is formed to be the same as the inclination angle of the container 15 inclined 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, in the case of sampling by tilting the container 15, the inclination angle (a) of the container may be formed in a range of 10° to 50° from a 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. If the angle is larger than 50°, the sample cannot be smoothly injected into the container.

As described above, 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 accurately and precisely sensed, and the amount of the sample can be collected 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, and performs a control to replace the old drug solution, which is the previous sample, remaining in the chemical pipe and the nozzle with the new drug solution. In addition, the control unit controls so that the same type of liquid as the liquid to be sampled is injected for a predetermined time through the same liquid injection ports 172 and 173 . In addition, the control unit interlocks the sample information with the radio identification unit (RFID).

Meanwhile, 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 by an RFID header, and transferring the container from the buffer chamber to the sample chamber; Separating the cap from the container, injecting a sample into the container, fastening the cap to the container, transferring the sampled container from the sample chamber to the buffer chamber, and the RFID header is sampled container cap It includes the steps of writing sample information to the RFID tag, cleaning and drying the outside of the container, and unloading the container.

In this case, after the container is transferred from the buffer chamber to the sample chamber, the grip part grips the container. In addition, in the step of injecting the sample into the container, the step of controlling the container to be inclined with respect to the vertical direction by rotating the grip part up and down is performed, and then the step of injecting the sample into the container is performed.

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

An operation of the auto sampling apparatus according to an embodiment of the present invention will be described in order with reference to FIGS. 18 to 23 .

The container 15 is loaded into the buffer chamber and the index unit 20 is rotated to put up to six containers. When the container 15 is loaded, the RFID reads the serial number of the container and confirms it. At this time, the control unit flows the new drug solution to be sampled into the chemical solution pipe for a predetermined time to replace the old drug solution remaining in the chemical solution pipe with the new drug solution, and checks whether the drug solution flows through the sensor. In addition, the old drug solution is replaced with the new drug solution for a predetermined period of time in the sample pipe.

Thereafter, the sliding door is opened, the picker unit 30 vacuums and holds the container 15 , and the container advances toward the sample chamber by the container transfer unit and is transferred to the grip unit 35 . After the handover is completed, the picker unit moves backward and the sliding door is closed. After the gripping module descends and grips the cap 16 , the cap detachable unit 50 rises while the gripping module is rotated to separate the cap 16 from the container 15 . The complex module 300 revolves the container from which the cap is removed to the selected sampling position.

Thereafter, the container is inverted 180° by the inversion and erection unit of the composite module 300 to be in an inverted state. At the same time, the holding module is lowered by the cap detachable part 50 to move the cap to the cleaning position. The inside of the container is cleaned with the same chemical solution as the sample chemical solution for a predetermined 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 inclined by 30° by being inverted by 150° by the inversion and erection unit of the complex module 300 . Inject the sample into the container and collect it up to the level sensor position. When the collection is completed, the container is established and the cap detachable unit 50 raises the cap. The container is revolved and moved to the cap detachable position, and after the cap is fastened to the container by the cap detachable part 50, the holding module rises.

Thereafter, after the sliding door is opened, the picker unit 30 moves forward to the sample chamber to grip the container and then 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 uses on the container. Thereafter, the index part 20 is rotated to move the container 15 to the external cleaning position, and the outside of the container and the cap are cleaned with a cleaning solution and air dried through the cleaning and drying part.

In this way, after completing the first sampling, the entire process is operated unattended while waiting for the second to sixth signals. The subsequent sampling process is repeatedly performed in the same manner as the first sampling process. After the sampling operation of all loaded containers is completed, the containers are unloaded (collected) according to the operator's schedule.

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

100: auto sampling device
10: body part 11: sliding door
12: door lifting 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 portion 354: vacuum pad
36: shaft
40: container transfer unit 41: swing arm
42: yoke guide 45: transfer motor
46: bearing 411: long bore
412: pivot shaft 421: guide hole
50: cap removable 51: gripping module
52: holding cylinder 53: detachable rotation tube
54: detachable motor 55: elevating motor
56: support block 57: bearing
58: fixed frame 59: cable guide
60: revolving unit 61: revolving block
62: revolving tube 63: revolving motor
65: inversion and erection portion 66: timing belt
67: belt support 68: belt drive cylinder
70: sample injection unit 80: cleaning and drying unit
300: composite module

Claims (10)

a body portion having a sample chamber into which a sample is injected into the container;
a grip part provided in the sample chamber and gripping and releasing the container;
a reversing and estimating unit for standing or inverting the container by rotating the grip unit in the vertical direction;
a sample injection unit for supplying a sample to the inside of the container; and
Includes a control unit for controlling the operation of the inversion and sizing unit,
The control unit, an auto-sampling device for controlling the inversion and sizing unit so that the vessel is inclined with respect to the vertical direction when collecting the sample falling from the sample injection unit to the vessel. 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 is provided with 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 centerline of the container in a vertical state. According to claim 1,
Auto-sampling device further comprising a liquid level sensor for sensing a liquid level of the sample injected into the container. 5. The method of claim 4,
The liquid level sensor is disposed on the upper portion of the container and the automatic sampling device is located eccentrically to one side from the radial center line of the container in a vertical state. 6. The method of claim 5,
An auto sampling device in which the inclination angle of the liquid level sensor from the vertical line is the same as the inclination angle of the container tilted by the control unit during sampling. a body portion having a sample chamber into which a sample is injected into the container;
a grip part provided in the sample chamber and gripping and releasing the container;
a reversing and estimating unit for standing or inverting the container by rotating the grip unit in the vertical direction;
a sample injection unit connected to a chemical pipe and having a nozzle for supplying a sample to the inside of the container; and
A control unit for controlling the operation of the sample injection unit,
The control unit discharges the new drug solution to be sampled through the chemical pipe and the nozzle for a predetermined period of time to replace the old drug solution which is the previous sample remaining in the chemical pipe and the nozzle with the new drug solution. 8. The method of claim 7,
It includes a fluid nozzle for cleaning before sampling by spraying the liquid into the container and the cap,
The control unit is an auto-sampling device that controls so that the same type of liquid as the liquid to be sampled is injected through the same liquid injection port for a predetermined period of time. 8. The method of claim 7,
The body portion further includes a buffer chamber in which the container is waiting,
It includes a wireless recognition unit (RFID) that reads information including the serial number of the container waiting in the buffer chamber, and writes and stores the sample information of the container that has been sampled by the sample injector,
An auto sampling device in which the control unit and the wireless recognition unit are controlled by interworking with sample information. a body portion having a sample chamber into which a sample is injected into the container; a grip part provided in the sample chamber and gripping and releasing the container; a reversing and estimating unit for standing or inverting the container by rotating the grip unit in the vertical direction; a sample injection unit for supplying a sample to the inside of the container; and a control unit for controlling the operation of the inversion and sizing unit as an auto-sampling method of an auto-sampling device,
gripping the container by the grip unit;
rotating the grip part to control the container to be inclined in a vertical direction; and
Auto-sampling method comprising the step of injecting a sample into the vessel.

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