KR100247133B1 - Robotic Chemical Oxygen Demand Analyzer and Analysis Method for Industrial Wastewater - Google Patents

Abstract

The present invention discloses a chemical oxygen demand analyzer and analysis method for industrial wastewater using a robot. The present invention discloses a main body which is opened and closed by each door and is divided into an operation chamber and an electrical equipment compartment; An articulated robot disposed on an inner side of the main body and having a gripping finger which is moved in one direction and is operated freely; Pumping means for pumping wastewater, which is a test object contained in a wastewater tank installed at a remote place, from each element of the wastewater tank to a predetermined position through a pipe, and distributing a portion of the wastewater into the inside of the main body; Sampling means disposed on an inner element of the main body and supplied with a predetermined amount of wastewater pumped from the pumping means by the operation of the robot to administer to the reagents; Heating means disposed on an upper side of the inside of the main body and heating and reacting the reagent and the wastewater, which is an analyte mixed with the reagent, by maintaining a predetermined temperature for a predetermined time; Measuring means for measuring a chemical oxygen demand for wastewater which is disposed above the inside of the main body and is an analyte to be administered with respect to a reagent; Disposal means disposed in the lower side of the main body and discarding the analyte to be tested; And it is provided with a control means for controlling them automatically.

Therefore, in order to treat the wastewater, the chemical oxygen demand of the wastewater to be tested is accurately analyzed, and the result thereof is easily calculated.

Description

Robotic Chemical Oxygen Demand Analyzer and Analysis Method for Industrial Wastewater

The present invention relates to a chemical oxygen demand analyzer and analysis method of industrial wastewater using a robot, and more particularly, to analyze the COD, which is a chemical oxygen demand for wastewater to be tested, in order to treat the wastewater. After that, the present invention relates to a component analyzer and an analysis method for industrial wastewater using a robot that easily calculates the result.

In recent years, various industries have developed and the economy has grown rapidly. As a result, the natural environment such as rivers and oceans are polluted or ecosystems are destroyed.

Therefore, in recent years, there is a growing interest in adverse effects on the natural environment of wastewater and wastes generated by industrial activities.

For example, when wastewater and wastes generated by industrial activities are discarded in factories, which are industrial fields, they are discharged and disposed of in a reprocessed state so that the natural environment is not contaminated or the ecosystem is destroyed.

In other words, industrial wastewater, which is an industrial waste, is discharged through a river or the ocean while completely purified, and industrial waste is incinerated completely.

Looking at an example of a method for purifying the industrial wastewater as described above, after the wastewater and filtered water is collected from several places of the waste water tank (Pool) or filtration tank containing a large amount of industrial waste water, and separately for the collected waste water After dispensing a reagent, or performing various tests such as component test or reaction test, the result of the method for treating industrial wastewater is calculated, and industrial wastewater is treated according to the calculated treatment method.

However, in the test method for treating industrial wastewater as described above, the wastewater must be collected by manual labor and then the collected industrial wastewater must be subjected to chemicals and a separate inspection process to calculate the results of the treatment method. There was a problem.

In addition, there was a problem that the test method is not accurate because it has to be inspected by hand for the industrial wastewater collected by hand.

In addition, since a large number of inspection and treatment personnel are required to calculate a treatment method for industrial wastewater, the cost is increased, which causes economic losses.

Accordingly, a technical object of the present invention, that is, the first object of the present invention is to easily calculate the result of the method for treating the wastewater after analyzing the chemical oxygen demand of the wastewater to be tested to treat the industrial wastewater. To provide a chemical oxygen demand analyzer and analysis method for industrial wastewater using a robot.

The second object of the present invention is to automatically perform the chemical oxygen demand analysis on the industrial wastewater to be inspected in order to treat the industrial wastewater. To provide a chemical oxygen demand analyzer and analysis method.

The third object of the present invention is to reduce the cost accordingly by calculating a small number of results for the analysis of the chemical oxygen demand and the method for treating industrial wastewater for the industrial wastewater to be inspected in order to treat the industrial wastewater. It is to provide a chemical oxygen demand analyzer and analysis method of industrial wastewater using a robot that brings benefits.

1 is a perspective view showing a schematic configuration of the present invention

2 is a front view of the present invention

3 is a perspective view showing a pumping means according to the present invention

Figure 4a is a plan view showing the interior of the operating chamber according to the present invention

4b is a plan view showing a shelf according to the present invention

5 is a perspective view showing a metering unit according to the present invention;

6 is a cross-sectional view showing a washing unit according to the present invention.

7 is a perspective view showing a drying unit according to the present invention

Figure 8 is a cross-sectional view showing the lifting, lowering in accordance with the present invention

9 is a cross-sectional view showing a turntable according to the present invention.

10 is a cross-sectional view showing an operating state of the capping unit according to the present invention;

11 is a cross-sectional view showing the disposal means according to the invention

12 is a process chart showing a component analysis method according to the present invention

13 to 23 is an exemplary view showing an operation process of the robot according to the present invention.

* Explanation of symbols for the main parts of the drawings *

100; robot 110; finger

1000; body 1010; plate

1020; electrical equipment room 1030; operating room

1040; shelf 1050; lighting member

1060; electric appliance chamber door 1070; door of operation chamber

1080; operating member 1200; pumping means

1210; pumping unit 1214; pumping tank

1215; pumping motor 1220; supply unit

1230; distribution unit 1231; distribution tube

1241; pure water tank 1240; pure water supply

1300; collecting means 1310; weighing unit

1320; washing unit 1330; drying unit

1340; up and down 1350; turntable

1354; drive motor 1356; intermittent member

1380; test tube 1382; comparative test tube

1360; Capping portion 1363;

1400; heating means 1410; reactor

1500; measuring means 1600; disposal means

1700; control means

C1, C2; First and second beakers "T"; Waste water tank

The present invention for achieving this object, the body is opened and closed by each door, divided into a working room and the electrical equipment compartment; An articulated robot disposed on an inner side of the main body and having a gripping finger which is moved in one direction and is operated freely; Pumping means for pumping wastewater, which is a test object contained in a wastewater tank installed at a remote place, from each element of the wastewater tank to a predetermined position through a pipe, and distributing a portion of the wastewater into the inside of the main body; Sampling means disposed on an inner element of the main body and supplied with a predetermined amount of wastewater pumped from the pumping means by the operation of the robot to administer to the reagents; Heating means disposed on an upper side of the inside of the main body and heating and reacting the reagent and the wastewater, which is an analyte mixed with the reagent, by maintaining a predetermined temperature for a predetermined time; Measuring means for measuring a chemical oxygen demand for wastewater which is disposed above the inside of the main body and is an analyte to be administered with respect to a reagent; Disposal means disposed in the lower side of the main body and discarding the analyte to be tested; And it provides a chemical oxygen demand analyzer of industrial wastewater using a robot provided as a control means for automatically controlling them.

In addition, the method of the first embodiment according to the present invention comprises: a dispensing preparation step of preparing to be dispensed at a set position by pumping the wastewater from each element of the wastewater tank containing the wastewater; A pure dilution step of collecting an appropriate amount of wastewater as an analyte after completion of the dispensing preparation step and water-feed mixing an appropriate amount of pure water with respect to the stock solution of the wastewater; An analyte sampling step of collecting an appropriate amount of the analyte mixed with the wastewater and pure water after completing the pure dilution step; A heating reaction step of administering the analyte collected to the inside of the test tube containing the reagent after completing the analyte collecting step and heating the test tube while maintaining the set temperature for a predetermined time; A measuring step of measuring a chemical oxygen demand of the test tube after the completion of the heating reaction step; An output step of outputting a measurement result of a chemical oxygen demand after completing the measurement step; In addition, the present invention provides a method for analyzing the chemical oxygen demand of industrial wastewater using a robot consisting of a disposal step of discarding a test tube containing an analyte after completion of an output step.

1 to 2 are a perspective view and a front view showing an embodiment of the chemical oxygen demand analyzer of the industrial wastewater using a robot according to the present invention, Figures 3 to 11 is an extract of each of the main portion according to the present invention, Figure 12 is a process chart showing step by step the chemical oxygen demand analysis method of the embodiment according to the present invention.

As shown in the figure, the main body 1000 of the chemical oxygen demand analyzer according to the present invention is configured to be separated up and down by a diaphragm 1010.

That is, in the main body 1000 partitioned by the diaphragm 1010, an electrical equipment room 1020 in which a plurality of electrical and mechanical devices are housed is disposed, and a shelf 1040 is disposed at a predetermined height in an upper side thereof. An operating chamber 1030 is provided.

Each of the seals 1020 and 1030 is opened and closed by a removable door 1060 and 1070.

In addition, elements of the electrical equipment compartment 1020 and the operation chamber 1030 is provided with a lighting member 1050 for illuminating the interior thereof.

An articulated robot 100 is installed at one side of the main body 1000 and is provided in one direction (X-axis) but has a gripping finger 110 that operates freely. (See Figs. 1 and 2)

In addition, the inside and the outside of the main body 1000 according to the present invention pumps the wastewater, which is the test object (water) contained in the wastewater tank T installed at a remote place, from each element of the wastewater tank to a position set through a pipe, but a part thereof. Pumping means 1200 for distributing to the inside of the main body is installed.

As shown in FIG. 3, the pumping means 1200 is provided at the inside and the outside of the main body 1000 and pumps 1212 for pumping wastewater, which is a test object (water) contained in the wastewater tank (T). And a supply unit 1220 provided inside the main body 1000 to supply wastewater, which is an object to be inspected, pumped by the pumping unit 1210 to a predetermined position, and one end of the supply unit 1220. And a plurality of distribution parts 1230 which are in communication with the other end and penetrates into the operation chamber 1030 inside the main body 1000, and are nutrients disposed inside and outside the main body 1000, respectively, to the inside of the main body 1000. It is comprised by the pure water supply part 1240 which supplies and discharges pure water.

Preferably, the pumping part 1210 includes a plurality of pumping pipes having one end disposed at each element of the waste water tank T, the other end of the pumping part 12 being adjacent to the main body 1000, and having a valve 1211. 1212, a pumping tank 1214 having a lid 1213 disposed outside the main body 1000 and penetrating the other ends of the plurality of pumping pipes 1212, and the inside and the outside of the main body 1000. Optionally provided in place and configured to include a pumping motor 1215 for storing and storing the wastewater of the wastewater tank (T) with respect to the pumping tank (1214) through the pumping pipe (1212).

More preferably, the pumping tank 1214 is divided into a plurality of compartments by a partition 1214b having a groove portion 1214a having an inside divided into two compartments, and the other side thereof overflows through the groove portion 1214a. A drainage tank 1214c in which wastewater is stored is provided.

The supply part 1220 may include a plurality of pumps 1221 disposed in the electrical equipment compartment 1020 of the main body 1000, one end of which is connected to one side of the plurality of pumps 1221, and the other end of the main body 1000. After the withdrawal to the outside of the) is provided with a plurality of supply pipes (1222) protrudingly disposed through the lid 1213 to the inside of the pumping tank (1214).

Preferably, the pump 1221 is configured to be provided with an eccentric cam not shown inside thereof so as to be selectively rotated and reversed by a control means to be described later, and to supply and discharge wastewater.

One end portion of the distribution part 1230 is connected to the other side of the pump 1221 of the supply part 1220, and the other end thereof has a plurality of distribution pipes 1231 and its portion drawn out through the inside of the main body 1000. A bracket 1232 supporting the pipe 1231 and a suction pipe 1233 provided on one side of the distribution pipe 1231 and provided with suction power by a pump are configured.

The pure water supply unit 1240 is disposed adjacent to the outside of the main body 1000 and a pure water tank 1241 containing pure water, and the pure water pump 1242 provided inside the electrical equipment room 1020 of the main body 1000; One end portion is connected to the pure water tank 1241 and the other end is a pure water supply pipe 1244 connected to the cock 1243 receiving pure water purified from tap water (or ground water), and one end is the pure water tank 1241. Is connected to the other end and the other end of the pure water pipe 1245 and the one end is in communication with the other side of the pure water pump 1242 and the other end of the pure water pump (1242) It is configured to be provided with a pure water distribution pipe 1246 which is penetrated through and supported on one side of the bracket 1232 supporting the distribution unit 1230.

In addition, the inner element of the main body 1000 is provided with a collecting means 1300 for collecting a predetermined amount of wastewater pumped from the pumping means 1200 by the operation of the robot 100 to administer to the reagent.

The collecting means 1300 is the first beaker (C1) disposed in front of the operating chamber 1030 partitioned in the main body 1000, as shown in a to b of Figure 4, the interior of the operating chamber 1030 The first beaker C1 disposed at the rear side and moved in the state captured by the robot 100 is collected through the distribution unit 1240, and the wastewater that is analyte is collected, and the first waste water is contained therein. A metering unit 1310 for metering the beaker, a washing unit 1320 for washing the first beaker C1 disposed in the element of the operation chamber 1030 and moved by the robot 100, and the washing unit A drying unit 1330 installed adjacent to the 1320 and drying the first beaker C1 moved by the robot 100, and a second beaker disposed adjacent to the metering unit 1310 and containing pure water ( C2) is seated, but the first beaker (C1) containing the waste water to be moved by the robot 100 is selectively changed position and lift, descending to raise, lower 1340, a turntable 1350 disposed on the other side of the operation chamber 1030 and sealed by a stopper 1301, and containing a reagent, the test tube 1380 is inserted and supported, and selectively intermittently rotated, and the metering. The capping part 1360 and the capping part 1360 disposed on one side of the part 1310 to open and close the stopper 1401 of the test tube 1380 moved from the turntable 1350 by the robot 100. It is installed adjacently and is configured to include a holder (1370) that contains the waste water of the analyte (water) set from the distribution unit 1240 by the robot 100, mixed and then stored in the test tube.

Preferably, the metering unit 1310 is preferably configured as an electronic balance that can measure up to one thousand grams (g), as shown in FIG.

As shown in FIG. 6, the washing unit 1320 is provided at the rear of the diaphragm 1010 partitioning the operation chamber 1030 and selectively sprays pure water into the spray nozzle 1321 and the spray nozzle. Installed in the elements of the first and second drains 1322 and 1323 having different diameters so as to be surrounded by 1321 and overlapped with the main assembly chamber 1020 provided below the main body 1000. And a drain solenoid 1324 for selectively opening and closing at least one of the first and second drain portions 1322 and 1323.

As illustrated in FIG. 7, the drying unit 1330 includes a drying tube 1331 protruding from an element of the operating chamber 1030 adjacent to the washing unit 1320, the drying tube 1331, and the drying unit 1331. And is provided with a dryer 1332 which is penetrated and disposed in an internal element of the electrical equipment compartment 1020.

The dryer is configured to be provided with a heater that emits high heat and a fan that blows the high heat of the heater as usual.

As illustrated in FIG. 8, the lifting and lowering unit 1340 includes an air cylinder 1341 provided below the diaphragm 1010 positioned in front of the metering unit 1310, and a piston rod of the air cylinder 1341. The second beaker is installed by the beaker holder 1343 installed in the 1342 and the second beaker C2 containing pure water, and supported by a support bracket 1344 disposed above the beaker holder 1343. And a first motor 1345 having a first motor shaft 1346 disposed inwardly of C2, and an electrode 1348 having a socket 1347 provided downward on one side of the support bracket 1344. do.

Preferably, a stirrer is installed in the first motor shaft 1346, and preferably, the air supply hole 1347a and the pure water penetrate toward the electrode 1348 in the socket 1347. Preferably, the supply hole 1347b is configured to communicate with the tubular body 1347c.

The turntable 1350 is disposed in the other side of the operation chamber 1030, as shown in FIGS. 4A to 9, and is sealed by a stopper 1381 and includes a plurality of storage holes in which a test tube 1380 containing reagents is inserted and supported. A rotation plate 1351 having a 1135 and an insertion hole 1351a, a driving motor 1354 provided on the other side of the electrical equipment compartment 1020 formed in the main body 1000 and supported by the support plate 1353, and It is installed on the drive shaft 1355 of the drive motor 1354 and is provided below the rotating member 1356 and the rotating plate 1351 for intermittently transferring the rotational force of the driving motor 1354 to the rotating plate 1351. It is configured to be provided with a lifting member (1357) to be raised and selectively lifted to raise the test tube (1380) in a row fitted in the storage hole (1352).

Preferably, a sensor is installed at a suitable place of the diaphragm 1010 adjacent to the rotating plate 1351, and a plurality of sensors are radially installed below the rotating plate 1351 corresponding to the rotating plate 1351. It is motivated to rotate intermittently.

Of course, it is provided with an optical sensor such as a photo coupler used at this time.

Also, preferably, the storage holes 1352 have a row facing the concentric plate of the rotating plate 1351 and are arranged radially at regular intervals.

The intermittent member 1356 is adjacent to the power transmission sprocket 1356a installed on the drive shaft 1355 of the driving motor 1354 and the power transmission sprocket 1356a and is located on one side of the support plate 1353. The driven sprocket 1356b, which is built up, and the interlocking sprocket 1356c, which is arranged on the other side of the support plate 1353 adjacent to the motorized sprocket 1356b and arranged with the rotary plate 1351, and the swap It is provided with a belt (1356d) for transmitting power for the plaques.

More preferably, the belt 1356d is configured to be a timing belt so that power can be accurately transmitted without slip phenomenon occurring during rotation described below.

The rising member 1357 is disposed below the rotating plate 1351 and corresponds to the rising bar 1357a corresponding to any one of the storage holes 1351a formed in the rotating plate 1351, and the rising bar 1357a. It is provided on the inside of the electrical equipment compartment 1020 which is a position to be configured to be provided with the upper, lower operating member (1357b) for raising and lowering the lifting rod (1357a).

Preferably, the upper and lower operation members 1357b are preferably provided with solenoids or air cylinders that are selectively operated by receiving power and air.

The capping part 1360 is disposed on one side of the metering part 1310 and is provided with power, and the left and right retreating members 1361 are retracted to the left and right, and a power source solenoid 1362 as a power source thereof. And, the holding member 1363 corresponding to the upper side of the left and right retreat member 1361 and the forward and reverse motors (1364) which is provided below the forward and backward solenoid (1362) and is supplied with power and reversed, and Vertically installed on one side of the capping portion (1363) and consists of a storage rod (1365) that is inserted and supported by the stopper (1381) of the test tube (1380) (1382).

The holder 1370 is installed adjacent to the capping part 1360 and is provided with a plurality of support holes 1372, and at least one of the holders 1370 is provided with at least one holder member 1372 on which the comparison test tube 1373 is stored. desirable. (See FIGS. 1-4A)

In addition, the heating means for heating and reacting the inside of the main body 1000, the waste water, which is the analyte mixed with the reagent, by the sampling means 1300 while maintaining the set temperature for a predetermined time, by the sampling means 1300 ( 1400 is provided.

Preferably, the heating means 1400 is disposed on one side of the shelf 1040 provided in the operation chamber 1030, the heating to which the test tube 1380 moved by the robot 100 is fitted. It is preferably provided with a reactor 1410 having a hole 1411. (See Figure 1)

In addition, a measurement means 1500 for measuring a chemical oxygen demand for wastewater that is an analyte to be administered to a reagent is disposed at the other upper side of the inside of the main body 1000.

The measuring means 1500 is disposed on the other side of the shelf provided in the operating chamber and is provided with a measuring hole 1520 for measuring a chemical oxygen demand (COD) of an analyte. On one side thereof, a light shielding material 1530 made of a tubular body is provided as a COD measuring device 1510 (see FIG. 1).

Then, the lower side of the main body 1000 is provided with a disposal means 1600 for discarding the analyte to be tested, the control means 1700 for automatically controlling them on one side of the main body 1000 It is provided.

As illustrated in FIG. 11, the disposal means 1600 includes at least one waste hole 1610 penetrating through the diaphragm 1010, one end of which is connected to the waste hole 1610, and the other end thereof is the electrical equipment compartment 1020. A waste pipe 1620 disposed in the lower side of the inside) and a waste tank 1630 for receiving the other end of the waste pipe 1620 are configured.

Preferably, the waste pipe 1620 is preferably provided with a corrugated pipe pivoted to reduce the height difference between the waste hole 1610 and the waste tank 1630.

The control means 1700 includes a computer body 1710, a monitor 1720 and a power supply 1730, and a cabinet 1740 in which they are accommodated (see FIG. 2).

First, the pre-operation state according to the embodiment of the present invention is a state as shown in FIG. That is, this state is a state in which a program for automatically controlling the operation of the robot 100, which will be described later, is already set and embedded in the computer main body 1710 of the control means 1700. The power supply 1730 provided with a power switch (not shown) for operating may be referred to as a "OFF" state in which power is not supplied.

In addition, this state may be referred to as a standby state in which the robot 100 poses a certain pose to prepare for the operation at the prepared position.

When power is supplied to the power supply unit 1730 in this initial state, the rising and lowering portions 1340 which are supporting the second beaker C2 up and down are moved by arrows and by the operation of the air cylinder 1341. Likewise, it descends from the dotted line state to the solid line state.

At the same time, the robot 100 is advanced in one direction, as shown by the dashed-dotted line in FIG. 13, and the finger 110 is held in the beaker holder 1343 of the lifting and lowering portions 1340, that is, the pure water is contained therein. After catching the second beaker C2, it is moved to the second position side adjacent to the first beaker C1 as shown by the dashed-dotted line in FIG.

As described above, when the second beaker C2 is moved relative to the second position, the finger 110 of the robot 100 catches the first beaker C1 placed at the first position, as shown in the solid line of FIG. 14. Then, as shown by the dashed-dotted line of FIG. 14, after being moved toward the distribution unit 1240, the wastewater is moved toward one selected side of the plurality of distribution pipes 1241 and is a sample of a predetermined amount from the distribution pipe 1241. Take an appropriate amount.

That is, the pump 1221 is operated and receives the pumped wastewater from the pumping tank 1214.

As described above, when the sample wastewater is collected, the first beaker C1 containing the analyte wastewater is moved to the washing unit 1320 side as shown in FIG. The wastewater collected is inclined toward the first and second drains 1322 to be waterproofed.

As described above, when the waterproofing of the sample is completed, the finger 110 of the robot 100 is positioned above the first beaker C1 so that the injection nozzle 1321 is accommodated, as shown in the solid line of FIG. 15. At the same time, the spray nozzle 1321 is supplied with pure water and washed with respect to the first beaker C1 from which the sample was taken. In addition, at this time, the finger 110 is operated to cleanly clean up and down the first beaker (C1).

As described above, when the cleaning is completed with respect to the first beaker C1, the empty first beaker C1 is moved to the weighing unit 1310 as shown in the dashed-dotted line of FIG. When this is completed, the finger 110 of the robot 100 again grasps the first beaker C1, and moves to the distribution tube 1241 side as shown in the dotted line of FIG. Collect an appropriate amount of wastewater.

As described above, when the wastewater which is an analyte to be collected with respect to the first beaker C1 is collected, the first beaker C1 is transferred to the metering unit 1310 as in the dashed-dotted line of FIG. 15 to collect the collected amount of wastewater. Weigh.

As described above, when the measurement of the collected amount of the wastewater collected in the first beaker (C1) is completed, the first beaker (C1) from which the wastewater is collected, as shown by the dashed-dotted line of FIG. 15, the pure water of the pure water supply unit 1240. It moves to the water supply pipe 1244 side and receives the appropriate amount of pure water by the same operation | movement as the case of the waste water collection mentioned above, and dilutes pure water with respect to waste water.

As described above, when the mixing of the wastewater and the pure water is completed with respect to the first beaker C1, as shown in the dashed-dotted line of FIG. 15, the first beaker C1 mixed with the pure water and the wastewater is transferred to the metering unit 1310. The amount of dilution of pure water is measured in the same manner as above.

As described above, when the measurement of the first beaker C1 diluting the wastewater and the pure water is completed, the first beaker C1 containing the analyte mixed with the wastewater and the pure water is loaded as shown in FIG. 8. After being seated on the beaker holder 1343 of the lower portion 1340, the catch state is canceled.

As described above, at the same time the catch state of the first beaker C1 is canceled, the piston rod 1342 of the lifting and lowering part 1340 protrudes, and the first beaker C1 is lifted and the motor shaft 1346 is lifted. The stirrer, which is built in, is rotated and evenly mixed with the analyte to be mixed with waste water and pure water.

As described above, when mixing of the analyte mixed with pure water and waste water is completed for the first beaker C1, the protruding piston rod 1342 is lowered again, and at the same time, the finger 110 of the robot 100 As shown in the dashed-dotted line in FIG. 16, the first beaker C1 mixed with the analyte is moved upward to the suction pipe 1233 provided on one side of the distribution unit 1230, whereby the suction pipe 1233 is a wastewater. Aspirate the set amount of analyte mixed with pure water.

In addition, when the suction tube 1233 completes the suction of the analyte, the finger 110 of the robot 100 moves the first beaker C1 to the cleaning unit 1320 as shown in the solid line of FIG. 17. By moving to the drain side and tilting downward, the residual water of the analyte mixed with the wastewater and the pure water remaining in the first beaker C1 is described above. After the water is discharged to the two drainage parts 1322 and 1323, it is washed with pure water supplied by covering the spray nozzle 1321 again.

As described above, when the cleaning is completed for the first beaker C1, the robot 100 returns the first beaker C1 to the beaker holder 1343 of the rising and lowering portions 1340, as shown by the dashed-dotted line of FIG. ), The piston rod 1342 is lifted again and raises the first beaker C1, which has been cleaned.

As described above, when the first beaker C1 is raised, as shown in FIG. 8, through the air supply hole 1347a and the pure water supply hole 1347b from the pipe 1347c piped on the upper side of the socket 1347. And pure water are supplied, and the above-described operation, that is, the waste water remaining on the electrode 1348 during the process of mixing the waste water and pure water and kneading the analyte, is washed.

As described above, when the cleaning is completed with respect to the electrode 1348, as described above, the first beaker C1 is moved to the washing unit 1320 side, and the washing water contained in the inner side is first and second drained again. Drain through the parts 1322 and 1323 and continue to receive pure water through the injection nozzle 1321 for the first beaker C1 as described above, and when the cleaning is completed, the first beaker Return (C1) to the first position which was placed first.

As described above, when the first beaker C1 is returned to the first position, as described above, the finger 110 of the robot 100 catches the second beaker C2 placed at the second position and the wins. The beaker holder 1343 of the lowering part 1340 is moved to the side, and at the same time, the beaker holder 1343 lifts and lowers the second beaker C2 containing pure water by the protrusion of the piston rod 1342. The electrode 1348 is protected by being stored in the first state in the state of being submerged in the pure water.

When the operation as described above is completed, the finger 110 of the robot 100, as shown in the solid line of FIG. 18, of the test tube 1380 containing the reagent held in the storage hole 1352 of the turntable 1350 Select one and catch it.

At this time, the finger 110 of the robot 100 moves in a predetermined line of the turntable 1350. If there is no test tube 1380 in the position where the finger 110 is moved, the finger 110 moves forward step by step. And repeatedly holding the test tube 1380. If the test tube 1380 is not pinched by the finger 110 even while the above operation is repeated, the turntable 1350 is shown in FIGS. As shown in FIG. 18, the intermittent rotation of the intermittent member 1356 is rotated by one section, that is, by one line, and the test tube 1380 is raised by one line.

More specifically, the driving force of the drive motor 1354 is a power transmission sprocket 1356a, an electric sprocket 1356b, an interlocking sprocket 1356c, and a belt 1356d built up on the drive shaft 1355. Is transmitted to rotate intermittently to the rotating plate (1351), and when the transmission of the rotational force is completed, the upper and lower operating member (1357b) is raised by the operation of the lifting member (1357) provided on the lower side and the heat ( The test tube 1380 arranged in i) is raised.

Therefore, when the turntable 1350 is intermittently rotated and aligned with respect to the moving position of the finger 110 in the state in which the test tube 1380 is raised, the finger 110 of the test tube 1380 held in front of the test tube 1380 is raised. After pinching and capping the stopper 1361, the capping member 1360 moves upwardly through the clamping member 1363.

As described above, when the test tube 1380 moves to the upper side of the clamping member 1363, the retracting solenoid 1362 disposed below the operating tube 1380 is operated, and the left and right retreats are installed below the clamping member 1363. The member 1361 is operated, and at the same time, the gripping member 1363 is opened to the left and right by the operation of the left and right retreating members 1361.

Therefore, the finger 110 of the robot 100 is fixed as shown by the double-dotted line of FIG. 18 in a state in which the stopper 1401 of the test tube 1380 is sandwiched, and the test tube (3) is interposed between the holding members 1363. 1380 is inserted, and when the insertion is completed, the sandwiching member 1343, which has been opened, is returned to the original position and clamps the test tube 1380. At the same time, the stationary motor 1363 rotates forward and forward in one direction as shown in FIG. 10 and separates the cap 1341 from the test tube 1380 as the clamping member 1363 rotates forward.

When the stopper 1381 is separated as described above, the robot 100 and the finger 110 are slightly moved to one side thereof, and the stopper 1381 clamped to the finger 110 is inserted into the storage rod 1344 to be temporarily stored. do.

As described above, when the stopper 1381 is inserted and stored in the storage rod 1344, the finger 110 of the robot 100 catches the test tube 1380 in which the stopper 1381 has been separated. As shown in the figure, the distributing unit 1230 is moved to the suction tube 1233 side, and in the above-described operation, the analyte to be sucked into the suction tube 1233 is supplied.

As described above, when the supply of the analyte to the test tube 1380 is completed, the finger 110 is positioned in the inside of the holding member (1363) in the reverse operation described above, and then the The stopper (1381), which was stored in the storage rod (1364), is pinched again and positioned above the test tube (1380) sandwiched by the holding member (1363).

Thus, the forward and reverse motors 1363 are reversely rotated in the other direction by the control of the control means and close the stopper 1381 with respect to the test tube 1380 again.

As described above, when the stopper 1381 is closed while the analyte is mixed in the test tube 1380 containing the reagent, the finger 110 shakes left and right in a state where the stopper 1381 is sandwiched. Repeat this procedure several times, allowing the analyte to be sufficiently mixed with the reagents.

As described above, when mixing of a predetermined amount of analyte to the reagent contained in the inside of the test tube 1380 is completed, the finger 110 of the robot 100 catches the test tube 1380 in FIG. 19. As shown in the figure, it is inserted and stored in the heating hole 1411 of the reactor 1410 which functions as a heating means.

In addition, the reactor 1410 maintains a temperature of about 150 ° C. for about 2 hours while holding the test tube 1380 in which the analyte is mixed with respect to the heating hole 1411.

As described above, when the holding of the test tube 1380 is completely completed for the heating hole 1411 formed in the reactor 1410, the finger of the robot 100 (as described above) is completed. 110 is moved to the pure water distribution pipe 1246 side of the pure water supply unit 1240 in the state of catching the first beaker (C1) of the first position to receive a predetermined amount of pure water, to the first beaker (C1) When the supply of pure water is completed, the first beaker C1 containing pure water is moved to the suction pipe 1233 side of the distribution unit 1230, so that the suction pipe 1233 sucks a predetermined amount of pure water as described above. Thus, the inside of the suction pipe 1233 is cleaned.

As described above, when the cleaning of the suction tube 1233 is completed, the pure water remaining in the first beaker C1 is waterproofed through the first and second drains 1322 and 1323, and then the first beaker C1. ) To the first position.

After completion of the operation, when the set time has elapsed, the robot 100 and the finger 110 are moved as shown in FIG. 19, and the test tube 1380 being stored in the heating hole 1411 of the reactor 1410. ) Is moved again in a sandwiched state, and then cooled in the support hole 1372 of the holder member 1372 for about 30 minutes.

As described above, when the cooling time of the test tube 1380 is completed, as shown in FIG. 21, the test tube 1382 in which the finger 110 of the robot 100 is fitted to the holder member 1372 of the other side is described above. Similar to the test tube 1380, after the cap is separated by the capping unit 1360, an amount equal to the amount of analyte to be introduced into the test tube 1380 from the pure water supply tube 1246 on the inside thereof. After receiving pure water, the comparative test tube 1382 is positioned in the measuring hole 1520 of the measuring device 1510 as shown in FIG.

As described above, when the installation of the comparison test tube (1382) with respect to the measuring hole (1520) is completed, the finger 110 is moved and sandwiching the light shielding material (1530) fabricated and disposed in an opaque tube on one side to measure the measurement After measuring the transparency and the like by a measuring device made of an optical sensor such as a photo coupler installed inside the measuring device 1510 in a state covered over the comparison test tube (1382) installed in the hole (1520), and again after the measurement is completed In the reverse order, the light-shielding material 1530 and the comparative test tube 1382 are returned to their original positions and stored.

As described above, when the measurement of the comparative test tube (1382) is completed, the robot 100 is operated again and the finger 110 is held in the state supported by the holder member 1372, the cooled test tube 1380 is completed. Like the comparative test tube 1382 described above with reference to FIG. 22, it is positioned in the measuring hole 1520 of the measuring device 1510.

As described above, when the installation of the test tube 1380 with respect to the measurement hole 1520 is completed, the finger 110 is moved and the measurement is performed by sandwiching the light shielding material 1530 which is manufactured and arranged in an opaque tube on one side thereof. Transparency of the test tube 1380 mixed with the reagent and the analyte by the optical sensor installed inside the measuring device 1510 in the state covered with the test tube 1380 installed in the hole 1520, that is, The COD, which is a chemical oxygen demand, is measured according to the transparency of the test tube 1380, and the measurement result is output to a predetermined place where the result can be monitored while output by an output device (not shown). Is sent.

Therefore, it is possible to measure the chemical oxygen demand evenly for the wastewater collected from several places of the wastewater contained in the wastewater tank (T).

As described above, when the measurement is completed, the light-shielding member 1530 is returned to its original position in the reverse order, and the test tube 1380 in which the measurement is completed is held by the finger 110 as shown in FIG. 23. After moving in, it is dropped into the waste hole 1610.

As described above, the dropped test tube 1380 is moved along the waste tube 1620 and then loaded in the waste tank 1630 and is post-processed.

Until now, a preferred embodiment according to the present invention has been shown and described with respect to measuring the chemical oxygen demand, but not limited to this, various operating programs for industrial wastewater by applying control means registered and set up various operation programs Of course you can.

As described in detail above, the present invention, after analyzing the chemical oxygen demand of the waste water as the test object to treat the industrial wastewater, and easily calculate the method and the result for treating the wastewater, and the chemical oxygen Not only does it accurately analyze demand, but it can also reduce costs, resulting in economic benefits.

In the above described and limited to the preferred embodiment of the chemical oxygen demand analyzer of the industrial wastewater using the robot according to the present invention, but the present invention is not limited to the above-described embodiment, the invention of the invention claimed in the claims below Various changes can be made by those skilled in the art without departing from the gist of the present invention.

Claims (14)

A main body which is opened and closed by each door and is divided into an operation chamber and an electrical equipment compartment; An articulated robot disposed on an inner side of the main body and having a gripping finger which is moved in one direction and is operated freely; Pumping means for pumping wastewater, which is a test object contained in a wastewater tank installed at a remote place, from each element of the wastewater tank to a predetermined position through a pipe, and distributing a portion of the wastewater into the inside of the main body; Sampling means disposed on an inner element of the main body and supplied with a predetermined amount of wastewater pumped from the pumping means by the operation of the robot to administer to the reagents; Heating means disposed on an upper side of the inside of the main body and heating and reacting the reagent and the wastewater, which is an analyte mixed with the reagent, by maintaining a predetermined temperature for a predetermined time; Measuring means for measuring a chemical oxygen demand for wastewater which is disposed above the inside of the main body and is an analyte to be administered with respect to a reagent; Disposal means disposed in the lower side of the main body and discarding the analyte to be tested; And a chemical oxygen demand analyzer for industrial wastewater using a robot provided as a control means for automatically controlling these. The pumping part of claim 1, wherein the pumping means is provided at the inside and the outside of the main body, and is provided with a pumping part for pumping wastewater, which is an object to be inspected contained in the waste water tank, and is provided inside the main body and pumped by the pumping part. A supply part for supplying the waste water, which is the water to be inspected, to a predetermined position, a plurality of distribution parts whose one end communicates with the supply part and the other end penetrates into the operation chamber inside the main body, and nutrients are disposed inside and outside the main body And a chemical oxygen demand analyzer for industrial wastewater using a robot provided with a pure water supply unit for supplying and draining pure water to the inside of the main body. The pumping part of claim 2, wherein one end of each of the elements of the waste water tank is disposed, the other end of the pump is introduced into a position adjacent to the main body, and is provided with a valve; A lid is provided, through which the other end of the tube penetrates, and the inside is divided into two parts, one side of which is divided into a plurality of compartments by a partition having a groove, and the other side of which is provided with a drainage tank for storing waste water overflowed through the groove. And a chemical oxygen demand analyzer of an industrial wastewater using a robot, which is optionally provided at an internal and external location of the main body and is equipped with a pumping motor configured to pump and store the wastewater of the wastewater tank through the pumping tube with respect to the pumping tank. According to claim 2 or 3, wherein the supply unit is disposed in the electrical equipment compartment of the main body is selectively forward and reverse rotation, a plurality of pumps to supply and drain to the waste water, one end is connected to one side of the plurality of pumps, respectively And the other end is drawn out to the outside of the main body and penetrates the lid to protrude into the inside of the pumping tank. According to claim 2, wherein the dispensing portion is connected to the other end of the pump and the other end of the supply portion, and the other end is a bracket for supporting the dispensing pipe and the dispensing pipe drawn through the inside of the main body, to any one of the pump Chemical oxygen demand analyzer of the industrial wastewater using a robot having one end connected to the other end penetrated into the inside of the main body is supported by one side of the bracket. The pure water supply unit of claim 2, wherein the pure water supply unit is disposed adjacent to the outer side of the main body and contains pure water, a pure water pump provided inside the electrical equipment compartment of the main body, one end communicates with the pure water tank, and the other end is pure water cock. A pure water supply pipe communicating with one end, the one end communicating with the pure water tank, the other end communicating with one side of the pure water pump, and the one end communicating with the other side of the pure pump, and the other end penetrating the inside of the main body. Chemical oxygen demand analyzer of the industrial wastewater using a robot that is introduced into the pure water distribution pipe supported on one side of the bracket for supporting the distribution. According to claim 1 or claim 2, wherein the collecting means is a first beaker disposed in front of the operating chamber partitioned in the main body, the rear end of the operating chamber is disposed in the state caught by the robot A metering unit for collecting an analyte wastewater through the distribution unit for one beaker and metering a first beaker containing the wastewater, and a first beaker disposed in an element of the operating chamber and moved by the robot. The washing unit for washing, the drying unit is installed adjacent to the washing unit and the drying unit for drying the first beaker moved by the robot, the second beaker disposed adjacent to the metering unit and containing pure water is seated but moved by the robot A test tube which is selectively relocated with the first beaker containing waste water and which is lifted and lowered to move up and down, disposed at the other side of the operating chamber, sealed by a stopper, and containing reagents. A turntable that is warmed and is selectively intermittently rotated, a capping part disposed on one side of the metering part to open and close a stopper of the test tube moved from the turntable by the robot, and installed adjacent to the capping part, and the powder is separated by the robot. A chemical oxygen demand analyzer for industrial wastewater using a robot that is equipped with a holder that contains a wastewater, which is a set amount of analyte, from the distribution, and then stores the test tube. The method of claim 7, wherein the washing unit is provided in the rear of the diaphragm partitioning the operating chamber and the injection nozzle selectively sprayed with pure water, the first and second installed with different diameters so as to be surrounded by the injection nozzle A chemical oxygen demand analyzer for industrial wastewater using a robot provided with a drainage part and a drainage solenoid installed in the electrical component room element of the main body to selectively open and close at least one of the first and second drainage parts. The beaker holder of claim 7, wherein the lifter and the lowerer part are installed in an air cylinder installed on a lower side of a diaphragm positioned in front of the metering unit, and a second beaker mounted on a piston rod of the air cylinder and containing pure water. And a first motor supported by a support bracket disposed on an upper side thereof and disposed inward of the second beaker and having a first motor shaft on which a stirrer is arranged, provided downward on one side of the support bracket, and communicated by a tubular body. A chemical oxygen demand analyzer for industrial wastewater using a robot provided with an air supply hole, a socket through which a pure supply hole is passed, and an electrode provided in the socket. 8. The method of claim 7, wherein the turntable is disposed on the other side of the operating chamber, sealed by a stopper, and supported by a test tube containing reagents, and arranged radially at regular intervals to form concentric rows. A rotating plate having a hole, provided on the other side of the electrical equipment compartment formed in the main body, a driving motor supported by a supporting plate, electrically installed on a driving shaft of the driving motor, and an intermittent member for intermittently transmitting rotational force of the driving motor to the rotating plate; The chemical oxygen demand analyzer of the industrial wastewater using a robot provided under the rotating plate and provided with a rising member for raising and lowering selectively by receiving power and raising a test tube of a line inserted in the storage hole. According to claim 7, wherein the capping part is disposed on one side of the metering portion is supplied to the left and right to move forward and backward, the left and right retreat member and the power supply solenoid for the power source, the left side corresponding to the upper side of the left and right retreat member Chemical oxygen demand of the industrial wastewater using the robot, which is provided below the member, the solenoid for the retreat and is supplied with power and is forward and reverse rotation and vertically installed on one side of the capping part and a storage rod supporting the stopper. Analyzer. The chemical oxygen demand analyzer of claim 1, wherein the heating means is a reactor having a heating hole in which the test tube moved by the robot is inserted and disposed on one side of the shelf provided in the operation chamber. . A dispensing preparation step of preparing waste water from each element of the waste water tank containing the waste water so as to be distributed at a predetermined position; A pure dilution step of collecting an appropriate amount of wastewater as an analyte after completion of the dispensing preparation step and water-feed mixing an appropriate amount of pure water with respect to the stock solution of the wastewater; An analyte sampling step of collecting an appropriate amount of the analyte mixed with the wastewater and pure water after completing the pure dilution step; A heating reaction step of administering the analyte collected to the inside of the test tube containing the reagent after completing the analyte collecting step and heating the test tube while maintaining the set temperature for a predetermined time; A measuring step of measuring a chemical oxygen demand of the test tube after the completion of the heating reaction step; An output step of outputting a measurement result of a chemical oxygen demand after completing the measurement step; And a method for analyzing the chemical oxygen demand of the industrial wastewater using a robot, which comprises a disposal step of discarding the test tube containing the analyte after completion of the output step. The method of claim 13, wherein the set temperature and the set time in the heating reaction step are in the range of 130 ° C. to 170 ° C. and 90 minutes to 150 minutes, respectively.

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